Harmonic vibration system, launch system, lidar and vehicle

Abstract

The present application relates to the technical field of laser radar, and particularly provides a simple harmonic vibration system, a transmitting system, a laser radar and a vehicle, aiming at solving the problem of inherent frequency drift of a vibrating member in the existing simple harmonic vibration system. To this end, the simple harmonic vibration system of the present application comprises a vibrating member, a supporting member, a driving assembly and an adjusting assembly, the supporting member cooperates with the vibrating member to support the vibrating member, the driving assembly is capable of driving the vibrating member to perform simple harmonic vibration, the adjusting assembly cooperates with the vibrating member, and the adjusting assembly is capable of adjusting its elastic coefficient; if the inherent frequency of the vibrating member drifts, the elastic coefficient of the adjusting assembly is changed, so as to change the composite elastic coefficient between the vibrating member and the supporting member, and then the inherent frequency of the vibrating member is adjusted, so as to keep the stability of the inherent frequency of the vibrating member.

Description

Technical Field

[0001] This invention relates to the technical field of lidar, specifically providing a simple harmonic vibration system, a transmitting system, lidar, and a vehicle. Background Technology

[0002] LiDAR is a key component for achieving autonomous driving. It maps objects around a vehicle to create a high-precision 3D map, which the vehicle then uses for autonomous driving. A LiDAR system consists of a transmitting unit and a receiving unit. The transmitting unit emits a laser array in a specified direction. When the laser encounters an obstacle, it is reflected and received by the receiving unit. By measuring the propagation distance between the transmitting unit and the target object, and analyzing information such as the magnitude of the reflected energy, the amplitude, frequency, and phase of the reflected spectral density, precise three-dimensional structural information of the target object is obtained.

[0003] The more scanning points the area-array laser emitted by the transmitting unit has, the higher the scanning accuracy of the lidar. The number of scanning points is related to the number of emitting points; the more emitting points, the more scanning points the area-array laser can have. In addition, some transmitting units are equipped with a simple harmonic oscillation system. The transmitting unit is mounted on this system, which drives the transmitting unit to perform simple harmonic oscillations along the X and Y axes. The emission direction of the area-array laser changes regularly with the simple harmonic oscillations of the transmitting unit, expanding the single scanning point of each laser beam into multiple scanning points, thereby increasing the number of scanning points and improving the scanning accuracy of the lidar. The larger the amplitude of the simple harmonic oscillations of the transmitting unit, the larger the scanning range of a single laser beam, and the richer the scanning information of the lidar.

[0004] Current simple harmonic vibration systems consist of a support component, a vibrating component, and a drive assembly. The vibrating component is supported by the support component to maintain stability, and the drive assembly drives the vibrating component to perform simple harmonic vibrations along the X and Y axes. The transmitting unit is connected to the vibrating component and can perform simple harmonic vibrations along with it. After the vibrating component and support component are installed, their natural frequencies are determined. The amplitude of the simple harmonic vibration is maximized when the vibration frequency driven by the drive assembly reaches the natural frequency. As the simple harmonic vibration system is used over time, wear will occur between the vibrating component and the support component, causing a change in the natural frequency of the vibrating component. This alters the frequency and amplitude of the simple harmonic vibration, thus affecting the scanning accuracy of the lidar.

[0005] There is an urgent need for a simple harmonic vibration system, a transmitting system, a lidar, and a vehicle to solve the problem of natural frequency drift of vibrating components in a simple harmonic vibration system. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned technical problem, namely, to solve the problem of natural frequency drift of vibrating components in existing simple harmonic vibration systems.

[0007] In a first aspect, the present invention provides a simple harmonic vibration system, comprising: a vibrating element; a support element connected to the vibrating element and used to support the vibrating element; a driving component capable of driving the vibrating element to perform simple harmonic vibration; and an adjusting component connected to the vibrating element, wherein the adjusting component adjusts its own elastic coefficient to change the composite elastic coefficient of the vibrating element, thereby adjusting the natural frequency of the vibrating element.

[0008] In a specific embodiment of the above-mentioned simple harmonic vibration system, the adjustment assembly includes two adjustment members, which are respectively located on opposite sides of the vibrating member; and / or, there are multiple adjustment assemblies, with at least two of the multiple adjustment assemblies arranged on adjacent sides of the vibrating member.

[0009] In a specific embodiment of the above-mentioned simple harmonic vibration system, the adjusting component includes a first electromagnetic plate and a second electromagnetic plate arranged at intervals. The first electromagnetic plate is connected to the vibrating component, and a DC reference voltage is applied between the first electromagnetic plate and the second electromagnetic plate. The DC reference voltage is a DC voltage, and the elastic coefficient of the adjusting component can be adjusted by adjusting the magnitude of the DC reference voltage.

[0010] In a specific embodiment of the above-mentioned simple harmonic vibration system, the driving component is integrated on the adjusting component, and an excitation voltage is applied between the first electromagnetic plate and the second electromagnetic plate. The waveform of the excitation voltage is a simple harmonic wave, so as to change the distance between the first electromagnetic plate and the second electromagnetic plate, thereby driving the vibrating component to perform simple harmonic vibration.

[0011] In a specific embodiment of the above-mentioned simple harmonic vibration system, the driving component includes a third electromagnetic plate and a fourth electromagnetic plate spaced apart. The third electromagnetic plate is connected to the vibrating component. An excitation voltage is applied between the third electromagnetic plate and the fourth electromagnetic plate. The waveform of the excitation voltage is a simple harmonic wave, so as to change the distance between the third electromagnetic plate and the fourth electromagnetic plate, thereby driving the vibrating component to perform simple harmonic vibration.

[0012] In a specific embodiment of the above-mentioned simple harmonic vibration system, the driving assembly includes two driving elements, which are respectively located on opposite sides of the vibrating element; and / or, there are multiple driving assemblies, with at least two of the multiple driving assemblies arranged on adjacent sides of the vibrating element.

[0013] In a specific embodiment of the above-mentioned simple harmonic vibration system, the simple harmonic vibration system further includes a vehicle computer, which can adjust the magnitude of the DC reference voltage; and / or, the vehicle computer can adjust the magnitude of the excitation voltage; and / or, the vehicle computer can adjust the frequency of the excitation voltage.

[0014] In a specific embodiment of the simple harmonic vibration system described above, the simple harmonic vibration system further includes a resonance detector, which can detect the voltage waveform between the first electromagnetic plate and the second electromagnetic plate, and determine whether the vibrating element resonates based on the voltage waveform.

