Laser emitting device, laser receiving device, and lidar

Abstract

Embodiments of the present application relate to the technical field of radar, and disclose a laser emitting device, a laser receiving device and a laser radar. The laser emitting device comprises: a light source carrier; a first base located on one side of the light source carrier; a light source arranged on the other side of the light source carrier relative to the first base, used for emitting laser to a detection area; a first lens arranged on the light emitting side of the light source, used for receiving laser and reducing the beam divergence angle of the laser; and a second lens arranged on the first base, used for receiving the laser output by the first lens and outputting after collimation. The proportion of the optical power of the first lens and the second lens in the total optical power of the laser emitting device is respectively a first proportion and a second proportion, and the first proportion and the second proportion are both greater than 0, and the sum of the first proportion and the second proportion is 1. In the above manner, the present application reduces the influence of the deformation of the bearing component of the optical element in the laser radar on the laser beam pointing angle.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of radar, in particular to a laser emitting device, a laser receiving device and a laser radar. BACKGROUND

[0002] With the development of science and technology, laser radar technology has gradually developed from the initial laser ranging technology to laser tracking, laser speed measurement, laser scanning imaging and laser Doppler imaging technology, and thus various different types of laser radars have emerged and are widely used in various fields. For example, in the field of robots, laser radars are used to help robots achieve autonomous positioning and navigation; in the field of unmanned vehicles, laser radars are used to autonomously sense the road environment and plan routes; in the field of unmanned aerial vehicles, laser radars are used to avoid obstacles; in the field of augmented reality (AR) / virtual reality (VR), laser radars are used to accurately position three-dimensional space positions, etc.

[0003] A laser radar is a radar system that uses a laser beam to detect the position, speed and other characteristic quantities of a target object. Its working principle is that a laser emitting device first emits an outgoing light signal for detection towards a target, and then a laser receiving device receives a reflected light signal reflected back from the target object, compares the reflected light signal with the outgoing light signal, and after processing, obtains information about the target object, such as distance, direction, height, speed, attitude, and even shape parameters. A laser radar at least includes a laser emitting device and a laser receiving device.

[0004] Based on the working principle of a laser radar, only the laser emitted by the laser emitting device for detection can accurately reach the target, and the laser receiving device can accurately receive the laser reflected back from the target, so as to achieve effective detection of the target object. Usually, the positions of the laser emitting device and the laser receiving device in the laser radar are fixed. However, the components in the laser emitting device are usually made of different materials, and different materials have different coefficients of thermal expansion (CTE), so under high and low temperature environments or during reliability tests of the laser radar, the components made of different CTE materials are prone to different deformations. If the bearing components of the optical elements are deformed, the components will be offset, causing the laser beam emitted by the laser emitting device to be offset, i.e., the emitted laser beam cannot accurately reach the target, i.e., the detection cannot be completed. Therefore, under high and low temperature environments or after reliability tests of the laser radar, etc., how to ensure that the laser radar can effectively detect the target is a problem to be solved. SUMMARY

[0005] In view of the above problems, the embodiments of the present application provide a laser emitting device, a laser receiving device and a laser radar, which are used to solve the problem that the pointing angle of the laser beam emitted by the laser emitting device changes after the bearing component of the optical element in the laser radar deforms.

[0006] According to an aspect of the embodiments of the present application, a laser emitting device is provided, which includes: a light source carrier; a first base arranged on one side of the light source carrier; a light source arranged on the other side of the light source carrier relative to the first base, used to emit laser to a detection area; a first lens arranged on the light emitting side of the light source, used to receive the laser and reduce the beam divergence angle of the laser; and a second lens arranged on the first base, used to receive the laser output by the first lens and output the received laser after collimation. The ratio of the optical power of the first lens to the total optical power of the laser emitting device is a first ratio, the ratio of the optical power of the second lens to the total optical power of the laser emitting device is a second ratio, and the first ratio and the second ratio are both greater than 0, and the sum of the first ratio and the second ratio is 1.

[0007] In an optional manner, the first ratio is greater than the second ratio.

[0008] In an optional manner, the first lens is fixed on the light source carrier or directly fixed on the light source carrier by a first fixing member, or

[0009] the first lens is fixed on the first base or directly fixed on the first base by a first fixing member.

[0010] In an optional manner, the first fixing member is a first cantilever structure, and the first lens is fixed on the free end of the first cantilever structure.

[0011] In an optional manner, the fixed end of the first cantilever structure is made of the same material as or different from the light source carrier, or the fixed end of the first cantilever structure is made of the same material as or different from the first base, and / or

[0012] the free end of the first cantilever structure is made of the same material as or different from the light source carrier, or the free end of the first cantilever structure is made of the same material as or different from the first base.

[0013] In one alternative embodiment, the first fixing member includes a first fixing block and a second fixing block, the first fixing block and the second fixing block being disposed in a direction intersecting the optical axis of the first lens and not obstructing the optical path of the laser, the first lens being located between the first fixing block and the second fixing block, and both the first fixing block and the second fixing block abutting against the first lens to clamp and fix the first lens.

[0014] According to another aspect of the embodiments of this application, a laser receiving device is provided, the laser receiving device comprising: a detector carrier; a second base disposed on one side of the detector carrier; a third lens disposed on the second base for receiving and converging reflected laser light from a detection area; a fourth lens for receiving and converging laser light output from the third lens; and a detector disposed on the other side of the detector carrier relative to the second base for receiving laser light converged by the fourth lens; wherein the optical power of the third lens accounts for a third ratio of the total optical power of the laser receiving device, the optical power of the fourth lens accounts for a fourth ratio of the total optical power of the laser receiving device, and both the third ratio and the fourth ratio are greater than 0, and the sum of the third ratio and the fourth ratio is 1.

[0015] In one alternative approach, the third ratio is smaller than the fourth ratio.

[0016] In one alternative embodiment, the fourth lens is fixed to the detector carrier by a second fixing member or directly fixed to the detector carrier, or

[0017] The fourth lens is fixed to the second base by the second fixing member or directly fixed to the second base.

[0018] In one alternative embodiment, the second fixing member is a second cantilever structure, and the fourth lens is fixed to the free end of the second cantilever structure.

[0019] In one alternative embodiment, the fixed end of the second cantilever structure is made of the same or different material as the detector carrier, or the fixed end of the second cantilever structure is made of the same or different material as the second base, and / or

[0020] The free end of the second cantilever structure is made of the same or different material as the detector carrier, or the free end of the second cantilever structure is made of the same or different material as the second base.

[0021] In an alternative, the second fixing member comprises a third fixing block and a fourth fixing block, the third fixing block and the fourth fixing block are arranged in a direction intersecting the optical axis of the fourth lens and do not block the light path of the laser light output by the third lens, the fourth lens is located between the third fixing block and the fourth fixing block, and the third fixing block and the fourth fixing block are in abutment with the fourth lens to clamp and fix the fourth lens.

[0022] According to another aspect of the embodiments of the present application, a laser radar is provided, which comprises the laser emitting device as described above, and / or comprises the laser receiving device as described above, wherein the laser emitting device is configured to emit laser light to a detection area, and the laser receiving device is configured to receive reflected laser light from the detection area.

[0023] Without changing the total optical power of the laser emitting device, the laser emitting device provided by the embodiments of the present application, compared with the laser emitting device comprising only one lens, has the same total optical power, but the laser emitting device provided by the embodiments of the present application comprises a first lens and a second lens, the optical power and focal length of the first lens and the second lens are smaller than those of the lens in the comparative laser emitting device, and since the total focal length of the two laser emitting devices is the same, the distance between the first lens and the light source is smaller than that between the lens in the comparative laser emitting device and the light source, so when the bearing parts of the optical elements in the two laser emitting devices are deformed to the same extent, i.e. the same degree of smiling or crying deformation, the first lens is closer to the light source, so the deformation degree of the position where the first lens is located, i.e. the upward warping or downward bending, is smaller than that of the position where the lens in the comparative laser emitting device is located, i.e. the displacement of the first lens is smaller, and even if the optical power of the first lens is the same as that of the lens in the comparative laser emitting device, the displacement degree of the laser beam output by the first lens is smaller than that of the laser beam output by the lens in the comparative laser emitting device. However, as mentioned above, since the total optical power of the two laser emitting devices is the same, the optical power of the first lens is smaller than that of the lens in the comparative laser emitting device, so the displacement degree of the laser beam output by the first lens is further smaller than that of the laser beam output by the lens in the comparative laser emitting device.

