Laser emitting device and lidar

Abstract

The application provides a laser emitting device and a laser radar. The laser emitting device comprises: a light emitting module comprising a plurality of sub-light emitting units arranged at intervals on an emitting plane, each of the sub-light emitting units emitting an initial light beam; and a light beam adjusting module located on the light emitting side of the light emitting module, configured to receive the plurality of initial light beams and emit a plurality of uniform light beams corresponding to the plurality of initial light beams to a detection plane; and a plurality of light spots formed by the plurality of uniform light beams on the detection plane present a uniform light distribution state. The laser emitting device provided by the application emits laser beams with light spot distribution in a uniform light state to a detection area, reduces the angular space interval between adjacent light beams directed to the detection area, improves the angular resolution of the laser emitting device, facilitates the resolution of small-size objects at a short distance, and improves the ranging accuracy of the laser radar.

Description

Technical Field

[0001] This application belongs to the field of laser detection equipment technology, and more specifically, relates to a laser emitting device and a lidar. Background Technology

[0002] A lidar (Light Detection and Ranging) system is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of targets. It typically includes a transmitting system, a receiving system, and an information processing system. The transmitting system mainly consists of various types of lasers used to emit laser beams as the detection source. Furthermore, to meet the ranging performance requirements of lidar, the transmitting system also includes transmitting optical elements for collimating the laser beam.

[0003] Currently, most lidar emission systems employ area arrays or dot arrays of light sources with multiple emission points to emit laser beams. However, considering practical manufacturing processes and heat dissipation requirements, the spacing between the multiple emission points of these source sources is typically large. This results in a significant angular spatial interval between adjacent beams after collimation. The better the collimation effect of the emitting optical elements, the larger the angular spatial interval between adjacent beams after collimation. This leads to lower angular resolution of the emission system, making it unsuitable for resolving small objects at close range and reducing the ranging accuracy of the lidar. Summary of the Invention

[0004] The purpose of this application is to provide a laser emitting device to solve the technical problem of low angular resolution in existing laser emitting devices.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] A laser emitting device, comprising:

[0007] The light-emitting module includes a plurality of sub-light-emitting units spaced apart on an emitting plane, each of the sub-light-emitting units emitting an initial light beam;

[0008] The beam adjustment module, located on the light-emitting side of the light-emitting module, is used to receive multiple initial beams and emit multiple uniform beams corresponding one-to-one with the multiple initial beams toward a detection plane; the multiple light spots formed by the multiple uniform beams on the detection plane exhibit a uniform light distribution.

[0009] Furthermore, the beam adjustment module is used to collimate each of the received initial beams in at least one first direction to form a one-to-one corresponding collimated beam; the field of view covered by each collimated beam is a first field of view, and adjacent collimated beams have an angular spatial distance.

[0010] The beam adjustment module is also used to expand the divergence angle of the collimated beam at least in the first direction to form the uniform beam; the field of view covered by each uniform beam is the second field of view.

[0011] The second field of view is greater than the first field of view, and the second field of view of two adjacent uniform beams are connected or partially overlapped, covering the angular spatial spacing.

[0012] In one embodiment, the beam adjustment module includes a lens module.

[0013] The lens module is used to receive multiple initial beams. In at least the first direction, the light-emitting module is adjusted to be located on the focal plane of the lens module to collimate the initial beams and form the collimated beam.

[0014] The lens module is also used to, at least in the first direction, adjust the light-emitting module to deviate from the focal plane of the lens module, expand the divergence angle of the collimated beam, and emit the uniform light beam.

[0015] In one embodiment, the focal length of the lens module is adjustable, and the laser emitting device adjusts the focal length of the lens module so that the light-emitting module is located on or off the focal plane of the lens module.

[0016] In another embodiment, the distance between the light-emitting module and the lens module is adjustable; the laser emitting device adjusts the distance between the lens module and the light-emitting module so that the light-emitting module is located at or off the focal plane of the lens module.

[0017] Furthermore, when the distance between the light-emitting module and the lens module is fixed, the laser emitting device adjusts the focal length of the lens module to position the light-emitting module at or away from the focal plane of the lens module.

[0018] Furthermore, when the focal length of the lens module is fixed, the laser emitting device adjusts the distance between the light-emitting module and the lens module so that the light-emitting module is located on or off the focal plane of the lens module.