[0015] In a second aspect, the present invention provides a transmitting system comprising the aforementioned simple harmonic vibration system and a transmitting unit, the transmitting unit being mounted on a vibrating element and capable of emitting a scanning laser.

[0016] In a specific embodiment of the above-described emission system, the emission unit includes a laser emitter and a diffusion unit. The laser emitter is capable of emitting laser light. The diffusion unit includes a lens group, which comprises multiple lenses arranged sequentially. The refractive index of each lens is greater than the refractive index of the medium surrounding the lens. The lenses are capable of refracting and reflecting incident light, producing refracted and reflected light. From the first end to the second end of the lens group, refracted light emitted from the previous lens can enter the next lens and undergo refraction and reflection. The laser light enters from the first end and passes through the refraction and reflection of multiple lenses in sequence. The reflected light generated by the multiple lenses forms a linear laser array.

[0017] In a specific embodiment of the above-mentioned emission system, the diffusion unit includes a first lens group and multiple second lens groups. The first lens group and the second lens group have the same structure as the lens group. The multiple lenses of the first lens group are arranged in a one-to-one correspondence with the multiple second lens groups. The laser is incident from the first end of the first lens group. The reflected light generated by the reflection of the lenses of the first lens group can enter the second lens group and pass through the refraction and reflection of the multiple lenses of the second lens group in sequence. The reflected light generated by the lenses of the multiple second lens groups forms a laser array.

[0018] In a specific embodiment of the above-mentioned emission system, the emission unit includes a laser emitter and a diffusion unit. The laser emitter is capable of emitting laser light. The diffusion unit includes a lens, which includes an incident surface and an exit surface. The base surface of the exit surface is a curved surface, and the exit surface includes multiple exit planes arranged based on the base surface. The included angle between any two exit planes is greater than 0° and less than 180°. The laser light enters from the incident surface, is refracted by the lens, and exits from the multiple exit planes to form a diffused area laser array.

[0019] In a specific embodiment of the above-mentioned emission system, the diffusion unit includes a first lens and a plurality of second lenses. The first lens and the second lens have the same structure as the lens. The plurality of exit planes of the first lens are arranged in a one-to-one correspondence with the plurality of second lenses. The laser light enters from the incident surface of the first lens, and the light refracted by the exit plane of the first lens can enter the second lens and be refracted by the second lens and then emitted.

[0020] In a third aspect, the present invention provides a lidar comprising the aforementioned transmitting system.

[0021] In a fourth aspect, the present invention provides a vehicle including the aforementioned lidar.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The simple harmonic vibration system provided by this invention includes a vibrating element, a supporting element, a driving component, and an adjusting component. The supporting element cooperates with the vibrating element to support it. The driving component can drive the vibrating element to perform simple harmonic vibration. The adjusting component cooperates with the vibrating element and can adjust its own elastic coefficient. If the natural frequency of the vibrating element drifts, the elastic coefficient of the adjusting component is changed, thereby changing the composite elastic coefficient between the vibrating element and the supporting element, thus adjusting the natural frequency of the vibrating element and maintaining its stability.

[0024] Furthermore, the adjustment assembly includes one or more adjustment components, each including a first electromagnetic plate and a second electromagnetic plate opposite to each other, the first electromagnetic plate being connected to the support member; a DC reference voltage is applied between the first electromagnetic plate and the second electromagnetic plate, and the elastic coefficient of the adjustment component can be adjusted by adjusting the magnitude of the DC reference voltage, thus reducing the difficulty of adjusting the elastic coefficient of the adjustment component.

[0025] Furthermore, an excitation voltage is applied between the first and second electromagnetic plates to excite the vibrating component to perform simple harmonic motion, thus combining the functions of the adjustment component and the drive component into one, thereby saving installation space and cost. Attached Figure Description

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0027] Figure 1 This is a schematic diagram of the launch system provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the area array laser projected by the emission system provided by the present invention;

[0029] Figure 3 yes Figure 2 The scanning status of the laser emitted from a single light-emitting point;

[0030] Figure 4 This is a cross-sectional view of the launching system provided by the present invention;

[0031] Figure 5 yes Figure 4 BB-direction sectional view in the middle;

[0032] Figure 6 yes Figure 4 Sectional view along line AA in the middle;

[0033] Figure 7This is a schematic diagram of the connection method of the resonance detector in the simple harmonic vibration system provided by the present invention;

[0034] Figure 8 This is a waveform diagram detected by the resonance detector provided by the present invention;

[0035] Figure 9 This is another waveform detected by the resonance detector provided by the present invention;

[0036] Figure 10 This is a cross-sectional structural diagram of the lens group provided in Embodiment 1 of the present invention;

[0037] Figure 11 This is a cross-sectional structural diagram of the lens provided in Embodiment 1 of the present invention;

[0038] Figure 12 This is a schematic diagram of the diffusion unit provided in Embodiment 2 of the present invention;

[0039] Figure 13 yes Figure 12 Optical path diagram of the middle transmitting unit;

[0040] Figure 14 This is a schematic cross-sectional view of the second lens group provided in Embodiment 2 of the present invention;

[0041] Figure 15 This is a front view of the diffusion unit provided in Embodiment 3 of the present invention;

[0042] Figure 16 This is a right view of the diffusion unit provided in Embodiment 3 of the present invention;

[0043] Figure 17 yes Figure 16 DD section view in the middle;

[0044] Figure 18 yes Figure 17 Enlarged view of point F in the middle section;

[0045] Figure 19 yes Figure 16 The method diagram at point E in the middle;

[0046] Figure 20 This is a schematic diagram of a planar laser array formed after diffusion by the diffusion unit provided in Embodiment 3 of the present invention;

[0047] Figure 21 This is the optical path diagram formed after the laser passes through the diffusion unit provided in Embodiment 3 of the present invention;

[0048] Figure 22 This is a simplified structural diagram of the diffusion unit provided in Embodiment 4 of the present invention.