[0024] The second lens is farther away from the light source than the first lens, so even if the second lens is displaced to the same extent as the lens in the comparative laser emitting device, since the optical power of the second lens is smaller than that of the lens in the comparative laser emitting device, the displacement degree of the laser beam output by the second lens is smaller than that of the laser beam output by the lens in the comparative laser emitting device.

[0025] In summary, without changing the total focal length of the laser emitting device, the laser emitting device provided by the embodiments of the present application effectively reduces the degree of deviation of the laser beam emitted by the laser emitting device when the bearing component of the optical element in the laser emitting device is deformed, compared with the laser emitting device including only one lens, so that the detection can be better completed.

[0026] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, and can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the embodiments of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings are included to provide a further understanding of the embodiments, and are incorporated in and constitute a part of this application. In the drawings:

[0028] Figure 1 A structure schematic diagram of the alignment of the laser emitting device and the laser receiving device in the laser radar is shown;

[0029] Figure 2 A structure schematic diagram of the deviation of the laser beam emitted by the laser emitting device in the laser radar is shown;

[0030] Figure 3 A structure schematic diagram of the normal state and the deformed state of the laser emitting device is shown;

[0031] Figure 4 A structure schematic diagram of the change of the pointing angle of the laser beam emitted by the laser emitting device in the prior art in the normal state and after deformation is shown;

[0032] Figure 5 A structure schematic diagram of the laser emitting device provided by some embodiments of the present application is shown;

[0033] Figure 6 A structure schematic diagram of the laser emitting device provided by some other embodiments of the present application is shown;

[0034] Figure 7 A structure schematic diagram of the laser emitting device provided by some other embodiments of the present application is shown;

[0035] Figure 8 A structure schematic diagram of the laser emitting device provided by some other embodiments of the present application is shown;

[0036] Figure 9 A structure schematic diagram of the laser emitting device provided by some other embodiments of the present application is shown;

[0037] Figure 10 A structural schematic diagram of a laser emitting device provided by some embodiments of the present application is shown;

[0038] Figure 11 A structural schematic diagram of a laser emitting device provided by some embodiments of the present application is shown; Figure 7 The light source, the first lens and the first cantilever structure in (a), Figure 8 The light source, the first lens and the first cantilever structure in (a), and Figure 9 A top view structural schematic diagram of the light source, the first lens and the first cantilever structure in (a);

[0039] Figure 12 A structural schematic diagram of a laser emitting device provided by some embodiments of the present application is shown; Figure 7 The light source, the first lens and the first cantilever structure in (b), Figure 8 The light source, the first lens and the first cantilever structure in (b), and Figure 9 A top view structural schematic diagram of the light source, the first lens and the first cantilever structure in (b);

[0040] Figure 13 A structural schematic diagram of a laser emitting device provided by some embodiments of the present application is shown;

[0041] Figure 14 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown;

[0042] Figure 15 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown;

[0043] Figure 16 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown;

[0044] Figure 17 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown;

[0045] Figure 18 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown;

[0046] Figure 19 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown;

[0047] Figure 20 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown; Figure 16 The detector, the fourth lens and the second cantilever structure in (a), Figure 17 The detector, the fourth lens and the second cantilever structure in (a), and Figure 18 A top view structural schematic diagram of the detector, the fourth lens and the second cantilever structure in (a);

[0048] Figure 21 A structural schematic diagram of a laser receiving device provided by some embodiments of the present application is shown; Figure 16 The detector, the fourth lens and the second cantilever structure in (b), Figure 17The middle (b) and Figure 18 A top view structural schematic diagram of the detector, the fourth lens and the second suspension arm structure in the middle (b);

[0049] Figure 22 A structural schematic diagram of fixing the fourth lens by using the third fixing block and the fourth fixing block in the embodiment of the application is shown.

[0050] Figure 23 A structural schematic diagram of the laser radar provided by the embodiment of the application is shown. DETAILED DESCRIPTION

[0051] Exemplary embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0052] At present, due to the advantages of long detection distance, high detection precision, fast response speed, less environmental interference and almost all-weather working, the laser radar has become an indispensable technology in military and civilian fields. Generally, the laser radar includes a laser emitting device and a laser receiving device (which can also be collectively referred to as a laser transceiver device), and the laser beam emitted by the laser emitting device is generally divided into three types: a surface light source, a line light source and a point light source, which cover the full field of view.

[0053] Among them, the point light source and the line light source have high requirements for the alignment of the laser transceiver device, not only requiring the laser transceiver device to be aligned at room temperature, but also requiring the laser transceiver device to maintain the aligned state after extreme temperature such as high and low temperature and reliability test (usually the laser radar needs to be tested for reliability to test whether the performance of the laser radar meets the requirements). Therefore, this puts high requirements on the pointing angle of the laser beam emitted by the laser emitting device, and for some high-resolution sensing systems, the pointing angle of the laser beam emitted by the laser emitting device is required to change less than 0.02°.

[0054] The alignment of the laser transceiver device means that the laser beam emitted by the laser emitting device reaches a certain position, and the reflected laser beam at the position can be received by the laser receiving device. For example, after the laser emitting device emits a detection laser beam to a target object, the laser receiving device can receive the laser beam reflected back by the target object, thereby completing effective detection. Here, in order to better illustrate the alignment state of the laser transceiver device, Figure 1 A structural schematic diagram of the alignment of the laser emitting device and the laser receiving device in the laser radar is shown. Please refer to Figure 1When the laser emitting device and the laser receiving device are aligned, the laser emitting device emits a laser beam for detection to the target object, and after the laser beam reaches the target object and is reflected back by the target object, the laser receiving device can receive the laser beam reflected back by the target object exactly, thereby completing effective detection of the target object.

[0055] If the bearing part of the optical element in the laser emitting device is deformed and thus deviates, the laser beam emitted by the laser emitting device deviates, i.e., the pointing angle of the laser beam emitted by the laser emitting device changes greatly, so that the emitted laser beam cannot reach the target object, thereby failing to complete effective detection. Here, in order to better illustrate the case that the laser beam emitted by the laser emitting device deviates, the emitted laser beam cannot reach the target object, and thus detection cannot be completed, Figure 2 A structure diagram when the laser beam emitted by the laser emitting device in the laser radar deviates is shown. Please refer to Figure 2 Under normal circumstances, the laser transceiver is aligned, i.e., the laser emitting device does not deviate, the laser beam emitted by the laser emitting device can reach the target object A, and the laser receiving device can receive the laser beam reflected back by the target object A, thereby completing detection of the target object A. However, when the laser emitting device deviates, the pointing angle of the laser beam emitted by the laser emitting device changes greatly, so that the laser beam emitted by the laser emitting device actually reaches the target object B, and the laser receiving device can only receive the laser beam reflected by the target object A, which is equivalent to that the laser emitting device and the laser receiving device are not aligned to the same target object, thereby causing the laser radar to fail to complete effective detection.

[0056] The laser radar includes different materials, and generally the CTEs of different materials are different. For example, for some actual optical-mechanical products, the light source carrier in the laser emitting device is a printed circuit board (PCB), and the circuit board generally needs to adopt a ceramic circuit board with a CTE of about 5 ppm / °C, and the lens generally adopts a glass lens with a CTE of about 7 ppm / °C, so that the laser emitting device can emit a laser beam with a spot shape meeting the characteristic requirements. However, considering the cost and light weight, the base of the laser radar generally adopts an aluminum material with a CTE of about 23 ppm / °C. It can be understood that generally materials will deform, for example, under high and low temperature environments or when thermal stress is generated during reliability tests. However, under the same environment, the deformations of different CTE materials are generally different.