[0019] In one embodiment, the lens module includes:

[0020] The angle-reduction lens assembly includes at least one lens located on the light-emitting side of the light-emitting module, used to reduce the divergence angle of each initial beam and output angle-reduction beams corresponding one-to-one with the initial beams;

[0021] A refractive lens assembly includes at least one lens located on the light-emitting side of the reduced-angle lens assembly, used to deflect each of the reduced-angle beams and expand the detection angle range of the reduced-angle beams.

[0022] The reduced-angle lens assembly works in conjunction with the refractive lens assembly to collimate multiple initial light beams incident on the reduced-angle lens assembly and output a collimated light beam. It also expands the collimated light beam to form the uniform light beam.

[0023] Furthermore, the lens module adjusts the focal length of the lens module by adjusting at least one of the focal length of the reduced-angle lens assembly, the focal length of the refractive lens assembly, and the distance between the reduced-angle lens assembly and the refractive lens assembly.

[0024] In one embodiment, the ratio r between the angular spacing of the second field of view of each of the homogenizing beams exceeding the first field of view and the angular spatial spacing satisfies: 0.5 ≤ r ≤ 1.

[0025] In one embodiment, two adjacent light spots are also connected or partially overlapped in a second direction perpendicular to the first direction.

[0026] In one embodiment, the plurality of said sub-light-emitting units are arranged at equal intervals in the first direction, and / or at equal intervals in a second direction perpendicular to the first direction.

[0027] In one embodiment, the laser emitting device further includes:

[0028] A housing having a hollow receiving cavity;

[0029] A plate, wherein the plate is disposed on one side of the housing;

[0030] The light-emitting module is located on the side of the plate near the housing, and the beam adjustment module is installed inside the receiving cavity.

[0031] This application also proposes a lidar comprising any of the laser emitting devices described above.

[0032] In the aforementioned laser emitting device, the beam adjustment module modulates the multiple initial beams emitted by the light-emitting module into multiple uniform beams directed towards the detection area. The distribution of multiple light spots formed by these uniform beams on the detection plane achieves a uniform light effect, reducing the angular spatial interval between adjacent beams directed towards the detection area, improving the angular resolution of the laser emitting device, facilitating the resolution of small objects at close range, and enhancing the ranging accuracy of the lidar. Furthermore, in the aforementioned laser emitting device, the beam adjustment module first collimates the initial beams to output collimated beams, and then further diverges and homogenizes the original collimated beams, causing the second field of view angles of two adjacent uniform beams to connect or partially overlap, thus covering the angular spatial interval between the original adjacent collimated beam angles. This eliminates the angular spatial interval between adjacent collimated beams when the original collimated beam is directed towards the detection area, further improving the angular resolution of the laser emitting device, facilitating the resolution of small objects at close range, and enhancing the ranging accuracy of the lidar. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of an optical path structure of a laser emitting device provided in an embodiment of this application;

[0035] Figure 2 yes Figure 1 The diagram shows a spot formed on the detection plane when the laser emitting device collimates the initial beam.

[0036] Figure 3 yes Figure 1 The diagram shows a light spot formed on the detection plane when the laser emitting device emits a uniform light beam;

[0037] Figure 4 yes Figure 1 The diagram shows another type of light spot formed on the detection plane when the laser emitting device emits a uniform light beam;

[0038] Figure 5 This is a perspective view of the laser emitting device provided in the embodiments of this application;

[0039] Figure 6 This is a front view of the laser emitting device provided in the embodiments of this application;

[0040] Figure 7 for Figure 6The diagram shows a cross-sectional view of the laser emitting device along the AA direction.

[0041] Explanation of icon numbers:

[0042] label name label name 100 Light-emitting module 200 Lens module 210 zoom lens assembly 220 refracting lens assembly 310 case 320 plate body 311 Receiving cavity 110 Sub-light-emitting unit Detailed Implementation

[0043] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0044] It should be noted that when a component is referred to as "fixed to," "set on," or "located on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to," it can be directly connected to or indirectly connected to that other component.