[0049] 10. Emitting unit; 0. Lens group; 01. Lens; 011. Incident surface; 012. Exit surface; 02. Reflected light; 03. Refracted light; 1. First lens group; 11. First lens; 12. First reflected light; 13. First refracted light; 2. Second lens group; 21. Second lens; 22. Second reflected light; 23. Second refracted light; 0121. Exit plane; 013. Principal optical axis; 04. Light shield; 3. Fixing plate;

[0050] 4. Simple harmonic vibration system; 41. Vibrating component; 42. Drive assembly; 420. Drive component; 421. Third electromagnetic plate; 422. Fourth electromagnetic plate; 43. Adjustment assembly; 430. Adjustment component; 431. First electromagnetic plate; 432. Second electromagnetic plate; 44. Resonance detector. Detailed Implementation

[0051] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0052] It should be noted that in the description of this invention, terms such as "upper," "lower," "left," "right," "inner," and "outer," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] Example 1

[0055] To address the problem of natural frequency drift in existing simple harmonic vibration systems, this invention provides a vehicle. The vehicle is equipped with a lidar system, which can map objects around the vehicle to create a high-precision 3D map. The vehicle then uses this map for autonomous driving. The lidar system includes a transmitting system and a receiving system. The transmitting system emits a laser array in a specified direction. When the laser encounters an obstacle, it is reflected and received by the receiving system. Upon receiving the reflected laser, the receiving system calculates the propagation distance between the transmitting system and the target object based on the laser's time-of-flight. Furthermore, the receiving system can detect the energy, amplitude, frequency, and phase of the reflected laser to present precise three-dimensional structural information of the target object.

[0056] like Figure 1 As shown, the transmitting system includes a simple harmonic oscillation system 4 and a transmitting unit 10. The transmitting unit 10 has multiple light-emitting points, each capable of emitting laser light. The lasers emitted from each light-emitting point combine to form a laser array. The simple harmonic oscillation system 4 drives the transmitting unit 10 to perform simple harmonic oscillations, thereby expanding the scanning range of the laser light emitted from each light-emitting point. The laser light emitted from the transmitting unit 10, after projection, is as follows... Figure 2 As shown, each point represents the landing point of a laser beam emitted from a light-emitting point. Assuming the laser scanning frequency is 36 Hz, and each light-emitting point emits 36 laser beams per second, if the emitting unit 10 is in a non-vibrating state, all 36 laser beams emitted by each light-emitting point within one second will be directed towards the same location, resulting in duplicate scanned information and data redundancy. Combined with... Figure 3 As shown, if the emitting unit 10 performs simple harmonic oscillation, the laser emission direction of the emitting point changes regularly with the simple harmonic oscillation of the emitting unit 10. Each emitting point emits 36 laser beams that are directed to different positions within one second, thereby increasing the number of scanning points emitted by a single emitting point. Furthermore, each scanning point position is unique, eliminating data redundancy and improving the scanning and imaging accuracy of the lidar. Simply put, by driving the emitting unit 10 to perform simple harmonic oscillation, the projection range of the laser emitted by a single emitting point can be expanded from a single point to a region, increasing the scanning range and number of scanning points, thus improving the scanning and imaging accuracy of the lidar. By increasing the laser scanning frequency, under extreme conditions, the scanning position of the laser emitted by each emitting point within one scanning cycle can be different, thereby greatly improving the scanning and imaging accuracy of the lidar.

[0057] When the laser scanning frequency is constant, the number of scanning points and the scanning range of the laser emitted from each light-emitting point are related to the simple harmonic vibration waveform of the emitting unit 10. In this embodiment, the simple harmonic vibration system 4 drives the emitting unit 10 to perform simple harmonic vibrations along the first direction X and the second direction Y, which are perpendicular to each other. The vibration frequencies of the emitting unit 10 along the first direction X and the second direction Y are different, resulting in different composite waveforms of the simple harmonic vibrations. Taking an example where the ratio of the vibration frequencies of the emitting unit 10 along the second direction Y to the first direction X is 11:13, the simple harmonic vibration waveform is as follows: Figure 3 As shown. The denser the simple harmonic vibration waveform, the larger the scanning range of the laser emitted from a single light-emitting point, the richer the amount of data that the lidar can scan, and the higher the scanning accuracy. However, the denser the simple harmonic vibration waveform, the closer the vibration frequency along the first direction X is to the vibration frequency along the second direction Y, making it more prone to degradation and distortion. If the vibration frequency along the first direction X or the vibration frequency along the second direction changes slightly, the vibration frequency ratio can easily degrade from 11:13 to 1:1, greatly affecting the scanning range of the laser emitted from each light-emitting point, and thus affecting the scanning and imaging accuracy of the lidar. The biggest factor contributing to the distortion of the simple harmonic vibration waveform is the change in the vibration frequency of the simple harmonic vibration system 4 due to component wear.

[0058] like Figure 4 As shown, the simple harmonic vibration system 4 includes a support member (not shown), a vibrating element 41, a drive assembly 42, and an adjustment assembly 43. The transmitting unit 10 is mounted on a fixed plate 3, which is integrally connected to the vibrating element 41. The support member is connected to the vibrating element 41 to support it and maintain its stability. The drive assembly 42 drives the vibrating element 41 to perform simple harmonic vibrations along a first direction X and a second direction Y. The transmitting unit 10 also performs simple harmonic vibrations along with the vibrating element 41. The vibration frequency of the drive assembly 42 is the same as the natural frequency of the vibrating element 41, maximizing the amplitude of the simple harmonic vibrations. The adjustment assembly 43 is connected to the vibrating element 41 and can adjust its own elastic coefficient to change the composite elastic coefficient of the vibrating element 41, thereby adjusting the natural frequency of the vibrating element 41.

[0059] The natural frequency of the vibrating element 41 is related to the composite elastic coefficient. The composite elastic coefficient of the vibrating element 41 is the elastic coefficient obtained by combining the elastic coefficients between the support element and the vibrating element 41 and the elastic coefficient of the adjusting assembly 43 in parallel, including the elastic coefficient k along the first direction X. x and the elastic coefficient k along the second direction Y y The natural vibration period of the vibrating element 41 along the first direction X is T. x =2π(M / k x 0.5, the natural vibration period along the second direction Y is T y =2π(M / k y0.5, where M is the mass of the vibrating element 41, therefore, by changing the elastic coefficient of the adjusting component 43 itself, k can be changed. x and k y This allows for the adjustment of T. x and T y This adjusts the natural frequencies of the vibrating element 41 along the first direction X and the second direction Y. When the elastic coefficient between the support and the vibrating element 41 changes with wear, causing a drift in the natural frequency of the vibrating element 41, the elastic coefficient of the adjusting component 43 is changed to adjust the natural frequencies of the vibrating element 41 along the first direction X and the second direction Y. This restores the natural frequency of the vibrating element 41 along the first direction X to be the same as the vibration frequency of the driving component 42 along the first direction X, and also restores the natural frequency of the vibrating element 41 along the second direction Y to be the same as the vibration frequency of the driving component 42 along the second direction Y, thereby avoiding distortion of the simple harmonic vibration waveform of the vibrating element 41.