[0057] Due to the use of different CTE materials with different sizes and large differences in the laser radar, under high and low temperature environment, after reliability test and other conditions, different CTE materials in the laser emitting device will deform differently, that is, the laser emitting device will be offset, so that the laser beam emitted by the laser emitting device will be offset. Here, in order to better illustrate the state of the laser emitting device under normal conditions and the state after deformation, Figure 3 The structure diagram of the normal state and the deformed state of the laser emitting device is shown. Please refer to Figure 3 , in the normal state, the light source carrier and the base of the laser emitting device are not deformed. Under high and low temperature environment, after reliability test and other conditions, one of the two deformed states shown in Figure 3 , that is, Figure 3 The first deformation (also known as smile deformation, that is, the middle part of the light source carrier and the base is concave downward, and the two ends are warped upward), or the second deformation (also known as crying deformation, that is, the middle part of the light source carrier and the base is arched upward, and the two ends are bent downward).

[0058] Usually, the light source of the laser emitting device is arranged on the light source carrier. If the light source carrier deforms, the light source will be offset, so that the pointing angle of the laser beam emitted by the laser emitting device will change, that is, the laser beam will be offset, which will result in the failure to detect the target object, that is, the phenomenon shown in Figure 2 .

[0059] It is easy to understand that in order to better complete the detection of the target object, the laser beam emitted by the light source in the laser emitting device is usually collimated by a lens before being emitted to the detection area. In the prior art, for the laser emitting device, the light source is arranged on the light source carrier, and the light source carrier is arranged in the base (such as the rack) of the laser radar. Since the lens (referred to as collimating mirror) for collimating the laser beam is large in size, the lens is usually arranged on the base to meet the requirement of structural stability. However, the CTE of the light source carrier and the base is quite different, so under high and low temperature environment, after reliability test and other conditions, the light source carrier and the base will deform as shown in Figure 3 , that is, the smile deformation or the crying deformation, which will cause a large change in the pointing angle of the laser beam emitted by the light source of the laser emitting device, so that the target object cannot be detected.

[0060] Here, in order to better illustrate the problems existing in the prior art, Figure 4 The structure diagram of the pointing angle change of the laser beam emitted by the laser emitting device in the prior art under normal state and after deformation is shown. As shown in Figure 4As shown, in the normal state, i.e. normal temperature, normal working environment, etc. normal conditions, the laser beam emitted by the light source center is horizontally directed to the principal point of the collimating mirror, at this time the pointing angle of the laser beam is normal, i.e. the laser beam can normally reach the target object, if the first deformation of the light source carrier and the base occurs, i.e. the smile deformation, causes the laser beam to shift upward, i.e. the pointing angle of the laser beam changes, which will cause the laser beam to be unable to reach the target object; if the second deformation of the light source carrier and the base occurs, i.e. the cry face deformation, causes the laser beam to shift downward, i.e. the pointing angle of the laser beam changes, which will also cause the laser beam to be unable to reach the target object, so as to fail to complete the detection.

[0061] Based on the above considerations, in order to avoid the deformation of the bearing part of the optical element in the laser radar causing the pointing angle of the laser beam emitted by the laser emitting device to change and thus fail to complete the detection, i.e. to reduce the influence of the deformation of the bearing part of the optical element in the laser radar on the pointing angle of the laser beam, the inventors of the present application have conducted in-depth research and proposed a laser emitting device. The laser emitting device comprises a light source, a first lens and a second lens, wherein the sum of the optical power of the first lens and the optical power of the second lens is equal to the total optical power of the laser emitting device. The first lens is used to receive the laser beam emitted by the light source and reduce the divergence angle of the laser beam before outputting, and the second lens is used to receive the laser beam output by the first lens and collimate it, so that the laser beam output by the second lens meets the application requirements, thereby realizing effective detection of the target object. Without changing the total focal length of the laser emitting device, by distributing the total optical power of the laser emitting device to the first lens and the second lens instead of concentrating on a certain lens, when the same degree of deformation of the bearing part of the optical element in the laser emitting device provided by the embodiment of the present application and the laser emitting device comprising only one lens occurs, the displacement degree of the first lens is smaller due to the close distance between the first lens and the light source, and the displacement degree of the laser beam output by the first lens is smaller due to the smaller optical power of the first lens than the total optical power of the laser emitting device, thereby reducing the displacement degree of the laser beam finally output by the laser emitting device, and realizing effective detection of the target object.

[0062] Figure 5 The structure schematic diagram of the laser emitting device provided by some embodiments of the present application is shown. As Figure 5As shown in (a), the laser emitting device includes a light source carrier 110, a first base 120, a light source 130, a first lens 140, and a second lens 150. The power of the first lens 140 accounts for a first proportion of the total power of the laser emitting device, the power of the second lens 150 accounts for a second proportion of the total power of the laser emitting device, and the first proportion and the second proportion are both greater than 0, and the sum of the first proportion and the second proportion is 1. The first base 120 is arranged on one side of the light source carrier 110. The light source 130 is arranged on the other side of the light source carrier 110 relative to the first base 120, and is configured to emit a laser beam to a detection area. The first lens 140 is arranged on the light emitting side of the light source 130 and on the first base 120, and is configured to receive the laser beam emitted by the light source 130, reduce the beam divergence angle of the laser, and then output the laser. The second lens 150 is arranged on the first base 120, and is configured to receive the laser beam whose beam divergence angle has been reduced by the first lens 140, collimate the received laser, and then output the laser, so that the laser emitted by the laser emitting device meets the application requirements. It can be understood that, generally, the power of a lens is proportional to the change amount of the divergence angle of the input laser beam and the output laser beam. By designing the output laser beam divergence angle of the first lens 140 to be smaller than the input laser beam divergence angle, and by generally having an inverse relationship between the power of the second lens 150 and the input laser beam divergence angle, the power of the second lens 150 can be reduced.

[0063] Specifically, the light source carrier 110 can be a circuit board, and the light source 130 is arranged on the circuit board so that the light source 130 can emit a laser beam. The first base 120 can be a chassis (i.e., a housing) of a laser radar. The first lens 140 can be a plano-convex lens, a double-convex lens, a meniscus lens, or the like. The second lens 150 can be a plano-convex lens, a double-convex lens, a meniscus lens, or the like. It should be noted that the first proportion and the second proportion can be set as needed, as long as the first proportion and the second proportion are both greater than 0, and the sum of the first proportion and the second proportion is equal to 1. The specific materials, shapes, sizes, and the like of the light source carrier 110, the first base 120, the light source 130, the first lens 140, and the second lens 150 are not limited herein, as long as they meet the above setting requirements.

[0064] Generally, the power of a lens is equal to the inverse of its focal length. The higher the power of a lens, the higher the sensitivity of the lens. The sensitivity of a lens represents the degree to which the output laser beam of the lens changes when the lens is shifted. In the case of the same displacement of the lens, the higher the sensitivity of the lens, the greater the degree of change of the output laser beam of the lens, i.e., the greater the degree of shift of the laser beam.

[0065] The total focal length of the laser emitting device is the focal length of the laser radar optical system to which the laser emitting device is applied. The focal length of the laser emitting device is set so that the laser emitting device can emit a laser beam meeting the application requirements. Generally, the total focal length of the laser emitting device is fixed. Therefore, in an optical system (for example, a laser emitting device) with a fixed total focal length, the optical power and the sensitivity are fixed because the focal length is fixed. That is, in the case of a fixed total focal length of the optical system, the optical power and the sensitivity of the optical system cannot be changed by changing the number of lenses in the optical system.

[0066] For a laser emitting device including only one lens and using the lens to collimate a laser beam, the total optical power of the laser emitting device is concentrated on the lens, that is, the total sensitivity of the laser emitting device is concentrated on the lens. Since the volume of the lens is generally proportional to the focal length of the lens, that is, the larger the focal length, the larger the volume. For the laser emitting device including only one lens, the total focal length of the laser emitting device is concentrated on the lens, resulting in a large volume of the lens. Therefore, in order to meet the structural stability of the laser emitting device, the lens is generally arranged on the base of the laser emitting device, and the light source is arranged on the light source carrier. At this time, if the bearing part of the optical element in the laser radar is deformed, causing the lens to be displaced relative to the light source, the pointing angle of the laser beam output by the lens will change greatly, so that the laser beam output by the lens cannot reach the target object, that is Figure 2 the case shown in FIG. 1, so that the detection cannot be completed.

[0067] Without changing the total focal length of the laser emitting device, that is, without changing the total optical power of the laser emitting device, the laser emitting device is designed to include the first lens 140 and the second lens 150 in the embodiment of the present application, and the sum of the optical power of the first lens 140 and the optical power of the second lens 150 is equal to the total optical power of the laser emitting device. That is, the optical power of the first lens 140 and the optical power of the second lens 150 are both less than the total optical power of the laser emitting device.