[0045] It should also be noted that the terms "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only relative concepts or references to the normal use state of the product. They are used for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0046] 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 technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0047] In the description of this application, "multiple" means two or more unless otherwise explicitly specified; A and / or B include three cases: (1) only A is satisfied, (2) only B is satisfied, and (3) both A and B are satisfied; A or B includes two cases: (1) only A is satisfied, and (2) only B is satisfied; A and B include only one case: both A and B are satisfied.

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0049] Please see Figure 1This application provides a laser emitting device. The laser emitting device generates a laser beam and directs the laser beam towards a detection area within a preset detection angle range. The detection area located at the same distance from the light-emitting side of the laser emitting device can be considered a detection plane. The laser emitting device provided in this application can be used in lidar. By cooperating with a laser receiving device in the lidar, the laser emitting device emits a uniform light beam towards the target, and the laser receiving device receives the echo beam reflected from the target. Then, a data processing device processes the data appropriately to obtain information such as the target's distance, speed, azimuth, attitude, and even shape. This can be applied to navigation and avoidance, obstacle recognition, ranging, speed measurement, and autonomous driving scenarios in products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0050] Specifically, the laser emitting device may include a light-emitting module 100 and a beam adjustment module. The light-emitting module 100 includes a plurality of sub-light-emitting units 110 spaced apart on an emitting plane, each sub-light-emitting unit 110 emitting an initial beam. The beam adjustment module is located on the light-emitting side of the light-emitting module 100 and is used to receive the plurality of initial beams emitted by the plurality of sub-light-emitting units 110 and output a plurality of uniform light beams corresponding one-to-one with the plurality of initial beams and direct them toward the detection plane. The plurality of uniform light beams form a plurality of light spots corresponding one-to-one on the detection plane, and the distribution of the plurality of light spots on the detection plane achieves a uniform light effect.

[0051] It is important to understand that, in one exemplary scheme, achieving a uniform light distribution on the detection plane means that two adjacent light spots are connected or overlap at least in a first direction. In other embodiments, when the interval between two adjacent light spots in at least one first direction is less than a preset value, the uniform light distribution on the detection plane also improves the angular resolution of the transmitting system by reducing the angular spatial interval between adjacent beams. Compared to related technologies that only perform strong collimation processing on the laser beam emitted by the light-emitting module 100, i.e., minimize the divergence angle of the laser beam output by the light-emitting module 100, the beams directed towards the detection area exhibit a speckled state in the detection area, resulting in a large angular spatial interval between adjacent beams. This leads to a lower angular resolution of the transmitting system, which is detrimental to the resolution of small objects at close range and reduces the ranging accuracy of the lidar. The laser emitting device provided in this application provides multiple uniform light beams that are directed toward the detection area. The distribution of multiple light spots formed by these multiple uniform light beams on the detection plane is uniform, which reduces the angular spatial interval between adjacent light beams directed toward the detection area, improves the angular resolution of the laser emitting device, facilitates the resolution of small objects at close range, and improves the ranging accuracy of the lidar.

[0052] Please see Figures 1 to 4The beam adjustment module is used to collimate each received initial beam in the first direction, forming a collimated beam corresponding to each initial beam; the field of view covered by each collimated beam is the first field of view fov1, and adjacent collimated beams have an angular spatial distance Δfov (e.g., ...). Figure 2 (as shown); In an exemplary scheme, the beam adjustment module is further used to expand the divergence angle of the collimated beam in the first direction, forming a uniform beam corresponding to the collimated beam. Multiple uniform beams form multiple light spots on the detection plane, with adjacent light spots connecting in the first direction. At this time, the field of view covered by each uniform beam is the second field of view fov21. The second field of view fov21 is greater than the first field of view fov1. After the second field of view fov21 of two adjacent uniform beams connect, the spatial distance Δfov (as shown) covers the angle. Figure 3 (as shown); In another exemplary scheme, the beam adjustment module is also used to expand the divergence angle of the collimated beam in the first direction, forming a uniform beam corresponding to the collimated beam. Multiple uniform beams form multiple spots on the detection plane, with adjacent spots partially overlapping in the first direction. At this time, the field of view covered by each uniform beam is the second field of view fov22. The second field of view fov22 is greater than the first field of view fov1. After the second field of view fov22 of two adjacent uniform beams partially overlap, they cover the spatial distance Δfov (as shown). Figure 4 (As shown).