[0060] Specifically, such as Figure 5 As shown, multiple adjustment components 43 are provided, with at least two of them arranged on adjacent sides of the vibrating member 41. Specifically, at least one adjustment component 43 is arranged on both sides of the vibrating member 41 along a first direction X, and at least one adjustment component 43 is arranged on both sides of the vibrating member 41 along a second direction, thereby adjusting the combined elastic coefficient of the vibrating member 41 along the first direction X and the second direction Y. Specifically, two adjustment components 43 are provided: one adjustment component 43 is arranged on both sides of the vibrating member 41 along the first direction X, and the other adjustment component 43 is arranged on both sides of the vibrating member 41 along the second direction. Each adjustment component 43 includes two adjustment elements 430, located on opposite sides of the vibrating member 41. Each adjustment element 430 is an electromagnetic spring, including a first electromagnetic plate 431 and a second electromagnetic plate 432 spaced apart. The first electromagnetic plate 431 is fixedly connected to the vibrating member 41, and the second electromagnetic plate 432 is fixed to other supporting components. A gap exists between the first electromagnetic plate 431 and the second electromagnetic plate 432. A DC reference voltage is applied between the first electromagnetic plate 431 and the second electromagnetic plate 432 to give the adjusting member 430 an elastic coefficient. By changing the magnitude of the DC reference voltage, the magnitude of the repulsive force between the first electromagnetic plate 431 and the second electromagnetic plate 432 can be changed, thereby changing the elastic coefficient of the adjusting member 430. When the DC reference voltage is zero, the elastic coefficient of the adjusting member 430 is zero.

[0061] like Figure 6As shown, multiple drive assemblies 42 are provided, with at least two of them arranged on adjacent sides of the vibrating member 41. Specifically, at least one drive assembly 42 is arranged on both sides of the vibrating member 41 along a first direction X, and at least one drive assembly 42 is arranged on both sides of the vibrating member 41 along a second direction, thereby driving the vibrating member 41 to perform simple harmonic oscillations along the first direction X and the second direction Y. Specifically, two drive assemblies 4 are provided: one drive assembly 42 is arranged on both sides of the vibrating member 41 along the first direction X, and the other drive assembly 42 is arranged on both sides of the vibrating member 41 along the second direction. Each drive assembly 42 includes two drive members 420 located on opposite sides of the vibrating member 41. Each drive member 420 includes a third electromagnetic plate 421 and a fourth electromagnetic plate 422 spaced apart. The third electromagnetic plate 421 is fixedly connected to the vibrating member 41, and the fourth electromagnetic plate 422 is fixed to other supporting components. A gap exists between the third electromagnetic plate 421 and the fourth electromagnetic plate 422. An excitation voltage is applied between the third electromagnetic plate 421 and the fourth electromagnetic plate 422. The waveform of the excitation voltage is a simple harmonic wave, which can be a composite voltage of DC voltage and sinusoidal AC voltage, or a sinusoidal AC voltage. When the instantaneous value of the excitation voltage changes, the repulsive force between the third electromagnetic plate 421 and the fourth electromagnetic plate 422 will change, thereby changing the distance between the third electromagnetic plate 421 and the fourth electromagnetic plate 422, and thus exciting the vibrating element 41 to perform simple harmonic vibration. When the frequency of the excitation voltage is the same as the vibration frequency of the vibrating element 41, the amplitude of the vibrating element 41 is at its maximum.

[0062] In other embodiments, the drive element 420 can be integrated into the adjustment element 430, that is, a DC reference voltage and an excitation voltage are applied between the first electromagnetic plate 431 and the second electromagnetic plate 432. The DC reference voltage enables the adjustment element 430 to have an elastic coefficient, and the excitation voltage enables the vibrating element 41 to perform simple harmonic motion.

[0063] Regarding the driving component 420, it should be noted that although in this embodiment the driving component 420 drives the vibrating component 41 to perform simple harmonic motion via electromagnetic drive, this is not a limitation of the present invention. Without departing from the principle of the present invention, in other embodiments, those skilled in the art can also set the driving component 42 to other structures capable of high-frequency vibration, which can drive the vibrating component 41 to perform simple harmonic motion along the first direction X and the second direction Y.

[0064] In another embodiment, only one adjustment component 43 may be provided, which is located on both sides of the vibrating element 41 along the first direction X or along the second direction Y. Correspondingly, one drive component 42 is also provided, which is located in the same position as the adjustment component 43, and the drive component 42 can only drive the vibrating element 41 to vibrate along the first direction X or the second direction Y.

[0065] The simple harmonic vibration system 4 also includes a vehicle computer, which can adjust the magnitude of the DC reference voltage, the magnitude of the excitation voltage, and the frequency of the excitation voltage. Adjusting the magnitude of the DC reference voltage changes the elastic coefficients of the adjustment component 43 along the first direction X and the second direction Y, thereby adjusting the natural frequencies of the vibrating element 41 along the first direction X and the second direction Y, making the natural frequency of the vibrating element 41 along the first direction X equal to the frequency of the excitation voltage along the first direction X, and making the natural frequency of the vibrating element 41 along the second direction Y equal to the frequency of the excitation voltage along the second direction Y. Adjusting the frequency of the excitation voltage includes adjusting the frequency of the excitation voltage along the first direction X and the second direction Y, which can change the simple harmonic vibration waveform of the vibrating element 41 at resonance. Adjusting the magnitude of the excitation voltage can, to a certain extent, adjust the amplitude of the simple harmonic vibration of the vibrating element 41 along the first direction X and the second direction Y, thereby changing the scanning range of a single light-emitting point in the light-emitting unit.