[0068] Therefore, compared with the laser emitting device including only one lens, the laser emitting device provided by the embodiment of the present application has the same total focal length, and the first lens 140 and the second lens 150 have smaller focal length and focal distance than the lens in the comparative laser emitting device. Since the total focal length of the two laser emitting devices is the same, the distance between the first lens 140 and the light source 130 is smaller than the distance between the lens and the light source in the comparative laser emitting device. When the bearing components of the optical elements in the two laser emitting devices are deformed to the same extent, that is, the same degree of smile deformation or crying deformation, the first lens 140 is closer to the light source 130, and thus the deformation degree of the position of the first lens 140 is smaller than the deformation degree of the position of the lens in the comparative laser emitting device, that is, the displacement of the first lens 140 is smaller. Even if the focal length of the first lens 140 is the same as that of the lens in the comparative laser emitting device, the displacement degree of the laser beam output by the first lens 140 is smaller than that of the laser beam output by the lens in the comparative laser emitting device. However, as mentioned above, since the total focal length of the two laser emitting devices is the same, the focal length of the first lens 140 is smaller than that of the lens in the comparative laser emitting device, and thus the displacement degree of the laser beam output by the first lens 140 is further smaller than that of the laser beam output by the lens in the comparative laser emitting device.

[0069] The second lens 150 is farther away from the light source 130 than the first lens 140. Even if the second lens 150 is displaced to the same extent as the lens in the comparative laser emitting device, since the focal length of the second lens 150 is smaller than that of the lens in the comparative laser emitting device, the displacement degree of the laser beam output by the second lens 150 is smaller than that of the laser beam output by the lens in the comparative laser emitting device.

[0070] Further, since the second lens 150 has a larger volume, the structural stability of the laser emitting device can be improved by arranging the second lens 150 on the first base 120.

[0071] In summary, without changing the total focal length of the laser emitting device, the laser emitting device provided by the embodiment of the present application effectively reduces the displacement degree of the laser beam emitted by the laser emitting device when the bearing components of the optical elements in the laser emitting device are deformed, compared with the laser emitting device including only one lens, so that the detection can be better completed.

[0072] The embodiment of the present application further provides another position setting mode of the first lens 140, as shown in Figure 5 The first lens 140 is arranged on the light source carrier 110, and is used for receiving the laser beam emitted by the light source 130 and outputting after reducing the beam divergence angle of the received laser. Wherein, Figure 5 The difference between (a) and (b) is mainly that the position of the first lens 140 is different, and thus the specific implementation and working principle of (b) can refer to (a), which will not be repeated here.

[0073] It is worth noting that in some embodiments, in order to enable the light source of the laser emitting device to emit a laser beam, the laser emitting device usually further comprises a circuit board. Figure 6 The structure of the laser emitting device provided by another embodiment of the present application is shown in the schematic diagram. Figure 6 The structure of the laser emitting device provided by another embodiment of the present application is shown in the schematic diagram. Figure 5 The circuit board A and the electric lead B are added on the basis of the embodiment of the laser emitting device provided by the present application. As shown in Figure 6 The circuit board A is arranged on the first base 120, and the circuit board A is connected with the light source 130 through the electric lead B, so that the light source 130 can emit a laser beam. Compared with the laser emitting device provided by (a), the difference of the laser emitting device provided by the embodiment of the present application is mainly that the laser emitting device provided by the embodiment of the present application adds the circuit board A and the electric lead B, and thus the specific implementation and working principle of the embodiment of the present application can refer to the laser emitting device provided by (a), which will not be repeated here. Figure 5 The difference of the laser emitting device provided by the embodiment of the present application is mainly that the laser emitting device provided by the embodiment of the present application adds the circuit board A and the electric lead B, and thus the specific implementation and working principle of the embodiment of the present application can refer to the laser emitting device provided by (a), which will not be repeated here. Figure 5 The difference of the laser emitting device provided by the embodiment of the present application is mainly that the laser emitting device provided by the embodiment of the present application adds the circuit board A and the electric lead B, and thus the specific implementation and working principle of the embodiment of the present application can refer to the laser emitting device provided by (a), which will not be repeated here.

[0074] The embodiment of the present application further provides another position setting mode of the first lens 140, as shown in Figure 6 The first lens 140 is arranged on the light source carrier 110, and is used for receiving the laser beam emitted by the light source 130. Wherein, Figure 6 The difference between (a) and (b) is mainly that the position of the first lens 140 is different, and thus the specific implementation and working principle of (b) can refer to (a), which will not be repeated here.

[0075] In some embodiments, the first lens 140 is a first lens unit, which comprises at least two lenses, and is used for receiving the laser beam emitted by the light source 130 and outputting after reducing the beam divergence angle of the laser. Wherein, the total optical power of the first lens unit accounts for a first proportion of the total optical power of the laser emitting device, and the first proportion is greater than 0. The optical power of each lens can be set according to the requirement, as long as the above requirement is met, which will not be limited here.

[0076] In some embodiments, the second lens 150 is a second lens unit including at least two lenses, and is configured to receive the laser beam output by the first lens 140 and output the received laser beam after collimation. The total optical power of the second lens unit accounts for a second proportion of the total optical power of the laser emitting device, and the second proportion is greater than 0. The optical power of each lens can be set as needed as long as the above requirements are met, and is not limited herein.

[0077] In order to further reduce the degree of deviation of the laser beam output by the laser emitting device due to the deformation of the bearing component of the optical element in the laser emitting device, in the embodiments of the present application, the optical power of the first lens 140 is greater than the optical power of the second lens 150, i.e., the first proportion is greater than the second proportion. The first proportion and the second proportion can be set as needed as long as the first proportion is greater than the second proportion, and are not limited herein, and preferably, the first proportion is 80% and the second proportion is 20%.

[0078] In the embodiments of the present application, when the bearing component of the optical element in the laser emitting device deforms to cause the lens to displace, the first lens 140 is relatively close to the light source 130, so the degree of deformation of the position of the first lens 140 to be warped upward or bent downward is relatively small, i.e., the displacement of the first lens 140 is relatively small. Therefore, by setting the first proportion to be greater than the second proportion, i.e., the optical power of the first lens 140 is greater than the optical power of the second lens 150, i.e., the total optical power of the laser emitting device is mainly concentrated on the first lens 140, and the displacement of the first lens 140 is relatively small, the degree of deviation of the laser beam output by the laser emitting device is further reduced.

[0079] In some embodiments, in order to save costs, the first lens 140 is directly fixed on the light source carrier 110, or the first lens 140 is directly fixed on the first base 120.

[0080] In order to reduce the relative displacement between the first lens 140 and the light source 130, thereby reducing the degree of change of the pointing angle of the laser beam output by the first lens 140, i.e., reducing the degree of deviation of the laser beam output by the laser emitting device, Figure 7 The structure of the laser emitting device provided by another embodiment of the present application is shown. In this embodiment, the laser emitting device is Figure 5 The first fixing member is a first cantilever structure 160. As shown in Figure 7As shown in (a), the laser emitting device further comprises a first cantilever structure 160, a fixed end of the first cantilever structure 160 is fixed on the light source carrier 110, and the fixed end extends in a horizontal direction to form a free end of the first cantilever structure 160, the free end is used for fixing the first lens 140, and the first lens 140 is located outside the light source carrier 110 in the horizontal direction. Preferably, the center of the light source 130 is aligned with the principal point of the first lens 140, and the distance between the light emitting surface of the first lens 140 and the center of the light source 130 is 1-1.5 times the focal length of the first lens 140, so that the first lens 140 can better receive the laser beam emitted by the light source 130, and the beam divergence angle of the received laser is reduced.

[0081] It should be noted that the material, shape, size, etc. of the first cantilever structure 160 can be set as needed, as long as the free end of the first cantilever structure 160 can fix the first lens 140 and does not block the light path of the laser, which is not limited herein. The fixed end of the first cantilever structure 160 can be made of the same or different material as the light source carrier 110, or the same or different material as the first base 120; the free end of the first cantilever structure 160 can be made of the same or different material as the light source carrier 110, or the same or different material as the first base 120; the fixed end of the first cantilever structure 160 can be made of the same or different material as the free end.