[0053] The laser emitting device provided in this application disperses and homogenizes the collimated beam. After the second field of view of two adjacent collimated beams are connected or partially overlapped, they cover the angular spatial interval Δfov between the original two adjacent collimated beam angles. This eliminates the angular spatial interval Δfov between adjacent collimated beams when the original collimated beam is directed toward the detection area, improves the angular resolution of the laser emitting device, facilitates the resolution of small objects at close range, and improves the ranging accuracy of the lidar.

[0054] Specifically, the beam adjustment module includes a lens module 200; the lens module 200 includes multiple lenses for receiving multiple initial beams emitted from multiple light-emitting subunits 112, collimating the received multiple initial beams to form collimated beams corresponding one-to-one with the initial beams; the lens module 200 is also used to expand the divergence angle of the multiple collimated beams to form uniform beams corresponding one-to-one with the collimated beams; after the second field of view fov2 of two adjacent uniform beams are connected (fov21) or partially overlap (fov22), they cover the angular space distance Δfov between the original two adjacent collimated beam angles.

[0055] The working principle of the laser emitting device provided in this application embodiment is as follows:

[0056] Taking the first direction as the vertical direction as an example, n sub-light-emitting units are arranged at intervals along the vertical direction on the side of the emitting plane near the beam adjustment module, where n is an integer and n≥2. Each sub-light-emitting unit 110 has a light-emitting surface with a light-emitting diameter of Φ, the distance between the light-emitting surfaces of two adjacent sub-light-emitting units 110 is g, and the size of the total light-emitting surface composed of n sub-light-emitting units 110 is m; assuming the lens module collimates multiple incident initial beams, when outputting a collimated beam, the focal length of the lens module is f, the detection angle range in the vertical direction is fov, and the second field of view angle of each uniform beam is fov2; where...

[0057] m=n*(Φ+g)+g; (1)

[0058] f = 0.5m / tan(1 / 2fov); (2)

[0059] fov1 = arctan(Φ / f); (3)

[0060] Δfov=arctan(g / f) (4)

[0061] fov2=(fov1+Δfov) / 2 (5)

[0062] By simply substituting the corresponding values ​​into the above formulas (1) to (5), we can obtain the first field of view fov1 of the collimated beam in the vertical direction and the angular spatial distance Δfov of two adjacent collimated beams in the vertical direction. Thus, we can obtain the ratio r between the field of view value required by the lens module to diffuse and homogenize the collimated beam and the angular spatial distance Δfov. The ratio r is: r≥0.5, so as to ensure that the second field of view fov2 of two adjacent homogenized beams are connected or partially overlapped and cover the angular spatial distance Δfov.

[0063] For example, with n = 50, Φ = 20um, g = 60um, and the vertical detection angle range fov = 25°, substituting these values ​​into the formula yields m = 4060um, f = 9060um, fov1 = 0.125°, and Δfov = 0.375°. In this case, using lens module 200 to diverge and homogenize the collimated beam ensures that the second field of view fov2 of the emitted homogenized beam is ≥ 0.25°, thus covering the 0.375° angular spatial distance between the two adjacent collimated beams.

[0064] Furthermore, to avoid excessive overlap between two adjacent homogenizing beams, i.e., excessive divergence of the lens module aligned with the straight beam, resulting in repeated homogenization and affecting the homogenization effect, the lens module performs divergent homogenization on the straight beam, so that the ratio r between the angle interval required for the second field of view of the homogenizing beam to exceed the first field of view of the collimated beam and the angular spatial distance Δfov is in the range of: 0.5≤r≤1.

[0065] Specifically, the light-emitting module 100 can be located at or off the focal plane of the lens module 200; when the light-emitting module is located at the focal plane of the lens module 200, the lens module 200 collimates the received multiple initial beams and outputs a collimated beam (e.g., ...). Figure 2 (As shown); when the light-emitting module 100 deviates from the focal plane of the lens module 200, the lens module 200 performs an angle-expanding process on the straight beam to form a uniform beam with a uniform light effect (as shown). Figure 3 , 4 (As shown).

[0066] Furthermore, the focal length of the lens module 200 is adjustable, and / or the distance between the light-emitting module 100 and the lens module 200 is adjustable; the laser emitting device adjusts the focal length of the lens module 200, and / or adjusts the distance between the light-emitting module 100 and the lens module 200, so that the light-emitting module 100 is located on or off the focal plane of the lens module 200.

