Launch system and lidar

Abstract

The present invention is applicable to the field of laser radar technology and provides a transmitting system and laser radar. The transmitting system includes a light source assembly and an angle adjustment element arranged in sequence along the optical axis; the light source assembly includes a plurality of laser light sources arranged in sequence along a preset path passing through the optical axis, and the laser light source is used to provide detection light; the angle adjustment element is a prism, and the prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumference, wherein the first side surface is perpendicular to the optical axis and is the light incident surface, and the second side surface and the third side surface are respectively arranged at an acute angle to the optical axis and are both light emitting surfaces; the detection light emitted by the plurality of laser light sources can be refracted twice by the angle adjustment element to reduce the transmitting field of view angle. The transmitting system and laser radar provided by the present invention facilitate the miniaturization design of the laser radar.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser radar, and in particular relates to a transmitting system and a laser radar. Background Art

[0002] In the field of LiDAR, the scanning field of view of a single light source often cannot meet the application requirements. It is usually necessary to use multiple light sources to form a field of view at multiple angles, thereby splicing together a large scanning field of view. However, the current transmission system design is not very reasonable, which is specifically manifested in the following two aspects:

[0003] On the one hand, the smaller the angle between the light sources, the higher the resolution of the laser radar along the light source arrangement direction. However, in the laser radar equipped with a galvanometer or reflector, it is limited by the diameter of the collimating lens, such as Figure 1 As shown, the smaller the angle between the light sources, the longer the distance L from the light source to the galvanometer / reflector, which is not conducive to the miniaturization of the lidar.

[0004] On the other hand, Figure 2 As shown, when the placement angles between the light sources are larger, a larger scanning field of view can be formed, but the light source assembly formed by all the light sources occupies a large space, which is not conducive to the miniaturization of the lidar. Summary of the Invention

[0005] The purpose of the present invention is to provide a transmitting system and a laser radar, aiming to solve the technical problem in the prior art that the transmitting system is not conducive to the miniaturization design of the laser radar.

[0006] The present invention is implemented as follows: in a first aspect, a transmitting system is provided for use in a laser radar, the transmitting system comprising a light source assembly and an angle adjustment element sequentially arranged along an optical axis; the light source assembly comprises a plurality of laser light sources sequentially arranged along a preset path passing through the optical axis, the laser light sources being used to provide detection light; the angle adjustment element is a prism, the prism comprising a first side surface, a second side surface, and a third side surface sequentially arranged along a circumferential direction, wherein the first side surface is perpendicular to the optical axis and serves as a light incident surface, and the second side surface and the third side surface are respectively arranged at acute angles to the optical axis and serve as light exit surfaces;

[0007] The light emitted by the multiple laser light sources can be refracted twice by the angle adjustment element to narrow the emission field angle.

[0008] In an optional embodiment, the detection light beams emitted by the plurality of laser light sources can converge to a point on the light incident side of the angle adjustment element or inside the angle adjustment element;

[0009] The transmitting system further includes a reflective element located on the light-emitting side of the angle adjustment element, the reflective element being configured to receive and reflect the detection light output by the angle adjustment element to change the propagation direction of the detection light. In an optional embodiment, the detection light emitted by the plurality of laser light sources can be converged by the angle adjustment element to the center of the reflective element or within a predetermined area.

[0010] In an optional embodiment, the two light-emitting surfaces are symmetrically arranged relative to the optical axis;

[0011] And / or, the prism is a triangular prism.

[0012] The first aspect has the following technical effects relative to the prior art: the transmitting system provided by the embodiment of the present invention is provided with an angle adjustment element on the light-emitting side of the laser light source. The angle adjustment element is a prism. The prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumferential direction. The first side surface is perpendicular to the optical axis and is the light incident surface. The second side surface and the third side surface are respectively arranged at an acute angle to the optical axis and are both light-emitting surfaces. The angle adjustment element can greatly reduce the angle of light emitted by multiple laser light sources with large angles, and the structure of the entire transmitting system is simple and easy to assemble. At the same time, this allows laser light sources placed at large angles to form small angles, which not only meets the high-resolution use requirements of the laser radar, but also reduces the distance from the laser light source to the reflective element, allowing the laser radar structure to be miniaturized.