[0082] In the embodiment of the present application, the first lens 140 is fixed with the light source carrier 110 through the first cantilever structure 160, so that the relative displacement between the light source 130 and the first lens 140 fixed on the light source carrier 110 can be effectively reduced. The ratio of the optical power of the first lens 140 to the total optical power of the laser emitting device is the first ratio, and the first ratio is greater than 0, so that compared with the laser emitting device with only one lens as described above, the laser beam output by the laser emitting device provided in the embodiment of the present application can be offset by the first ratio. This is because the first lens 140, which bears the first ratio of the total optical power of the laser emitting device, does not displace, so that the laser beam output by the first lens 140 is not offset. For example, if the first ratio is 40% and the second ratio is 60%, without changing the total optical power of the laser emitting device, if the optical elements in the two laser emitting devices are deformed by the same degree, and if the laser beam output by the laser emitting device with only one lens is offset by 1°, the laser beam output by the laser emitting device provided in the embodiment of the present application is offset by only 0.6°. In the embodiment of the present application, preferably, the first ratio is greater than the second ratio, for example, the first ratio is 80% and the second ratio is 20%, so that the degree of offset of the laser beam output by the laser emitting device is further reduced. By setting the first ratio to be greater than the second ratio, that is, the ratio of the optical power of the second lens 150 to the total optical power of the laser emitting device is small, and the second lens 150 is arranged on the first base 120, so that even if the second lens 150 displaces relative to the first lens 140, since the optical power of the second lens 150 is small, the degree of offset of the laser beam output by the second lens 150 is small, that is, the influence of the second lens 150 on the offset of the laser beam output by the laser emitting device is small. Therefore, arranging the second lens 150 on the first base can improve the structural stability of the laser emitting device, and the influence of the second lens 150 on the offset of the laser beam output by the laser emitting device is small.

[0083] Further, for the laser emitting device including only one lens for collimating laser, as described above, the volume of the lens is large at this time, therefore, if the light source carrier is fixed with the lens by using a cantilever structure, the length of the cantilever structure is long at this time, which cannot meet the requirements of mechanical reliability such as impact and vibration.

[0084] However, in the embodiment of the present application, without changing the total focal length of the laser emitting device, the laser emitting device is designed to include the first lens 140 and the second lens 150, as described above, the volume of the first lens 140 is small at this time, therefore, the light source carrier 110 and the first lens 140 can be fixed by using a shorter first cantilever structure 160, so that the mechanical reliability requirements can be better met.

[0085] Figure 7 In (a) of the first aspect, the side of the first lens 140 is fixed to the side of the first cantilever structure 160. The present application also provides another fixing mode of the first lens 140, as shown in Figure 7 In (b) of the first aspect, the bottom end of the first lens 140 is fixed to the upper edge of the free end of the first cantilever structure 160. Figure 7 The difference between (a) and (b) of the first aspect mainly lies in the fixing position of the first lens 140. Therefore, the specific implementation mode and working principle of (b) can refer to (a), which will not be described here. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be arranged, and the size of the first lens 140 all affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130. Therefore, the different fixing positions of (a) and (b) are to consider that the first lens 140 can effectively receive the laser beam emitted by the light source 130. The corresponding fixing mode can be selected according to the actual situation, so that the first lens 140 can effectively receive the laser beam emitted by the light source 130.

[0086] In order to improve the structural stability of the laser emitting device, Figure 8 The structural schematic diagram of the laser emitting device provided by some other embodiments of the present application is shown. In the embodiments of the present application, Figure 5 a first cantilever structure 160 is added on the basis of the provided embodiments. As shown in Figure 8 In (a) of the first aspect, the fixed end of the first cantilever structure 160 is fixed to the first base 120, and extends from the fixed end in the vertical direction to form the free end of the first cantilever structure 160, which is used to fix the first lens 140. Preferably, the center of the light source 130 is aligned with the principal point of the first lens 140, and the distance between the light emitting surface of the first lens 140 and the center of the light source 130 is 1-1.5 times the focal length of the first lens 140.

[0087] In the embodiments of the present application, if the volume of the first lens 140 is small and cannot effectively receive the laser beam emitted by the light source 130, the height of the first lens 140 is increased by fixing the first lens 140 by the upwardly extending first cantilever structure 160, so that the first lens 140 can normally receive the laser beam emitted by the light source 130. Moreover, the fixed end of the first cantilever structure 160 is fixed to the first base 120, which can enhance the structural stability of the laser emitting device. Preferably, by setting the distance between the light emitting surface of the first lens 140 and the center of the light source 130 to be 1-1.5 times the focal length of the first lens 140, the first lens 140 can receive all the laser beams emitted by the light source 130. It should be noted that the material, shape, size, etc. of the first cantilever structure 160 can be set as needed, which is not limited here.

[0088] The impact vibration in the application scenario of the laser emitting device mostly comes from the vertical direction, and the impact vibration in the vertical direction has a relatively greater impact on the horizontally extending cantilever structure than the impact on the vertically extending cantilever structure. For the laser emitting device with a high requirement for mechanical reliability such as impact vibration, if the first lens 140 is fixed by the fixing manner of the first lens 140 provided in the laser emitting device, Figure 7 When the fixing manner of the first lens 140 provided in the laser emitting device cannot meet the mechanical reliability requirement, the fixing manner of the first lens 140 provided in the laser emitting device can be used to fix the first lens 140. Figure 8 The fixing manner of the first lens 140 provided in the laser emitting device can be used to fix the first lens 140.

[0089] Figure 8 In (a) of the laser emitting device, the side surface of the first lens 140 is fixed to the side surface of the first cantilever structure 160, and another fixing manner of the first lens 140 is provided in the embodiments of the present application, as shown in (b) of the laser emitting device. Figure 8 In (b) of the laser emitting device, the bottom end of the first lens 140 is fixed to the upper edge of the free end of the first cantilever structure 160. Figure 8 The difference between (a) and (b) in the laser emitting device is mainly that the fixing manner of the first lens 140 is different, and therefore the specific implementation manner and working principle of (b) can refer to (a), which will not be described here. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be arranged, and the size of the first lens 140 all affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130, and therefore the different fixing positions of (a) and (b) are to consider whether the first lens 140 can normally receive the laser beam emitted by the light source 130, and the corresponding fixing manner can be selected according to the actual situation to enable the first lens 140 to normally receive the laser beam emitted by the light source 130.

[0090] It is worth noting that in the embodiments of the present application, the first cantilever structure 160 can be two different structures from the first base 120; however, in order to save costs, the first cantilever structure 160 can also be a structure belonging to the first base 120, that is, the first cantilever structure 160 is an integral part of the first base 120.

[0091] In order to reduce the relative displacement between the first lens 140 and the light source 130, thereby reducing the degree of change of the pointing angle of the laser beam output by the first lens 140, Figure 9 The structure schematic diagram of the laser emitting device provided in another embodiment of the present application is shown. In the embodiment of the present application, Figure 5 The first cantilever structure 160 is added on the basis of the embodiment provided in the laser emitting device. As shown in Figure 9As shown in (a), the fixed end of the first cantilever structure 160 is fixed between the light source carrier 110 and the first base 120, and extends from the fixed end along the horizontal direction until beyond the outer edge of the light source carrier 110, and then extends along the vertical direction upward to form the free end of the first cantilever structure 160, which is used to fix the first lens 140. Preferably, the center of the light source 130 is aligned with the principal point of the first lens 140, and the distance between the light emitting surface of the first lens 140 and the center of the light source 130 is 1-1.5 times the focal length of the first lens 140. The material, shape, size, etc. of the first cantilever structure 160 can be set as needed, as long as the free end of the first cantilever structure 160 can fix the first lens 140 and does not block the light path of the laser, which is not limited herein. The fixed end of the first cantilever structure 160 can be made of the same or different material as the light source carrier 110, or the same or different material as the first base 120; the free end of the first cantilever structure 160 can be made of the same or different material as the light source carrier 110, or the same or different material as the first base 120; the fixed end of the first cantilever structure 160 can be made of the same or different material as the free end. Preferably, the fixed end of the first cantilever structure 160 is made of a material with a CTE between the light source carrier 110 and the first base 120; the free end is made of a material with a lower CTE.