[0067] In this application, the distance between the light-emitting module 100 and the lens module 200 refers to the distance between the first lens of the light-emitting module 100 and the lens module 200 along the optical path direction.

[0068] In one exemplary embodiment, the focal length of the lens module 200 is fixed, meaning the position of the focal plane of the lens module 200 is fixed. The laser emitting device adjusts the distance between the light-emitting module 100 and the lens module 200 so that the light-emitting module 100 is located at or off the focal plane of the lens module 200.

[0069] Please see Figures 5 to 7As shown, the overall packaging of the lens module 200 is fixed, that is, the focal length of each internal lens is fixed, and the assembly state of each lens, such as the assembly order of each lens and the distance between adjacent lenses, is fixed. Therefore, the overall focal length of the lens module 200 is fixed. At this time, by simply adjusting the distance between the light-emitting module 100 and the lens module 200 along the optical path, the light-emitting module 100 can be located at or away from the focal plane of the lens module 200. The focal length of the lens module is related to the required detection angle range, the size of the light-emitting surface of the sub-light-emitting unit, and the spacing of the sub-light-emitting units. Combining with formula (2), the distance between the light-emitting module 100 and the lens module when the light-emitting module 100 is located at the focal plane of the lens module 200 can be calculated. As for the adjustment value of the distance between the light-emitting module 100 and the lens module 200 when the light-emitting module 110 deviates from the focal plane of the lens module, it can be adjusted according to actual needs. For example, the first field of view fov1 of the collimated beam can be determined according to the actual required detection angle range fov and the interval g between the sub-light-emitting units 110, thereby adjusting the distance between the light-emitting module 100 and the lens module 200. This ensures that the second field of view fov2 of two adjacent uniform light beams are connected or partially overlapped, thus covering the angular space distance Δfov between the original two adjacent collimated beam angles. No specific limitation is made here.

[0070] More specifically, the working principle of the laser emitting device provided in this application embodiment is as follows:

[0071] Collimation step: Adjust the distance between the light-emitting module 100 and the lens module 200 to a first distance, so that the lens module 200 collimates the multiple incident initial beams to form multiple collimated beams that correspond one-to-one with the initial beams.

[0072] At this time, the light-emitting module 100 is located at the focal plane of the lens module 200; the first distance is the focal length f of the lens module 200;

[0073] Uniform beam step: Adjust the distance between the light-emitting module 110 and the lens module 200 to a second distance that is not equal to the first distance, so that the lens module 200 diverges and uniformly emits multiple uniform beams.

[0074] At this point, the value of the second distance can be set according to actual needs, such as the actual required detection field of view. It is sufficient to ensure that the second field of view fov2 of two adjacent uniform beams are connected or partially overlapped, thus covering the angular space distance Δfov between the original two adjacent collimated beam angles. No specific limitation is made here.

[0075] In another exemplary scheme, the distance between the light-emitting module 100 and the lens module 200 is fixed. The laser emitting device adjusts the focal length of the lens module 200 so that the light-emitting module 100 is located on or off the focal plane of the lens module 200. Specifically, the focal length of the lens module can be adjusted by changing the number of lenses inside the laser lens module, the distance between adjacent lenses, or by using lenses with different focal lengths. As for the adjustment value of the focal length of the lens module 200, it can be adjusted according to actual needs. For example, the focal length of the lens module 200 can be determined according to the actual required detection angle range, ensuring that the second field of view fov2 of two adjacent homogenized beams are connected or partially overlapped, thus covering the angular space distance Δfov between the original two adjacent collimated beam angles. No specific limitation is made here.

[0076] In another exemplary scheme, the focal length of the lens module 200 and the distance between the light-emitting module 100 and the lens module 200 are not fixed and are adjustable. In this case, the light-emitting module 100 can be positioned on or off the focal plane of the lens module 200 by simultaneously adjusting the focal length of the lens module 200 and the distance between the light-emitting module 100 and the lens module 200. As for the adjustment values ​​of the distance between the light-emitting module 100 and the lens module 200 and the focal length of the lens module 200, they can be adjusted according to actual needs. For example, based on the actual required detection angle range, the first field of view fov1 of the collimated beam can be determined, thereby adjusting the distance between the light-emitting module 100 and the lens module 200 and the focal length f of the lens module to ensure that the second field of view fov2 of two adjacent uniform beams are connected or partially overlapped, thus covering the angular space distance Δfov between the original two adjacent collimated beam angles. No specific limitation is made here.