[0013] In a second aspect, a transmitting system is provided for use in a laser radar, the transmitting system comprising a light source assembly and an angle adjustment element sequentially arranged along an optical axis, the light source assembly comprising a plurality of laser light sources sequentially arranged along a preset path passing through the optical axis, the laser light sources being configured to provide detection light, the angle adjustment element being a prism, the prism comprising a first side surface, a second side surface, and a third side surface sequentially arranged along a circumferential direction, wherein the first side surface is perpendicular to the optical axis and serves as a light emitting surface, and the second and third side surfaces are respectively arranged at acute angles to the optical axis and serve as light incident surfaces;

[0014] The detection light emitted by the multiple laser light sources is in a first emission state, is refracted twice by the angle adjustment element, and then continues to propagate in a second emission state. The emission field angle corresponding to the second emission state is greater than the emission field angle corresponding to the first emission state.

[0015] In an optional embodiment, the emission field angle corresponding to the first emission state is an acute angle greater than or equal to 0°.

[0016] In an optional embodiment, the transmitting system further includes a reflective element located on the light-emitting side of the angle adjustment element, and the reflective element is used to receive and reflect the detection light output by the angle adjustment element to change the propagation direction of the detection light.

[0017] In an optional embodiment, the two light incident surfaces are symmetrically arranged relative to the optical axis.

[0018] In an optional embodiment, the prism is a triangular prism.

[0019] The second aspect has the following technical effects compared to the prior art: the transmitting system provided by the embodiment of the present invention is provided with an angle adjustment element on the light-emitting side of the laser light source. The angle adjustment element is a prism. The prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumferential direction. The first side surface is perpendicular to the optical axis and is the light-emitting surface. The second side surface and the third side surface are respectively arranged at an acute angle to the optical axis and are both light-incident surfaces. The angle adjustment element can greatly increase the angle of light emitted by two laser light sources with a small angle, and the structure of the entire transmitting system is simple and easy to assemble. At the same time, this allows laser light sources placed at a small angle to form a large angle, which not only meets the use requirements of laser radar field of view splicing, but also reduces the space occupied by optical path devices, and can miniaturize the laser radar structure.

[0020] In a third aspect, a laser radar is provided, comprising a transmitting system and a receiving system, wherein the transmitting system is the transmitting system provided in the above-mentioned embodiments, and is used to transmit detection light to the detection target, and the receiving system is used to receive and process the echo light signal formed after the detection light is reflected by the detection target.

[0021] The third aspect of the technical effect compared to the prior art is that the laser radar provided by the embodiment of the present invention adopts the transmission system provided by the above embodiments, which can effectively reduce the volume of the transmission system and facilitate the design of miniaturized laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a structural diagram of a launch system in the prior art;

[0024] Figure 2 It is a structural diagram of another launch system in the prior art;

[0025] Figure 3 This is a schematic diagram of the structure of the transmission system provided by the first embodiment of the present invention. Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the structure of the transmission system provided by the first embodiment of the present invention. Figure 2 ;

[0027] Figure 5 This is a schematic diagram of the structure of the transmission system provided by the second embodiment of the present invention. Figure 1 ;

[0028] Figure 6 This is a schematic diagram of the structure of the transmission system provided by the second embodiment of the present invention. Figure 2 .

[0029] Description of reference numerals:

[0030] 100. Emission system; 110. Light source assembly; 111. Light source; 112. Collimating lens; 120. Angle adjustment element; 121. Light incident surface; 122. Light exit surface; 130. Reflecting element; 200. Optical axis; H. Total height of the light source assembly. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0032] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0034] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0036] LiDAR generally consists of a transmitting system and a receiving system. The transmitting system is used to transmit detection light to the detection area, and the receiving system is used to receive and process the echo light signal formed after the detection light is reflected by the detection target in the detection area, and finally output the detection data related to the detection target.

[0037] To address the shortcomings of the aforementioned existing emission systems, the present invention provides two emission systems: one capable of significantly reducing the angle of light emitted by multiple laser light sources at large angles, and the other capable of significantly increasing the angle of light emitted by multiple laser light sources at small angles. For ease of description, the following two embodiments are described.

[0038] First embodiment:

[0039] Please refer to Figure 3 and Figure 4 As shown, the emission system 100 in this embodiment includes a light source assembly 110 and an angle adjustment element 120 arranged in sequence along the optical axis 200.