[0092] In the embodiments of the present application, if the volume of the first lens 140 is small, directly fixing the first lens 140 to the first base 120 will cause the first lens 140 to be unable to normally receive the laser beam emitted by the light source 130. By fixing the first lens 140 using the first cantilever structure 160 which extends horizontally first and then upward to increase the height of the first lens 140, the first lens 140 can normally receive the laser beam emitted by the light source 130. Preferably, the fixed end of the first cantilever structure 160 is made of a material with a CTE between the light source carrier 110 and the first base 120, thereby buffering the stress on the light source carrier 110 and the first base 120, and reducing the degree of deformation of the light source carrier 110; the free end is made of a material with a lower CTE, thereby reducing the change in the distance between the first lens 140 and the light source carrier 110 under high and low temperature environments, and ensuring the collimation effect of the first lens 140 on the laser beam under high and low temperature environments.

[0093] Figure 9 In (a) of the above, the side surface of the first lens 140 is fixed to the side surface of the first cantilever structure 160, and the embodiments of the present application also provide another fixing method of the first lens 140, as shown in (b) of the above. Figure 9 As shown in (b), the bottom end of the first lens 140 is fixed to the upper edge of the free end of the first cantilever structure 160. Figure 9The difference between (a) and (b) mainly lies in the fixing manner of the first lens 140, and thus the specific implementation manner and working principle of (b) can refer to (a), which will not be described here again. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be arranged, and the size of the first lens 140 all affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130, and thus the different fixing positions of (a) and (b) are to consider the problem that the first lens 140 can normally receive the laser beam emitted by the light source 130, and the corresponding fixing manner can be selected according to actual conditions.

[0094] In order to reduce the relative displacement between the first lens 140 and the light source 130, thereby reducing the degree of change of the pointing angle of the laser beam output by the first lens 140, Figure 10 The structure schematic diagram of the laser emitting device provided by another embodiment of the present application is shown. In the embodiment of the present application, Figure 5 The first cantilever structure 160 is added on the basis of the provided embodiment. As shown in (a) of the embodiment, Figure 10 As shown in (a), the fixed end of the first cantilever structure 160 is fixed on the light source carrier 110, and extends from the fixed end along the horizontal direction until beyond the outer edge of the light source carrier 110, and then extends downward along the vertical direction to form the free end of the first cantilever structure 160, and the free end is used to fix the first lens 140. The material, shape, size, etc. of the first cantilever structure 160 can be set as needed, as long as the free end of the first cantilever structure 160 can fix the first lens 140 and does not block the light path of the laser, which will not be limited here. The fixed end of the first cantilever structure 160 can adopt the same or different material as the light source carrier 110, or can adopt the same or different material as the first base 120; the free end of the first cantilever structure 160 can adopt the same or different material as the light source carrier 110, or can adopt the same or different material as the first base 120; the fixed end of the first cantilever structure 160 can adopt the same or different material as the free end.

[0095] In the embodiment of the present application, if the volume of the first lens 140 is small, directly fixing the first lens 140 to the first base 120 will cause the first lens 140 to be unable to normally receive the laser beam emitted by the light source 130. By fixing the first lens 140 by using the first cantilever structure 160 which extends horizontally first and then extends downward to increase the height of the first lens 140, the first lens 140 can normally receive the laser beam emitted by the light source 130. Since the thickness of the light source carrier 110 is generally less than the thickness of the first base 120, deformation is prone to occur. Therefore, in the embodiment of the present application, preferably, the thickness of the fixed end of the first cantilever structure 160 is greater than the thickness of the light source carrier 110. By using the structure with a thickness greater than the thickness of the light source carrier 110 to press, the deformation of the light source carrier 110 and the first base 120 can be effectively reduced. Since the two materials with different CTEs will generate thermal stress due to CTE mismatch, resulting in thermal strain, in the embodiment of the present application, the fixed end of the first cantilever structure 160 can be made of a material with the same or close CTE as the light source carrier 110, so that the fixed end of the first cantilever structure 160 and the light source carrier 110 are approximately a structure, that is, an integral whole. Since the thickness is increased, the stability of the structure is improved, and the degree of deformation is reduced.

[0096] It should be noted that in the embodiment of the present application, the fixed end of the first cantilever structure 160 can also be made of a material with the same or close CTE as the first base 120. The fixed end of the first cantilever structure 160, the light source carrier 110 and the first base 120 form a three-layer structure (i.e. a "sandwich" structure). At this time, since the thickness of the light source carrier 110 in the middle layer is small, compared with the thickness of the fixed end of the first cantilever structure 160 and the first base 120, it can be ignored, so the main factor affecting the deformation of the bearing component of the optical element in the laser emitting device is the difference between the CTE of the material of the fixed end of the first cantilever structure 160 and the CTE of the material of the first base 120. However, since the fixed end of the first cantilever structure 160 is made of a material with the same or close CTE as the first base 120, the degree of deformation of the bearing component of the optical element in the laser emitting device can be effectively reduced, thereby reducing the degree of relative displacement between the first lens 140 and the light source 130.

[0097] It should be noted that in the embodiment of the present application, the fixed end of the first cantilever structure 160 can also be made of a material with a CTE between the light source carrier 110 and the first base 120. At this time, the degree of deformation of the bearing component of the optical element in the laser emitting device can also be reduced, thereby reducing the degree of relative displacement between the first lens 140 and the light source 130. The principle is the same as described above, and will not be described here.

[0098] It is worth mentioning that, in this embodiment of the application, preferably, the free end of the first cantilever structure 160 is made of a material with low CTE, which can effectively reduce the change in the distance between the first lens 140 and the light source carrier 110 under high and low temperature environments, and ensure that the first lens 140 can normally receive the laser beam emitted by the light source 130 and collimate it.

[0099] Figure 10 In (a), the side of the first lens 140 is fixed to the side of the first cantilever structure 160. This application embodiment also provides another method for fixing the first lens 140, such as... Figure 10 As shown in (b), the top of the first lens 140 is fixed to the lower edge of the free end of the first cantilever structure 160. Figure 10 The main difference between (a) and (b) lies in the different fixing methods of the first lens 140. Therefore, the specific implementation and working principle of (b) can be referred to (a), and will not be repeated here. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be set, and the size of the first lens 140 will all affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130. Therefore, the different fixing positions in (a) and (b) are to consider the issue of whether the first lens 140 can normally receive the laser beam emitted by the light source 130. The appropriate fixing method can be selected according to the actual situation.

[0100] Figure 11 The embodiments provided in this application are shown. Figure 7 (a) Figure 8 (a) and Figure 9 A top view of the light source, first lens, and first cantilever structure in (a). Figure 11 As shown, when the first lens 140 is fixed to the side of the first cantilever structure 160, the first cantilever structure 160 must not block the optical path of the laser beam emitted by the light source 130. That is, in the horizontal plane, the first cantilever structure 160 is usually offset relative to the light source 130.

[0101] It should be noted that, Figure 10 The arrangement of the light source 130, the first lens 140, and the first cantilever structure 160 in the laser emitting device in (a) should be consistent with... Figure 11 The configuration should be adapted to the condition that the first cantilever structure 160 does not block the optical path of the laser beam emitted by the light source 130.

[0102] Figure 12 The embodiments provided in this application are shown. Figure 7 (b) Figure 8 (b) and Figure 9 A top view of the light source, first lens, and first cantilever structure in (b). Figure 12As shown, when the upper edge of the first cantilever structure 160 is fixed with the first lens 140, the first cantilever structure 160 needs to satisfy the condition that it does not block the light path of the laser beam emitted by the light source 130, that is, in the horizontal plane, the first cantilever structure 160 is usually arranged in alignment with the light source 130.