[0066] like Figure 7 As shown, the simple harmonic vibration system 4 also includes a resonance detector 44, which can detect whether the vibrating element 41 resonates. Specifically, the resonance detector 44 is a detector that can detect the voltage waveform between the first electromagnetic plate 431 and the second electromagnetic plate 432, and determine whether the vibrating element 41 resonates based on the voltage waveform. During the process of detecting whether the vibrating element 41 resonates, the drive assembly 42 periodically impacts the vibrating element 41 along the first direction X and the second direction Y with pulses of a set excitation frequency, causing the vibrating element 41 to undergo forced vibration. When the vibrating element 41 undergoes forced vibration, the distance between the first electromagnetic plate 431 and the second electromagnetic plate 432 will change slightly, thereby causing voltage fluctuations between the first electromagnetic plate 431 and the second electromagnetic plate 432. These voltage fluctuations are induced voltages. By continuously changing the DC reference voltages of the adjusting member 430 positioned along the first direction X and the second direction Y, the amplitudes of the induced voltages along the first direction X and the second direction Y are maximized. At this point, the DC reference voltages of the adjusting member 430 positioned along the first direction X and the second direction Y constitute a resonant DC reference voltage. Under this resonant DC reference voltage, the natural frequency of the vibrating member 41 is the same as the excitation frequency set by the drive assembly 42, resulting in resonance and maximizing the amplitude of the induced voltage. The waveform detected by the detector is as follows: Figure 8 As shown, the sine wave represents the induced voltage waveform, and the straight wave represents the DC reference voltage waveform. Figure 8 Curves ①, ② and ③ in the figure represent waveforms under different DC reference voltages, with the induced voltage amplitude being the largest in curve ②.

[0067] With the drive assembly 42 integrated into the regulating assembly 43, the detector can detect the waveforms of the DC reference voltage, the excitation voltage, and the induced voltage. The waveforms detected by the detector are as follows: Figure 9 As shown, the sine wave with a larger amplitude is the pulse wave of the excitation voltage, the sine wave with a smaller amplitude is the waveform of the induced voltage, and the straight wave is the waveform of the DC reference voltage. Figure 9 Curves ①, ②, and ③ in the diagram represent waveforms under different DC reference voltages. During the adjustment of the DC reference voltage, the waveform of the induced voltage is detected. The resonant DC reference voltage can be determined when the amplitude of the induced voltage waveform is at its maximum.

[0068] The emitting unit 10 includes a laser emitter and a diffusion unit. The laser emitter emits laser light into the diffusion unit, and after diffusion by the diffusion unit, the laser light is diffused into an area array laser with multiple light emission points.

[0069] like Figure 10 As shown, the diffusion unit includes a lens group 0, which comprises multiple lenses 01 arranged sequentially and mounted on a fixed plate 3. The lens group 0 has a first end and a second end. The multiple lenses 01 in the lens group 0 are arranged sequentially from the first end to the second end. The laser beam is incident from the first end of the lens group 0. The refractive index of the lens 01 is greater than the refractive index of the medium surrounding the lens 01, so that the light rays incident on the lens 01 can be reflected and refracted at the lens 01, thereby generating reflected light 02 and refracted light 03. From the first end to the second end of the lens group 0, the refracted light 03 emitted from the previous lens 01 can enter the next lens 01 and undergo refraction and reflection, repeating this process until the laser beam passes through all the lenses 01. The laser beam generates reflected light 02 after passing through all the lenses 01. Each lens 01 corresponds to a light-emitting point, and the multiple beams of reflected light 02 generated by the multiple lenses 01 combine to form a linear laser array.

[0070] like Figure 11 As shown, lens 01 has a right-angled trapezoidal cross-section. Lens 01 includes an incident surface 011 and an exit surface 012, which are positioned opposite each other. The incident surface 011 has a right-angled side, and the exit surface 012 has a hypotenuse. The angle between the incident surface 011 and the exit surface 012 is α. For most lenses 01, incident light (initial light or refracted light 03) strikes the incident surface 011, where it is reflected and refracted for the first time. The reflected light forms reflected light 02, and the first refracted light forms refracted light that strikes the exit surface 012. A second refracting occurs at the exit surface 012, forming refracted light 03. In other embodiments, lens 01 can also have other shapes, as long as the incident surface 011 and the exit surface 012 are opposite each other and the angle between them is α.

[0071] Let the angle of incidence of the incident light be θ, the angle of refraction of the incident light be i, the angle of incidence of the first refracted light be ii, the angle of exit of the refracted light 03 be Ω, the refractive index of lens 01 be K, and the distance between adjacent lenses 01 be D. According to the law of refraction, Sinθ / Sini=K=SinΩ / Sinii=SinΩ / Sin(i-α), where θ-Ω>0, and from the properties of the sine function, θ-Ω>α. Since lenses 01 are arranged sequentially along an arc of radius R, 0.5D / R=Sin0.5(θ-Ω-α). From this, we can understand the relationship between the angle α between the incident surface 011 and the exit surface 012, the angle of incidence of the incident light be θ, the angle of exit of the refracted light 03 be Ω, the arrangement radius R of lens group 0, and the distance D between lenses 01, which is helpful for designing the shape of lens 01 and arranging lens group 0.

[0072] The initial light emitted by the laser emitter enters through the incident surface 011 of lens 01 at the first end of the lens group 0. Reflection and refraction occur at the incident surface 011, producing reflected light 02 and refracted light 03. The refracted light 03 exiting the first lens 01 is incident as light onto the second lens 01, where it generates new reflected light 02 and refracted light 03 at the incident surface 011. The refracted light 03 exiting the second lens 01 continues as incident light onto the next lens 01, and so on, until the laser has passed through all the lenses 01. After the laser enters the lens group 0, a beam of reflected light 02 is generated each time it passes through a lens 01. All the reflected light 02 generated after the laser passes through the lens group 0 combines to form a linear laser array.

[0073] Each time a laser beam is reflected and refracted, a portion of its energy is absorbed, while the remaining energy is converted into reflected and refracted light energy. The ratio of absorbed energy to incident light energy is called the absorption coefficient, the ratio of reflected energy to incident light energy is called the reflection coefficient, and the ratio of refracted energy to incident light energy is called the transmission coefficient. For the same lens 01, the sum of the absorption coefficient, reflection coefficient, and transmission coefficient is 1. The smaller the reflection coefficient, the smaller the proportion of energy of each reflected beam 02 to the total laser energy, and the greater the maximum number of reflective beams 02 that can be set. The greater the number of reflective beams 02, the greater the number of emission points of the linear laser array, and the higher the scanning accuracy of the lidar.

[0074] The initial light emitted by the laser emitter is P-type linearly polarized light, and the incident angle of the initial light and the refracted light 03 is Brewster angle. When the P-type linearly polarized light is incident at Brewster angle, the reflected light and refracted light produced after refraction are also P-type linearly polarized light. This can reduce the reflection coefficient of the incident light to below 1%.

[0075] At least a portion of the incident surface 011 of the lens 01 is covered with a semi-transparent film, which can filter light waves. By changing the thickness of the semi-transparent film attached to the lens 01, the reflection coefficient can be changed; the thicker the semi-transparent film, the greater the reflection coefficient.