[0040] The light source assembly 110 includes a plurality of laser light sources arranged in sequence along a preset path passing through the optical axis 200. The preset path mentioned here can be a straight line perpendicular to the optical axis 200, an arc passing through the optical axis 200, or other curves, which can be manually set according to the light output effect. The "plurality" mentioned here refers to two or more. The laser light source is used to provide detection light. The laser light source in this embodiment can be one or more lasers, or a combination of a laser and a collimating lens, which can be flexibly selected according to the specific needs of use.

[0041] The angle adjustment element 120 is a prism, which includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumferential direction. In this embodiment, any two of the first side surface, the second side surface, and the third side surface can be directly connected, or connected through one or more planes or curved surfaces, and the specific connection can be flexibly selected according to the needs of use. That is, the prism in this embodiment can be a triangular prism (such as Figure 3 As shown), quadrangular prism, pentaprism (as shown Figure 4 The first side surface is perpendicular to the optical axis 200 and serves as the light incident surface 121. The second and third side surfaces are each disposed at an acute angle to the optical axis 200 and serve as the light emitting surface 122. The detection light emitted by multiple laser light sources can be refracted twice by the angle adjustment element 120 to narrow the emission field of view.

[0042] For ease of understanding and description, the optical path principle of the emission system 100 provided by the embodiment of the present invention is described by taking the light source assembly 110 having two laser light sources as an example:

[0043] One of the two laser light sources is designated as the first light source, and the other as the second light source. The two light sources can emit light simultaneously or at different times, depending on the detection requirements. For ease of description, the optical path principle of the emission system 100 is described below using the assumption that the two light sources emit light simultaneously.

[0044] The first light source emits a first detection light, which is refracted by the light incident surface 121 of the angle adjustment element 120 (prism) and enters the prism. The first detection light is then refracted a second time by one of the light exiting surfaces 122 of the prism and exits the prism.

[0045] At the same time, the second light source emits a second detection light, which is refracted by the light incident surface 121 of the angle adjustment element 120 (prism) and enters the prism. It is then refracted a second time by the other light exiting surface 122 of the prism and exits the prism.

[0046] In the above process, the first detection light and the second detection light are set at the first angle θ1 before reaching the angle adjustment element 120, and the two may intersect at a point before reaching the angle adjustment element 120, such as Figure 3 As shown, they may intersect at a point within the angle adjustment element 120, or they may intersect at a point after passing through the angle adjustment element 120. In either case, after the two detection laser beams are refracted twice by the angle adjustment element 120 (once when passing through the light incident surface 121, and once when passing through one of the light exit surfaces 122), the angle between the two detection laser beams can be changed to a second angle θ2, where θ2<<θ1. That is, the angle adjustment element 120 in this embodiment can significantly reduce the angle between the light beams emitted by the two laser light sources at a large angle.

[0047] For example Figure 1 The distance D between the two laser light sources is 10mm, θ2=1°, and the distance L from the laser light source to the reflective element 130 is D / (2*tan(θ2 / 2)). Thus, L is 572mm, which means that a space of 572mm is required to arrange the optical path. Figure 3 The emission system is 100, L≤100mm, which greatly reduces the space occupied by the optical path.

[0048] In summary, the transmitting system 100 provided by the embodiment of the present invention is provided with an angle adjustment element 120 on the light-emitting side of the laser light source. The angle adjustment element 120 is a prism. The prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumferential direction. The first side surface is perpendicular to the optical axis 200 and is the light incident surface 121. The second side surface and the third side surface are respectively arranged at an acute angle to the optical axis 200 and are both light-emitting surfaces 122. The angle adjustment element 120 can greatly reduce the angle of light emitted by multiple laser light sources with large angles, and the structure of the entire transmitting system 100 is simple and easy to assemble. At the same time, this can make it possible for laser light sources placed at large angles to form small angles, which not only meets the high-resolution use requirements of the laser radar, but also reduces the distance from the laser light source to the reflective element 130, and can miniaturize the laser radar structure.