[0103] It should be noted that, Figure 10 The arrangement of the light source 130, the first lens 140 and the first cantilever structure 160 in the laser emitting device in (b) should be adapted to the arrangement of the light source 130, the first lens 140 and the first cantilever structure 160 in the laser emitting device in (a), that is, the first cantilever structure 160 needs to satisfy the condition that it does not block the light path of the laser beam emitted by the light source 130. Figure 12

[0104] In order to better reduce the degree of relative displacement between the light source 130 and the first lens 140, thereby reducing the degree of change of the pointing angle of the laser beam output by the first lens 140, that is, reducing the degree of deviation of the laser beam output by the laser emitting device, Figure 13 The structure diagram for fixing the first lens 140 by the first fixing block and the second fixing block in the embodiment of the present application is shown. In the embodiment of the present application, Figure 5 the first fixing block 170, the second fixing block 180 and the first groove 190 are added on the basis of the provided embodiment. As shown, Figure 13 The laser emitting device further includes the first fixing block 170 and the second fixing block 180, the outer side edge of the light source carrier 110 is provided with the first groove 190, the first fixing block 170 and the second fixing block 180 are respectively arranged at the two sides of the first groove 190 and do not block the light path of the laser, the first lens 140 is located in the first groove 190, and the first fixing block 170 and the second fixing block 180 are both in abutment with the first lens 140 to clamp and fix the first lens 140.

[0105] It should be noted that the arrangement direction of the first fixing block 170 and the second fixing block 180 is not limited here, as long as the arrangement direction of the first fixing block 170 and the second fixing block 180 does not block the light path of the laser, and can be in abutment with the first lens 140 to clamp and fix the first lens 140, preferably, the arrangement direction of the first fixing block 170 and the second fixing block 180 is perpendicular to the optical axis of the first lens 140. The materials, sizes and shapes of the first fixing block 170 and the second fixing block 180 are not limited here.

[0106] ​In this embodiment, if the first lens 140 is small in size, directly fixing the first lens 140 to the first base 120 will cause the first lens 140 to be unable to receive the laser beam emitted by the light source 130 normally. By opening a first groove 190 in the light source carrier 110, and setting the first fixing block 170 and the second fixing block 180 on the two sides of the first groove 190 respectively, the first lens 140 can be stably fixed in the first groove 190 to increase the height of the first lens 140, thereby enabling the first lens 140 to receive the laser beam emitted by the light source 130 normally.

[0107] Furthermore, as mentioned earlier, if the supporting component of the optical element in the lidar deforms, causing the first lens 140 to shift relative to the light source 130, the pointing angle of the laser beam output from the first lens 140 will change, i.e., the laser beam will shift, resulting in... Figure 2 The phenomenon shown. Therefore, in this embodiment of the application, by setting the first fixing block 170 and the second fixing block 180 to fix the first lens 140 and the light source carrier 110, the degree of relative displacement between the light source 130, which is also fixed to the light source carrier 110, and the first lens 140 can be effectively reduced, that is, the degree of change in the pointing angle of the laser beam output by the first lens 140 caused by the relative displacement between the first lens 140 and the light source 130 is reduced.

[0108] It is worth noting that when the first lens 140 is disposed on the first base 120, if the first lens 140 can normally receive the laser beam emitted by the light source 130, the first lens 140 can still be fixed by the method of fixing the first lens 140 provided in the embodiments of this application, that is, by setting the first fixing block and the second fixing block to fix the first lens 140, thereby reducing the degree of relative displacement between the light source 130 and the first lens 140.

[0109] In some embodiments, the outer edge of the light source carrier 110 is not provided with a groove to reduce the size of the light source carrier 110 and reduce the number of processing steps. The first fixing block 170 and the second fixing block 180 are disposed on the outer edge of the light source carrier 110 and are located in a direction that intersects the optical axis of the first lens 140 and does not obstruct the laser light path. The first lens 140 is disposed between the first fixing block 170 and the second fixing block 180 and is located on the outside of the light source carrier 110. The first fixing block 170 and the second fixing block 180 abut against the first lens 140 to clamp and fix the first lens 140.

[0110] It is worth mentioning that if the bearing part of the optical element in the laser radar is deformed to cause the laser receiving device to deviate, so that the laser beam reflected back by the detection area cannot be received, effective detection cannot be completed. The principle is similar to the laser emitting device, and specific reference can be made to the related description of the laser emitting device described above, which will not be repeated here. Therefore, the improvement of the laser emitting device is also applicable to the laser receiving device, and based on this, the application also provides a laser receiving device.

[0111] Figure 14 The structure of the laser receiving device provided by some embodiments of the application is shown. As shown in FIG. 10, Figure 14 As shown in FIG. 10(a), the laser receiving device includes a detector carrier 210, a second base 220, a detector 230, a third lens 240, and a fourth lens 250. The proportion of the optical power of the third lens 240 to the total optical power of the laser receiving device is a third proportion, the proportion of the optical power of the fourth lens 250 to the total optical power of the laser receiving device is a fourth proportion, and the third proportion and the fourth proportion are both greater than 0, and the sum of the third proportion and the fourth proportion is 1. The second base 220 is arranged on one side of the detector carrier 210, the third lens 240 is arranged on the second base 220, and is used for receiving and converging reflected laser from the detection area; the fourth lens 250 is used for receiving laser after converging by the third lens 240, and converging the received laser after converging; the detector 230 is arranged on the other side of the detector carrier 210 relative to the second base 220, and is used for receiving laser after converging by the fourth lens 250.

[0112] Specifically, the detector carrier 210 can be a circuit board, and the detector 230 is arranged on the circuit board so that the detector 230 can normally receive the laser beam; the second base 220 can be a frame (i.e. a housing) of the laser radar; the third lens 240 can be a plano-convex lens, a double-convex lens, a meniscus lens, etc.; the fourth lens 250 can be a plano-convex lens, a double-convex lens, a meniscus lens, etc. It should be noted that the third proportion and the fourth proportion can be set as needed, as long as the third proportion and the fourth proportion are both greater than 0, and the sum of the third proportion and the fourth proportion is equal to 1, which is not limited here. The specific materials, shapes, sizes, etc. of the detector carrier 210, the second base 220, the detector 230, the third lens 240, and the fourth lens 250 are not limited here, as long as they can meet the above setting requirements.

[0113] The total focal length of the laser receiving device is the focal length of the laser radar optical system to which the laser receiving device is applied. The total focal length of the laser receiving device is set so that the detector 230 of the laser receiving device can receive the laser reflected from the detection area. Generally, the focal length of the laser receiving device is fixed. The third lens 240 and the fourth lens 250 converge the laser beam, specifically, can change the diameter and divergence angle of the laser beam, that is, the divergence angle of the reflected laser beam received from the detection area is reduced to a smaller laser beam and output. The detector 230 is used to receive the laser beam converged by the fourth lens 250, that is, the laser beam reflected from the detection area after convergence, so that effective detection can be completed.

[0114] For the laser receiving device including only one lens and using the lens to converge the laser beam, since only one lens is included, the total optical power of the laser receiving device is concentrated on the lens, that is, the total sensitivity of the laser receiving device is concentrated on the lens. Since the volume of the lens is generally proportional to the focal length of the lens, that is, the larger the focal length, the larger the volume. For the laser receiving device including only one lens, the total focal length of the laser receiving device is concentrated on the lens, resulting in a large volume of the lens. Therefore, in order to meet the structural stability of the laser receiving device, the lens is generally arranged on the base of the laser receiving device, and the detector is arranged on the detector carrier. At this time, if the bearing part of the optical element in the laser radar deforms, causing the lens to displace, a large change in the pointing angle of the laser beam output by the lens will occur, so that the laser beam output by the lens cannot reach the detector, and thus the detection cannot be completed.

[0115] Without changing the total focal length of the laser receiving device, that is, without changing the total optical power of the laser receiving device, the laser receiving device in the embodiment of the application is designed to include the third lens 240 and the fourth lens 250, and the sum of the optical power of the third lens 240 and the optical power of the fourth lens 250 is equal to the total optical power of the laser receiving device. That is, the optical power of the third lens 240 and the optical power of the fourth lens 250 are both less than the total optical power of the laser receiving device.