[0077] Specifically, the distance between the light-emitting module 100 and the lens module 200 and / or the focal length of the lens module 200 itself are adjustable. Correspondingly, the laser emitting device provided in this embodiment has the advantage of flexible adjustment when aligning a straight beam for divergent and uniform light emission. Designers can align the straight beam for divergent and uniform light emission according to the general standards of the entire detection market, or according to the actual needs of the target detection market. For example, for the entire detection market, the general standard detection angle range in the vertical direction is 25° field of view, while for the target detection market, the required vertical detection angle range is 7° field of view. Therefore, when making actual designs, designers can adjust the lens module 200 to meet the requirements of the target detection market, without being limited to the general standards of the overall detection market.

[0078] Specifically, when it is necessary to adjust the distance between the light-emitting module 100 and the lens module 200, various driving methods can be used to adjust the distance between the light-emitting module 100 and the lens module 200, and it is not limited to motor drive, so no restrictions are imposed here.

[0079] Please see Figure 1 , Figure 7 As shown, the lens module includes:

[0080] The angle-reduction lens assembly 210 includes at least one lens located on the light-emitting side of the light-emitting module 100, used to reduce the divergence angle of each initial beam and output angle-reduction beams that correspond one-to-one with the initial beams.

[0081] The refractive lens assembly 220 includes at least one lens located on the light-emitting side of the angle-reducing lens assembly, for deflecting each angle-reducing beam to expand the detection angle range of the angle-reducing beam.

[0082] The refracting lens assembly 220 works in conjunction with the angle-reduction lens assembly 210 to collimate multiple initial beams incident on the angle-reduction lens assembly 210 to form a collimated beam, and also to expand the angle of the collimated beam to emit a uniform beam.

[0083] Furthermore, the lens module 200 adjusts the focal length of the lens module 200 by adjusting at least one of the focal length of the zoom lens assembly 210, the focal length of the refracting lens assembly 220, and the distance between the zoom lens assembly 210 and the refracting lens assembly 220.

[0084] Please refer to Figure 1 and Figure 7 In a specific exemplary embodiment, the reduced-angle lens assembly 210 includes a first convex lens, and the angled lens assembly 122 includes a second convex lens. The focal length of the reduced-angle lens assembly 210 is smaller than the focal length of the second lens 220. The first convex lens is located on the light-emitting side of the light-emitting module 100 and is used to reduce the divergence angle of each initial beam to output a reduced-angle beam corresponding to the initial beam. The second convex lens is located on the light-emitting side of the first convex lens and is used to deflect each reduced-angle beam to expand the detection angle range of the reduced-angle beam. The second convex lens and the first convex lens cooperate to collimate multiple initial beams incident on the first convex lens to form a collimated beam, and also to expand the angle of the collimated beam to emit a uniform beam.

[0085] In this embodiment, the lens module 200 includes only two convex lenses, which has a simple structure and is easy to adjust.

[0086] In other embodiments, the design of the angle-reduction lens assembly 210 and the refracting lens assembly 220 can be customized according to actual needs. Parameters such as the selection of the number of lenses, the selection of lens types, and the distance between adjacent lenses can be flexibly configured according to actual needs without limitation. It is only necessary to ensure that when the angle-reduction lens assembly 210 and the refracting lens assembly 220 are used together, they can achieve collimation processing of the initial beam and output a collimated beam. They can also perform divergence homogenization processing on the collimated beam so that the output multiple homogenized beams satisfy the following: the second field of view of two adjacent homogenized beams are connected or partially overlapped to cover the angular spatial interval of the collimated beam.

[0087] In one exemplary embodiment, multiple sub-light-emitting units 110 are spaced apart on the emission plane along a first direction; the first direction can be a vertical or horizontal direction; multiple light-emitting sub-units 112 are equally spaced along the horizontal or vertical direction on the emission plane. At this time, the beam adjustment module performs divergence homogenization processing on the collimated beam in the first direction, causing two adjacent homogenized beams to connect or partially overlap at their second field of view in the first direction to cover the angular spatial spacing of the collimated beam at its first field of view in the first direction.