[0049] On the basis of the first embodiment, in order to ensure that the propagation direction of the detection light emitted by the emission system is not limited by the light output angle of the angle adjustment element, in an optional embodiment, as shown in FIG. Figure 3 As shown, the detection light emitted by multiple laser light sources can converge to a point on the light incident side of the angle adjustment element 120 or inside the angle adjustment element 120. The transmitting system also includes a reflective element 130 located on the light emitting side of the angle adjustment element 120, and the reflective element 130 is used to receive and reflect the detection light output by the angle adjustment element 120 to change the propagation direction of the detection light. The reflective element in this embodiment can be a galvanometer, a rotating mirror or a reflector. The setting of the reflective element can be determined according to the requirements of the light emitting effect. The detection light emitted by multiple laser light sources in this embodiment can converge to a point on the light incident side of the angle adjustment element 120 or inside the angle adjustment element 120, which can ensure that the detection light emitted through the angle adjustment element 120 can converge to a point or an area on the reflective element 130.

[0050] When using the transmitting system provided in this embodiment, the detection light emitted through the angle adjustment element will not directly illuminate the detection target, but will be reflected by the reflecting element 130 before irradiating the detection target. At this time, its emission angle has changed and is not limited by the light emission angle of the angle adjustment element 120. This is beneficial for the transmitting system to adapt to different optical path layouts of laser radars and expand its adaptability range.

[0051] To ensure that the transmitting system 100 has a high light emission rate, the detection light emitted by the multiple laser light sources in this embodiment can converge at the center of the reflective element 130 or within a preset area after passing through the angle adjustment element 120. That is, the reflective element 130 can be located at the convergence point of the light after adjustment by the angle adjustment element 120, or it can be located between the above-mentioned convergence point and the angle adjustment element 120. The specific location can be flexibly selected according to usage needs. The preset area mentioned here can be a certain area including the center of the reflective element 120, or it can be a certain area located to the side of the center of the reflective element 120. It should be noted that when the detection light emitted by the multiple laser light sources can converge within the preset area after passing through the angle adjustment element 120, different detection light rays can be dispersed at different positions of the reflective element 130. The above-mentioned convergence at the center of the reflective element 130 can be that the detection light emitted by the multiple laser light sources converges at a point, which is the center point of the reflective element 130, or it can be that the detection light emitted by the multiple laser light sources converges at the central area of ​​the reflective element 130. That is, when the preset area is small and located in the center of the reflective element 130 , it can be considered that the detection light emitted by multiple laser light sources can converge at the center of the reflective element 130 after passing through the angle adjustment element 120 .

[0052] In this embodiment, the prism may be an isosceles prism, a right-angle prism or a prism of other shapes. In order to make the detection light beam emitted by the emission system symmetrical along the optical axis 200, in an optional embodiment, as shown in FIG. Figure 3 As shown, the two light emitting surfaces 122 are symmetrically arranged relative to the optical axis 200 .

[0053] Second embodiment:

[0054] like Figure 5 and Figure 6 As shown, the transmitting system 100 in this embodiment includes a light source assembly 110 and an angle adjustment element 120 arranged in sequence along the optical axis 200. The light source assembly 110 includes a plurality of laser light sources arranged in sequence along a preset path passing through the optical axis 200. The preset path mentioned here can be a straight line perpendicular to the optical axis 200, an arc passing through the optical axis 200, or other curves, which can be set manually according to the light output effect. The multiple mentioned here refers to two or more. The laser light source is used to provide detection light. The laser light source in this embodiment can be one or more lasers, or a combination of a laser and a collimating lens 112, which can be flexibly selected according to the needs of use.

[0055] The angle adjustment element 120 is a prism, and the prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumferential direction. As in the first embodiment, any two of the first side surface, the second side surface, and the third side surface in this embodiment can also be directly connected, or connected through one or more planes or curved surfaces, and the specific connection can be flexibly selected according to the needs of use. That is, the prism in this embodiment can be a triangular prism (such as Figure 5 As shown), quadrangular prism, pentaprism (as shown Figure 6 The first side surface is perpendicular to the optical axis 200 and is the light emitting surface 122 , and the second side surface and the third side surface are respectively arranged at an acute angle to the optical axis 200 and are both light incident surfaces 121 .

[0056] The detection light emitted by multiple laser light sources is in a first emission state, is refracted twice by the angle adjustment element 120, and then continues to propagate in a second emission state. The emission field angle corresponding to the second emission state is greater than the emission field angle corresponding to the first emission state.

[0057] For ease of understanding and description, the optical path principle of the emission system 100 provided by the embodiment of the present invention is described by taking the light source assembly 110 having two laser light sources as an example:

[0058] One of the two laser light sources is designated as the third light source, and the other as the fourth light source. The two light sources can emit light simultaneously or at different times, depending on the detection requirements. For ease of description, the optical path principle of the emission system 100 is described below using the assumption that the two light sources emit light simultaneously.