[0076] The incident surface 011 of lens 01, located at the second end of lens group 0, is covered with a total internal reflection film. The total internal reflection film can completely reflect the incident light. The incident surfaces 011 of the other lenses 01 are covered with semi-transparent films. When the laser light reaches lens 01 at the second end of lens group 0 after multiple refractions, the energy of the incident light is already relatively weak. Total internal reflection of this incident light beam can convert it all into reflected light 02 for use, thus avoiding the waste of the energy of the incident light beam.

[0077] In the design of lidar, it is essential to maintain the same energy for each emitted laser beam, meaning the energy of each reflected light beam (O2) should be as similar as possible. To achieve this, the thickness of the semi-transparent film attached to lens 01 gradually increases from the first end to the second end of lens group 0. As the laser beam enters lens group 0 from the first to the second end, the more lenses 01 the laser passes through, the lower the energy of the light wave. Furthermore, the increasing thickness of the semi-transparent film attached to lens 01 along the laser incidence direction means that the film is thicker for weaker incident light, resulting in a higher reflection coefficient. This ensures that the energy of the reflected light (O2) is as uniform as possible, thereby improving the performance of the lidar.

[0078] Let m be the number of light-emitting points of reflected light 02, and ρ be the luminous flux of each reflected light 02. The ratio of the absorption coefficient to the transmission coefficient of lens 01 with a semi-transparent film is the same and δ. δ is determined by the material, shape, and light source of the medium used in lens 01. Since each lens 01 uses the same material, has the same shape, and uses a laser emitter as the light source, δ is the same and constant for each lens 01. The smaller the ratio δ of the absorption coefficient to the transmission coefficient of lens 01, the more light-emitting points m of reflected light 02; the smaller the luminous flux ρ of each reflected light 02, the more light-emitting points m of reflected light 02.

[0079] In addition, by increasing the energy of the incident light generated by the laser emitter, the number of emission points m of the reflected light O2 can also be increased.

[0080] A single laser beam emitted by a laser emitter can be converted into a linear laser beam by a single diffusion unit. Multiple diffusion units are arranged in sequence, and each diffusion unit corresponds to a laser emitter, so that the emission unit 10 can form a planar laser beam.

[0081] In summary, the working principle of the simple harmonic vibration system 4 provided by this invention is as follows:

[0082] When the natural frequency of the vibrating element 41 drifts, the magnitude of the DC reference voltage applied between the first electromagnetic plate 431 and the second electromagnetic plate 432 is adjusted. This adjusts the repulsive force between the first electromagnetic plate 431 and the second electromagnetic plate 432, thereby changing the elastic coefficient of the adjusting element 430 and ultimately adjusting the natural frequency of the vibrating element 41. During the adjustment of the natural frequency of the vibrating element 41, the driving component 42 periodically impacts the vibrating element 41 along the first direction X and the second direction Y with pulses of a set excitation frequency, causing the vibrating element 41 to undergo forced vibration. When the vibrating element 41 undergoes forced vibration, the distance between the first electromagnetic plate 431 and the second electromagnetic plate 432 changes slightly, thereby generating an induced voltage between the first electromagnetic plate 431 and the second electromagnetic plate 432. When the amplitude of the induced voltage is at its maximum, the excitation frequency is the same as the natural frequency of the vibrating element 41, resulting in resonance. At this point, the correction of the natural frequency of the vibrating element 41 is completed.

[0083] Example 2

[0084] This embodiment discloses a vehicle whose structure is basically the same as that of Embodiment 1, except for the structure of the diffusion unit.

[0085] Specifically, such as Figures 12 to 14 As shown, the diffusion unit includes a first lens group 1 and multiple second lens groups 2. The first lens group 1 and the second lens group 2 have the same structure as the lens group 0 described in Embodiment 1. Both the first lens group 1 and the second lens group 2 are mounted on the fixing plate 3.

[0086] The lenses in the first lens group 1 are first lenses 11, and the lenses in the second lens group 2 are second lenses 21. Each first lens 11 in the first lens group 1 corresponds one-to-one with a different first lens group 2, meaning each second lens group 2 corresponds to one first lens 11. The laser emitted by the laser emitter enters from the first end of the first lens group 1, is reflected and refracted at the first lens 11, and produces first reflected light 12 and first refracted light 13. Each first reflected light 12 produces first reflected light 12 as it passes through each first lens 11. Each beam of first reflected light 12 is directed to the first end of a second lens group 2 and sequentially refracted and reflected by multiple second lenses 21 of the second lens group 2, producing multiple beams of second reflected light 22 and multiple beams of second refracted light 23. The second reflected light 22 produced at a single second lens group 2 forms a linear laser array, and the multiple linear laser arrays produced by multiple second lens groups 2 combine to form a planar laser array. In this embodiment, a planar laser array can be formed by the cooperation of a laser emitter, a first lens group 1 and multiple second lens groups 2, which greatly reduces the number of laser emitters, thereby making the structure of the emission system simpler and the cost lower.

[0087] Example 3

[0088] This embodiment discloses a vehicle whose structure is basically the same as that of Embodiment 1, except for the structure of the diffusion unit.

[0089] Specifically, such as Figure 15 As shown, the diffusion unit includes a lens 01. The refractive index of lens 01 is greater than the refractive index of the medium surrounding lens 01, and lens 01 can convert incident parallel light into diffused light. Generally, lens 01 is located in air, and its refractive index only needs to be greater than 1. The specific way lens 01 converts incident parallel light into diffused light is as follows: lens 01 converts the incident parallel light into converging light, which is then converged and diffused back into diffused light.

[0090] Lens 01 includes an incident surface 011 and an exit surface 012. The exit surface 012 has a base surface, which is machined based on the base surface. The base surface is a convex curved surface, while the incident surface 011 is a plane. The laser enters from the incident surface 011 and exits from the exit surface 012. If the laser is incident perpendicularly from the incident surface 011, its direction remains unchanged after entering the lens 01, and it remains parallel light.