[0088] In order to improve the uniform light effect of the beam adjustment module, and thus further improve the angular resolution of the laser emitting device, multiple sub-light-emitting units 110 are arranged at equal intervals along the first direction.

[0089] In another exemplary embodiment, multiple sub-light-emitting units 110 are spaced apart on the emitting plane along a first direction and a second direction perpendicular to the first direction. The first direction can be vertical and the second direction can be horizontal, or both can be vertical and horizontal. For example, 150 sub-light-emitting units 110 are spaced apart along the horizontal direction and 50 sub-light-emitting units are spaced apart along the vertical direction on the emitting plane. In this case, the beam adjustment module performs divergence homogenization processing on the collimated beam in the first and second directions, so that the second field of view of two adjacent homogenized beams in the first and second directions are connected or partially overlapped to cover the angular spatial spacing of the collimated beam in the first and second directions.

[0090] To further improve the uniform light effect of the beam adjustment module, and thus better improve the angular resolution of the laser emitting device, multiple sub-light-emitting units 110 are arranged at equal intervals along the horizontal and vertical directions.

[0091] To further improve the beam homogenization effect of the beam adjustment module, and thus better enhance the angular resolution of the laser emitting device, multiple light-emitting sub-units 112 are equally spaced along the horizontal, vertical, and diagonal directions corresponding to the horizontal and vertical directions. In this case, the beam adjustment module performs divergent homogenization processing on the collimated beam in the first, second, and diagonal directions, causing the second field of view angles of adjacent homogenized beams to connect or partially overlap in the first, second, and diagonal directions, thereby covering the angular spatial spacing of the collimated beam's first field of view angle in the first, second, and diagonal directions.

[0092] In one exemplary embodiment, the light-emitting module 100 employs a vertical-cavity surface-emitting laser (VCSEL). The laser beam of a VCSEL is emitted from the top surface of the integrated circuit, perpendicular to the reactive region, giving VCSELs advantages such as ease of integration and suitability for fabricating two-dimensional arrays. In other embodiments, the light-emitting module 100 can employ other types of lasers, as long as multiple sub-light-emitting units 110 are spaced apart on the emitting plane of the light-emitting module 100. Therefore, the specific type of laser used in the light-emitting module 100 is not limited.

[0093] Please refer to Figures 1 to 3 In one embodiment, the laser emitting device further includes a housing 310 and a plate 320 disposed on one side of the housing 310. The housing 310 has a hollow receiving cavity 311, the light-emitting module 100 is disposed on the plate 320, and the beam adjustment module is disposed in the receiving cavity 311.

[0094] The laser emitting device provided in this application adopts an integrated lens module, which not only helps to reduce the size of the laser emitting device and facilitates the miniaturization of the lidar, but also facilitates the adjustment of the collimated beam divergence into a uniform beam, flexible settings based on different uniform light effect requirements, and subsequent maintenance and repair of the device.

[0095] In this embodiment, the light spot formed by the laser beam emitted by the laser emitting device is circular (e.g., ...). Figure 2 (As shown in Figures 3 and 4). In other embodiments, the laser beam emitted by the laser emitting device can form a spot of other shapes, such as rhombus, rectangle, etc. The shape of the spot can be set according to actual needs and is not limited here.

[0096] Specifically, the laser emitting device also includes a spot adjustment structure for adjusting the spot shape of the laser beam emitted by the laser emitting device. On the one hand, adjusting the spot shape using the spot adjustment structure allows two adjacent homogenized beams to better cover the angular spatial distance of the collimated beam, thereby improving the angular resolution of the laser emitting device. On the other hand, adjusting the spot shape using the spot adjustment structure allows for flexible configuration of the spot shape according to actual needs, facilitating the application of the laser emitting device in different practical scenarios.