[0059] The third light source emits a third detection light, which is refracted by one of the light incident surfaces 121 of the angle adjustment element 120 (prism) and enters the prism. The third detection light is then refracted a second time by the light exit surface 122 of the prism and exits the prism.

[0060] At the same time, the fourth light source emits a fourth detection light, which is refracted by another light incident surface 121 of the angle adjustment element 120 (prism) and enters the prism. It is then refracted a second time by the light exit surface 122 of the prism and exits the prism.

[0061] Then, the two beams of detection light are directly irradiated to the detection area, or are reflected by the reflective element and then irradiated to the detection area.

[0062] In the above process, the third and fourth detection beams are arranged at a third angle θ1 before reaching the angle adjustment element 120. After being refracted twice by the angle adjustment element 120, the angle between the two detection beams becomes a fourth angle θ2, where θ2>>θ1. In other words, the angle adjustment element 120 in this embodiment can significantly increase the angle between the beams emitted by the two laser light sources, even though the angle is small.

[0063] In summary, the transmitting system 100 provided by the embodiment of the present invention is provided with an angle adjustment element 120 on the light-emitting side of the laser light source. The angle adjustment element 120 is a prism. The prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along the circumferential direction. The first side surface is perpendicular to the optical axis 200 and is the light-emitting surface 122. The second side surface and the third side surface are respectively arranged at an acute angle to the optical axis 200 and are both light-entering surfaces 121. The angle adjustment element 120 can greatly increase the angle of light emitted by two laser light sources with a small angle, and the structure of the entire transmitting system 100 is simple and easy to assemble. At the same time, this can make the laser light sources placed at a small angle also form a large angle, which not only meets the use requirements of the laser radar field of view splicing, but also reduces the space occupied by the optical path components, and can make the laser radar structure miniaturized.

[0064] In this embodiment, the emission field angle corresponding to the first emission state is an acute angle greater than or equal to 0°, which can be flexibly set according to the light emission effect. When the emission field angle corresponding to the first emission state is equal to 0°, the light rays emitted by the multiple laser light sources are arranged in parallel.

[0065] In this embodiment, the prism can be an isosceles prism, a right-angle prism or a prism of other shapes. In order to make the detection light beam emitted by the emission system symmetrical along the optical axis, in an optional embodiment, as shown in FIG. Figure 4 As shown, the two light incident surfaces 121 are symmetrically arranged relative to the optical axis 200 .

[0066] On the basis of the second embodiment, in order to ensure that the propagation direction of the detection light emitted by the transmitting system is not limited by the light-emitting angle of the angle adjustment element, the transmitting system may further include a reflective element located on the light-emitting side of the angle adjustment element, the reflective element being used to receive and reflect the detection light output by the angle adjustment element to change the propagation direction of the detection light. The reflective element in this embodiment may be a galvanometer, a rotating mirror or a reflector. The setting of the reflective element may be determined according to the requirements of the light-emitting effect. With the transmitting system provided by this embodiment, the detection light emitted by the angle adjustment element will not directly irradiate the detection target, but will be reflected by the reflective element and then irradiate the detection target. At this time, its emission angle has changed and is not limited by the light-emitting angle of the angle adjustment element, which is beneficial for the transmitting system to adapt to the optical path layout of different laser radars and broaden its adaptability range.

[0067] In order to make the volume of the prism smaller, Figures 3 to 6 As shown, the prism in the above embodiments is a triangular prism.

[0068] Preferably, in order to make the detection light beam emitted by the emission system symmetrically arranged along the optical axis, the prism in the above embodiments is an isosceles prism, and the cross-section of the isosceles prism can be a right-angled isosceles triangle, an equilateral triangle, or an isosceles triangle of other angles, which can be determined according to the requirements of the optical path design.

[0069] Based on the above embodiments, Figures 3 to 6 As shown, the laser light source includes a light source 111 and a collimating lens 112 located on the light-emitting side of the light source 111. In this embodiment, the light source 111 can be one or more lasers, and the collimating lens 112 can be a single convex lens or a lens assembly consisting of multiple lenses. The laser light source employs the structure provided in this embodiment, which allows for convenient material acquisition and low cost.