[0091] The exit surface 012 includes multiple exit planes 0121. Each exit plane 0121 is formed on the base surface of the exit surface 012 by material removal. The angle between any two exit planes 0121 is greater than 0° and less than 180°. During the emission of laser light from the lens 01 through the exit surface 012, laser light emitted from the same exit plane 0121 has approximately the same emission direction, forming a single laser beam. The single laser beam emitted from each exit plane 0121 first converges and then diffuses to form an array laser. Each exit plane 0121 is an independent emission point. The purpose of setting the exit planes 0121 is to concentrate a portion of the laser light to form a single parallel laser beam, preventing the laser from being too dispersed and resulting in insufficient energy. If the laser energy intensity is insufficient, the emitted laser light will be difficult for the laser radar receiving system to identify and analyze after reflection. The purpose of setting the included angle between any two exit planes 0121 to be greater than 0° and less than 180° is to ensure that the emission directions of the single laser beams emitted from each exit plane 0121 are different, thus preventing any two laser beams from falling on the same scanning target point. If any two laser beams fall on the same scanning point, the laser energy at that scanning point will be enhanced, and the energy of the laser reflected from that scanning point will also be enhanced accordingly, interfering with the analysis results of the lidar.

[0092] All exit planes 0121 have the same area, and the energy of the laser beam emitted from the incident plane 011 to each exit plane 0121 is approximately the same, resulting in approximately the same energy of the laser beam emitted from each exit plane 0121. The closer the energy of each laser beam in the area array laser is, the closer the energy of the laser beam reflected after encountering the same obstacle will be, and the more accurate the results obtained by the receiving system after receiving and analyzing the reflected laser beam will be. Of course, in other embodiments, other methods can be used to make the energy of the laser beam emitted from each exit plane 0121 approximately the same. This invention does not specifically limit this, and all such methods should be included within the scope of protection of this invention.

[0093] like Figure 17 and Figure 18 As shown, the baseline of the exit surface 012 at the central section is designed as one branch of a hyperbola, and the exit surface 012 is a curved surface obtained by rotating this baseline around the principal optical axis 013. The central section is perpendicular to the incident surface 011, and the principal optical axis 013 is perpendicular to the incident surface 011 and passes through the center point of the incident surface 011. The principal optical axis 013 is located within the central section. Each exit surface 0121 is parallel to a different external tangent plane of the base surface. The laser beam is incident perpendicularly from the incident surface 011, and the laser beam emitted from each exit surface 0121 can converge at the focal point of the plano-convex lens before diffusing, making the distribution of each laser beam in the area array laser more orderly. Without departing from the principles of the present invention, in other embodiments, those skilled in the art can also set the exit surface 012 as other types of convex surfaces, as long as it can ensure that the laser beam emitted from each exit surface 0121 converges and then diffuses to obtain an orderly area array laser.

[0094] The distance between adjacent emission planes 0121 is b. This distance is the distance between the center points of two adjacent emission planes 0121, and also the distance between one side of an emission plane 0121 and the corresponding side of an adjacent emission plane 0121. The distance between any two adjacent emission planes 0121 is the same, and the distance between the diffused laser beams emitted from any two adjacent emission planes 0121 is equal, thereby improving the uniformity of the distribution of each laser beam in the area laser array.

[0095] Let plane β be the base plane of the exit plane 012, the refractive index of lens 01 be K, the incident angle of the laser beam onto the exit plane 0121 be θ1, and the exit angle be Ω1. Then sinΩ1 / sinθ1=K.

[0096] In addition, such as Figure 19As shown, a light-shielding element 04 is provided at the edge of the emission plane 0121, especially at the junction between two adjacent emission planes 0121. The junction of two adjacent emission planes 0121 is an optical transient line. Due to the influence of manufacturing precision, defects such as breakage may exist at this junction, causing disordered scattering of the laser light irradiated at this junction. The randomly scattered laser light interferes with each other, which may amplify at non-scanning points, creating interference points and affecting the lidar mapping results. The randomly scattered laser light may also superimpose with the laser beam emitted from the emission plane 0121 at a certain point, changing the energy of the laser light reflected from that point, thus affecting the lidar mapping results. The light-shielding element 04 can block the edge of the emission plane 0121, preventing disordered scattering of the laser light at the edge of the emission plane 0121, especially at the junction between two adjacent emission planes 0121, thereby improving the accuracy of the lidar mapping results.

[0097] like Figure 20 As shown, the distance between the laser spots projected onto the plane after passing through the lens is n. Combined with... Figure 21 As shown, the focal length of lens 01 is D1. The laser emitted from the exit surface 012 is projected onto a plane perpendicular to the principal optical axis 013 and at a distance S from the focal point of lens 01. Therefore, n = bS / D1. The smaller the spacing n of the projected light spots, the higher the scanning accuracy of the lidar. By reducing the distance b between two adjacent exit surfaces 0121, or by increasing the focal length D1, the spacing n of the projected light spots can be increased, thereby improving the scanning accuracy of the lidar. Reducing the distance b between two adjacent exit surfaces 0121 requires improved manufacturing processes. Increasing the focal length D1 will reduce the projection range of the laser after passing through the diffusion unit, i.e., reduce the viewing angle of the lidar. In this case, the viewing angle of the lidar can be improved by increasing the number of diffusion units and laser emitters.

[0098] Regarding the shapes of the incident surface 011 and the exit surface 012, it should be noted that although in this embodiment the incident surface 011 is planar and the base surface of the exit surface 012 is a convex curved surface, this is not a limitation of the present invention. Without departing from the principle of the present invention, in other embodiments, those skilled in the art can also set the incident surface 011 as a convex surface and the base surface of the exit surface 012 as a convex surface, thereby converting the parallel light incident on the incident surface 011 into converging light emitted from the exit surface 012, and then the converging light diffuses into diffused light. In another embodiment, those skilled in the art can also set the incident surface 011 as planar and the base surface of the exit surface 012 as a concave arc surface, or set the incident surface 011 as a concave arc surface and the base surface of the exit surface 012 as a concave arc surface, thereby directly converting the parallel light incident on the incident surface 011 into diffused light emitted from the exit surface 012.

[0099] Regarding the structure of the diffusion unit, it should be noted that the specific structure of the diffusion unit described above is not a limitation of the present invention. Without departing from the principle of the present invention, those skilled in the art may also use other structures of the emission unit in other embodiments, including but not limited to solid-state emission units, semi-solid-state emission units and mechanical emission units.

[0100] Example 4

[0101] This embodiment discloses a vehicle whose structure is basically the same as that of Embodiment 1, except for the structure of the diffusion unit.