[0097] This application also proposes a lidar, which includes the laser emitting device described above. The specific structure of the laser emitting device is as described in the above embodiments. Since this lidar adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0098] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A laser emitting device, characterized by, The application relates to a laser emitting device. The laser emitting device comprises: a light emitting module, which comprises a plurality of sub-light emitting units arranged at intervals on an emitting plane, each of the sub-light emitting units emitting an initial light beam; a light beam adjusting module located on the light emitting side of the light emitting module, which is used for receiving a plurality of the initial light beams and emitting a plurality of uniform light beams corresponding to the plurality of initial light beams to a detection plane, wherein a plurality of light spots formed by the plurality of uniform light beams on the detection plane present a uniform light distribution state; the light beam adjusting module is used for performing collimation processing on each of the received initial light beams at least in a first direction to form a corresponding collimated light beam, wherein a field of view angle covered by each of the collimated light beams is a first field of view angle, and adjacent two collimated light beams have an angular space interval; the light beam adjusting module is further used for performing angle expansion processing on the collimated light beam at least in the first direction to expand the divergence angle of the collimated light beam, and emit the uniform light beam; and a field of view angle covered by each of the uniform light beams is a second field of view angle; 2. The laser emitting device of claim 1, wherein, the second field of view angle is greater than the first field of view angle, and the second field of view angles of adjacent two uniform light beams are connected or partially overlapped to cover the angular space interval, and a plurality of light spots formed by a plurality of the uniform light beams on the detection plane are adjacent to each other or partially overlapped in the first direction. the light beam adjusting module comprises a lens module, the lens module is used for receiving a plurality of the initial light beams, performing collimation processing on the initial light beams to form the collimated light beam by adjusting the light emitting module to be located on the focal plane of the lens module at least in the first direction; and 3. The laser emitting device of claim 2, wherein, the lens module is further used for performing angle expansion processing on the collimated light beam by adjusting the light emitting module to deviate from the focal plane of the lens module at least in the first direction to expand the divergence angle of the collimated light beam, and emit the uniform light beam. the focal length of the lens module is adjustable, and / or the distance between the light emitting module and the lens module is adjustable; 4. The laser emitting device of claim 3, wherein, the laser emitting device adjusts the focal length of the lens module and / or adjusts the distance between the lens module and the light emitting module to make the light emitting module be located on the focal plane of the lens module or deviate from the focal plane of the lens module. when the distance between the light emitting module and the lens module is fixed, the laser emitting device adjusts the focal length of the lens module to make the light emitting module be located on the focal plane of the lens module or deviate from the focal plane of the lens module; 5. The laser emitting device of claim 2, wherein, when the focal length of the lens module is fixed, the laser emitting device adjusts the distance between the light emitting module and the lens module to make the light emitting module be located on the focal plane of the lens module or deviate from the focal plane of the lens module. the lens module comprises: a corner-reducing lens assembly, which comprises at least one lens and is located on the light emitting side of the light emitting module, and is used for reducing the divergence angle of each of the initial light beams and outputting a corner-reducing light beam corresponding to the initial light beam; an optical folding lens assembly, which comprises at least one lens and is located on the light emitting side of the corner-reducing lens assembly, and is used for performing light beam folding processing on each of the corner-reducing light beams to expand the detection angle range of the corner-reducing light beam. The catadioptric lens assembly cooperates with the corner-correcting lens assembly to collimate the plurality of initial light beams incident on the corner-correcting lens assembly and output collimated light beams, and to expand the angle of the collimated light beams and emit the uniform light beams.

6. The laser emitting device of claim 5, wherein, The lens module adjusts the focal length of the lens module by adjusting at least one of the focal length of the corner-correcting lens assembly, the focal length of the catadioptric lens assembly, and the distance between the corner-correcting lens assembly and the catadioptric lens assembly.

7. The laser emitting device of claim 1, wherein, The ratio r between the angle interval of the second field of view angle of each uniform light beam and the angle space interval of the first field of view angle satisfies 0.5≤r≤1.

8. The laser emitting device according to any one of claims 2 to 7, wherein The light spots of two adjacent uniform light beams also abut or partially overlap in a second direction perpendicular to the first direction.

9. The laser emitting device of any one of claims 2-7, wherein, The plurality of sub-light-emitting units are arranged at equal intervals in the first direction and / or in a second direction perpendicular to the first direction.

10. The laser emitting device of any one of claims 1-7, wherein, The laser emitting device further comprises: a housing having a hollow accommodating cavity; and a plate body arranged on one side of the housing; The light-emitting module is arranged on the side of the plate body close to the housing, and the light beam adjusting module is mounted in the accommodating cavity.

11. A lidar, comprising: The laser emitting device comprises the laser emitting device according to any one of claims 1-10.

Images