[0070] The light source 111 can be a laser diode (LD) or a fiber optic light source. Laser diodes offer advantages such as lightness, thinness, compactness, long lifespan, shock resistance, good directionality, and high output power. Fiber optics offer advantages such as high brightness and low energy consumption.

[0071] In another embodiment of the present invention, a laser radar is also provided, including a transmitting system and a receiving system. The transmitting system is the transmitting system provided in the above embodiments, and is used to provide detection light. The receiving system is used to receive and process the echo light signal formed after the detection light is reflected by the detection target.

[0072] The laser radar provided in the embodiment of the present invention adopts the transmission system provided in the above embodiments, which can effectively reduce the volume of the transmission system and facilitate the design of a miniaturized laser radar.

[0073] The foregoing description is merely a preferred embodiment of the present invention and specifically describes the technical principles of the present invention. These descriptions are intended solely to explain the principles of the present invention and should not be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, as well as other specific embodiments of the present invention that can be devised by those skilled in the art without inventive effort, shall be included within the scope of protection of the present invention.

Claims

1. A transmitting system, applied to laser radar, characterized in that: The transmitting system includes a light source assembly and an angle adjustment element arranged in sequence along an optical axis; the light source assembly includes a plurality of laser light sources arranged in sequence along a preset path passing through the optical axis, and the laser light sources are used to provide detection light; the angle adjustment element is a prism, and the prism includes a first side surface, a second side surface, and a third side surface arranged in sequence along a circumferential direction, wherein the first side surface is perpendicular to the optical axis and serves as a light incident surface, and the second side surface and the third side surface are respectively arranged at an acute angle to the optical axis and serve as light exit surfaces; The detection light beams emitted by the plurality of laser light sources are arranged at a first angle and can be refracted twice by the angle adjustment element so that the plurality of detection light beams are arranged at a second angle, and the second angle is smaller than the first angle; The detection light beams emitted by the plurality of laser light sources can be converged to the same point or the same preset area through the angle adjustment element.

2. The transmitting system according to claim 1, wherein The detection light beams emitted by the plurality of laser light sources can converge to a point on the light incident side of the angle adjustment element or inside the angle adjustment element; The transmitting system also includes a reflecting element located on the light-emitting side of the angle adjustment element, and the reflecting element is located at the convergence point of the detection light after adjustment by the angle adjustment element, or between the convergence point and the angle adjustment element; the reflecting element is used to receive and reflect the detection light output by the angle adjustment element to change the propagation direction of the detection light.

3. The transmitting system according to claim 1, wherein: The two light-emitting surfaces are symmetrically arranged relative to the optical axis; And / or, the prism is a triangular prism.

4. A transmitting system, applied to laser radar, characterized in that: The transmitting system includes a light source assembly and an angle adjustment element sequentially arranged along an optical axis, the light source assembly includes a plurality of laser light sources sequentially arranged along a preset path passing through the optical axis, the laser light source is used to provide detection light, the angle adjustment element is a prism, and the prism includes a first side surface, a second side surface, and a third side surface sequentially arranged along a circumferential direction, wherein the first side surface is perpendicular to the optical axis and is a light emitting surface, and the second side surface and the third side surface are respectively arranged at an acute angle to the optical axis and are both light incident surfaces; The detection light emitted by the multiple laser light sources is in a first emission state, is refracted twice by the angle adjustment element, and then continues to propagate in a second emission state. The emission field angle corresponding to the second emission state is greater than the emission field angle corresponding to the first emission state. The emission field angle is the angle between the multiple beams of detection light.

5. The transmitting system according to claim 4, wherein: The emission field angle corresponding to the first emission state is an acute angle greater than or equal to 0°.

6. The transmitting system according to claim 4, wherein: The transmitting system further includes a reflecting element located on the light-emitting side of the angle adjusting element, and the reflecting element is used to receive and reflect the detection light output by the angle adjusting element to change the propagation direction of the detection light.

7. The transmitting system according to claim 4, wherein: The two light incident surfaces are symmetrically arranged relative to the optical axis.

8. The transmitting system according to any one of claims 4 to 7, wherein: The prism is a triangular prism.

9. A laser radar, characterized in that: It comprises a transmitting system and a receiving system, wherein the transmitting system is the transmitting system according to any one of claims 1 to 8, and is used to transmit detection light to a detection target, and the receiving system is used to receive and process an echo light signal formed after the detection light is reflected by the detection target.

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