[0102] like Figure 22 As shown, the diffusion unit includes a first lens 11 and multiple second lenses 21. Both the first lens 11 and the second lenses 21 have the same structure as lens 01 in Embodiment 3. (Combined with...) Figure 19 , Figure 20 and Figure 22 As shown, the multiple exit planes 0121 of the first lens 11 are correspondingly arranged with the multiple second lenses 21, and the incident surface 011 of the second lens 21 faces the exit surface 012 of the first lens 11. The laser emitted by the laser emitter is directed towards the incident surface 011 of the first lens 11. After being diffused by the first lens 11, multiple primary laser beams are emitted from the exit surface 012 of the first lens 11. Each primary laser beam is directed towards the incident surface 011 of a second lens 21. After being diffused by the second lens 21, multiple secondary laser beams are emitted from the exit surface 012 of the second lens 21. The multiple secondary laser beams emitted after being diffused by each second lens 21 can form a planar laser array. The planar laser arrays formed by the diffusion of multiple second lenses 21 can be combined to form a planar laser array with a larger area, thereby increasing the diffusion range of the laser.

[0103] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A launching system, characterized in that, include: Simple harmonic oscillation system, including: Vibrating component (41); A support member is connected to the vibrating member (41) and is used to support the vibrating member (41); The drive assembly (42) is capable of driving the vibrating element (41) to perform simple harmonic motion; An adjustment component (43) is connected to the vibrating element (41). The adjustment component (43) adjusts its own elastic coefficient and can change the composite elastic coefficient of the vibrating element (41) to adjust the natural frequency of the vibrating element (41). A transmitting unit (10) is mounted on the vibrating member (41), and the transmitting unit (10) is capable of emitting a scanning laser. The emitting unit (10) includes a laser emitter and a diffusion unit, wherein the laser emitter is capable of emitting laser light; The diffusion unit includes a lens group (0), which includes a plurality of lenses (01) arranged sequentially, and the refractive index of the lens (01) is greater than the refractive index of the medium surrounding the lens (01). The lens (01) can refract and reflect the incident light, and generate refracted light (03) and reflected light (02). From the first end to the second end of the lens group (0), the refracted light (03) emitted from the previous lens (01) can enter the next lens (01) and be refracted and reflected. The laser beam enters from the first end and passes through the refraction and reflection of multiple lenses (01) in sequence. The reflected light (02) generated by the multiple lenses (01) forms a linear laser array. The diffusion unit includes a first lens group (1) and a plurality of second lens groups (2). The first lens group (1) and the second lens groups (2) have the same structure as the lens group (0). The plurality of lenses (01) of the first lens group (1) are arranged in a one-to-one correspondence with the plurality of second lens groups (2). The laser beam is incident from the first end of the first lens group (1). The reflected light generated by the reflection of the lens (01) of the first lens group (1) can enter the second lens group (2) and pass through the refraction and reflection of the multiple lenses (01) of the second lens group (2) in sequence. The reflected light generated by the multiple lenses (01) of the second lens group (2) forms a laser array.

2. The launching system according to claim 1, characterized in that, The adjustment assembly (43) includes two adjustment members (430), which are respectively located on opposite sides of the vibrating member (41); and / or There are multiple adjustment components (43), and at least two of the multiple adjustment components (43) are arranged on adjacent sides of the vibrating element (41).

3. The launching system according to claim 2, characterized in that, The adjusting member (430) includes a first electromagnetic plate (431) and a second electromagnetic plate (432) spaced apart. The first electromagnetic plate (431) is connected to the vibrating member (41). A DC reference voltage is applied between the first electromagnetic plate (431) and the second electromagnetic plate (432). The elastic coefficient of the adjusting member (430) can be adjusted by adjusting the magnitude of the DC reference voltage.

4. The launching system according to claim 3, characterized in that, The drive component (42) is integrated on the adjustment component (43). An excitation voltage is also applied between the first electromagnetic plate (431) and the second electromagnetic plate (432). The waveform of the excitation voltage is a simple harmonic wave, so as to change the distance between the first electromagnetic plate (431) and the second electromagnetic plate (432), thereby driving the vibrating element (41) to perform simple harmonic vibration.

5. The launching system according to claim 3, characterized in that, The drive assembly (42) includes two drive members (420), which are respectively located on opposite sides of the vibrating member (41); and / or There are multiple drive components (42), and at least two of the multiple drive components (42) are arranged on adjacent sides of the vibrating element (41).

6. The launching system according to claim 5, characterized in that, The driving component (420) includes a third electromagnetic plate (421) and a fourth electromagnetic plate (422) spaced apart. The third electromagnetic plate (421) is connected to the vibrating component (41). An excitation voltage is applied between the third electromagnetic plate (421) and the fourth electromagnetic plate (422). The waveform of the excitation voltage is a simple harmonic wave, so as to change the distance between the third electromagnetic plate (421) and the fourth electromagnetic plate (422), thereby driving the vibrating component (41) to perform simple harmonic vibration.

7. The launching system according to claim 4 or 6, characterized in that, The simple harmonic vibration system also includes a vehicle computer, which is capable of adjusting the magnitude of the DC reference voltage; and / or The vehicle computer can adjust the magnitude of the excitation voltage; and / or The vehicle computer can adjust the frequency of the excitation voltage.

8. The launching system according to claim 3, characterized in that, The simple harmonic vibration system also includes a resonance detector (44), which can detect the voltage waveform between the first electromagnetic plate (431) and the second electromagnetic plate (432), and determine whether the vibrating element (41) resonates based on the voltage waveform.

9. The launching system according to claim 1, characterized in that, The emitting unit (10) includes a laser emitter and a diffusion unit, wherein the laser emitter is capable of emitting laser light; The diffusion unit includes a lens (01), the lens (01) includes an incident surface (011) and an exit surface (012), the base surface of the exit surface (012) is a curved surface, the exit surface (012) includes a plurality of exit planes (0121) set based on the base surface, and the included angle between any two exit planes (0121) is greater than 0° and less than 180°; The laser enters from the incident surface (011), is refracted by the lens (01), and exits from the plurality of exiting planes (0121) to form a diffused area laser array.

10. The launching system according to claim 9, characterized in that, The diffusion unit includes a first lens (11) and a plurality of second lenses (21). The first lens (11) and the second lenses (21) have the same structure as the lens (01). The plurality of exit planes (0121) of the first lens (11) are arranged in a one-to-one correspondence with the plurality of second lenses (21). The laser light enters from the incident surface (011) of the first lens (11), and the light refracted by the exit surface (0121) of the first lens (11) can enter the second lens (21) and exit after being refracted by the second lens (21).

11. A lidar, characterized in that, Includes the launch system as described in any one of claims 1 to 10.

12. A vehicle, characterized in that, Including the lidar as described in claim 11.

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