[0116] Therefore, compared with the laser receiving device including only one lens, the total focal power of the two laser receiving devices is the same, and the laser receiving device provided by the embodiment of the present application includes the third lens 240 and the fourth lens 250, the focal power and focal length of the third lens 240 and the fourth lens 250 are smaller than those of the lens in the comparative laser receiving device, and since the total focal length of the two laser receiving devices is the same, the distance between the fourth lens 250 and the detector 230 is smaller than the distance between the lens and the detector in the comparative laser receiving device. Therefore, when the bearing components of the optical elements in the two laser emitting devices are deformed to the same degree, that is, the same degree of smile deformation or crying deformation, the fourth lens 250 is closer to the detector 230, and thus the deformation degree of the position of the fourth lens 250 is smaller than that of the position of the lens in the comparative laser emitting device, that is, the displacement of the fourth lens 250 is smaller. At this time, even if the focal power of the fourth lens 250 is the same as that of the lens in the comparative laser receiving device, the offset degree of the laser beam output by the fourth lens 250 is smaller than that of the laser beam output by the lens in the comparative laser receiving device. However, as mentioned above, since the total focal power of the two laser receiving devices is the same, the focal power of the fourth lens 250 is smaller than that of the lens in the comparative laser receiving device, and thus the offset degree of the laser beam output by the fourth lens 250 is smaller than that of the laser beam output by the lens in the comparative laser receiving device.

[0117] The distance between the third lens 240 and the detector 230 is farther than that between the fourth lens 250 and the detector 230. Even if the third lens 240 and the lens in the comparative laser receiving device are displaced to the same degree, since the focal power of the third lens 240 is smaller than that of the lens in the comparative laser receiving device, the offset degree of the laser beam output by the third lens 240 is smaller than that of the laser beam output by the lens in the comparative laser receiving device.

[0118] Further, since the third lens 240 has a large volume, by arranging the third lens 240 on the second base 220, the structural stability of the laser receiving device can be improved.

[0119] In summary, without changing the total focal length of the laser receiving device, by designing to include the third lens 240 and the fourth lens 250, compared with the laser receiving device including only one lens, the offset degree of the laser beam received by the laser receiving device caused by the deformation of the bearing components of the optical elements in the laser receiving device is effectively reduced, so that the detection can be better completed.

[0120] This application embodiment also provides another method for positioning the fourth lens 250, such as... Figure 14 As shown in (b), the fourth lens 250 is disposed on the detector carrier 210. Wherein, Figure 14 The main difference between (a) and (b) lies in the different positions of the fourth lens 250. Therefore, the specific implementation and working principle of (b) can be found in (a), and will not be repeated here.

[0121] It is worth noting that the embodiments of this application Figure 14 The provided laser receiver and Figure 5 The provided laser emitting device is corresponding, with the main difference being that the laser emitting device includes a light source 130, a first lens 140, and a second lens 150, while the laser receiving device includes a detector 230, a third lens 240, and a fourth lens 250. Furthermore, the optical path directions of the lasers in the laser emitting device and the laser receiving device are opposite. Therefore, the specific implementation and working principle of the laser receiving device provided in this application embodiment can be referred to the corresponding laser emitting device embodiment, and will not be repeated here. It should be noted that the first base 120 and the second base 220 can be the same base or two different bases, and can be set as needed; no limitation is made here.

[0122] It is worth noting that in some embodiments, in order to enable the detector of the laser receiver to receive the laser beam normally, the laser receiver usually also includes a circuit board. Figure 15 A schematic diagram of the structure of a laser receiving device provided in some other embodiments of this application is shown. Figure 15 Is Figure 14 The provided embodiment of the laser receiver is supplemented with a circuit board C and electrical leads D. For example... Figure 15 As shown in (a), circuit board C is mounted on the second base 220. Circuit board C is connected to detector 230 via electrical lead D, enabling detector 230 to receive the laser beam normally. Because the laser receiving device provided in this embodiment of the application is... Figure 14 Compared to the laser receiving device provided in (a), the main difference lies in the addition of a circuit board C and electrical leads D to the laser receiving device provided in this application embodiment. Therefore, the specific implementation and working principle of the application embodiment can be found in [reference needed]. Figure 14 The laser receiving device provided in (a) will not be described in detail here.

[0123] It should be noted that in a LiDAR system, circuit board C and circuit board D can be the same circuit board or two different circuit boards, depending on the requirements, and no limitation is made here.

[0124] This application embodiment also provides another method for positioning the fourth lens 250, such as... Figure 15As shown in (b), the fourth lens 250 is arranged on the detector carrier 210 so that the detector 230 can receive the output laser beam. In this case, Figure 15 The difference between (a) and (b) is mainly that the fourth lens 250 is arranged in different positions, and thus the specific implementation and working principle of (b) can refer to (a), which will not be repeated here.

[0125] In the embodiments of the present application, Figure 15 The laser receiving device provided by the present application and Figure 6 The laser emitting device provided by the present application is corresponding, and thus the specific implementation, working principle and beneficial effects of the laser receiving device provided by the embodiments of the present application can refer to Figure 6 The laser emitting device provided by the present application, which will not be repeated here.

[0126] In some embodiments, the third lens 240 is a third lens unit including at least two lenses, which is used to receive and converge the reflected laser from the detection area. In this case, the total optical power of the third lens unit accounts for a third proportion of the total optical power of the laser receiving device, and the third proportion is greater than 0. The optical power of each lens can be set as needed as long as the above requirements are met, which will not be limited here.

[0127] In some embodiments, the fourth lens 250 is a fourth lens unit including at least two lenses, which is used to receive the laser beam output by the third lens 240 and output the received laser after convergence. In this case, the total optical power of the fourth lens unit accounts for a fourth proportion of the total optical power of the laser receiving device, and the fourth proportion is greater than 0. The optical power of each lens can be set as needed as long as the above requirements are met, which will not be limited here.

[0128] In some embodiments, in order to reduce the relative displacement between the fourth lens 250 and the detector 230, thereby reducing the change degree of the pointing angle of the laser beam output by the fourth lens 250, the fourth lens 250 is fixed on the detector carrier 210 by the second fixing member, or the fourth lens 250 is fixed on the second base 220 by the second fixing member.

[0129] In some embodiments, in order to save costs, the fourth lens 250 is directly fixed on the detector carrier 210, or the fourth lens 250 is directly fixed on the second base 220.

[0130] In order to reduce the relative displacement between the fourth lens 250 and the detector 230, thereby reducing the change degree of the pointing angle of the laser beam output by the fourth lens 250, so that the detector 230 can normally receive the converged laser beam output by the fourth lens 250, Figure 16Schematic diagrams of laser receiving devices provided in other embodiments of this application are shown. Among them, embodiments of this application are... Figure 14 A second cantilever structure 260 is added to the provided embodiment. For example... Figure 16 As shown in (a), the laser receiving device further includes a second cantilever structure 260. The fixed end of the second cantilever structure 260 is fixed to the detector carrier 210, and extends horizontally outward from the fixed end toward the detector carrier 210 to form a free end of the second cantilever structure 260. The free end is used to fix the fourth lens 250, and the fourth lens 250 is located outside the detector carrier 210 in the horizontal direction. Preferably, the center of the detector 230 is aligned with the principal point of the fourth lens 250, and the distance between the light-emitting surface of the fourth lens 250 and the center of the detector 230 is 1 to 1.5 times the focal length of the fourth lens 250, so that the fourth lens 250 can better receive and converge the laser beam output from the third lens 240.

[0131] Figure 16 In (a), the side of the fourth lens 250 is fixed to the side of the second cantilever structure 260. This application embodiment also provides another method for fixing the fourth lens 250, such as... Figure 16 As shown in (b), the bottom end of the fourth lens 250 is fixed to the upper edge of the free end of the second cantilever structure 260. Figure 16 The main difference between (a) and (b) lies in the different fixing methods of the fourth lens 250. Therefore, the specific implementation and working principle of (b) can be referred to (a), and will not be repeated here. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be set, and the size of the fourth lens 250 will all affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250. Therefore, the different fixing positions in (a) and (b) are to consider the issue of whether the detector 230 can normally receive the laser beam output by the fourth lens 250. The appropriate fixing method can be selected according to the actual situation so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

[0132] In the embodiments of this application, Figure 16 The provided laser receiver and Figure 7 The provided laser emitting device is corresponding; therefore, the specific implementation, working principle, and beneficial effects of the laser receiving device provided in this application embodiment can be found by referring to... Figure 7 The laser emitting device provided will not be described in detail here.

[0133] To improve the structural stability of the laser receiver device Figure 17 Schematic diagrams of laser receiving devices provided in other embodiments of this application are shown. Among them, embodiments of this application are... Figure 14A second cantilever structure 260 is added to the provided embodiment. For example... Figure 17 As shown in (a), the fixed end of the second cantilever structure 260 is fixed to the second base 220, and extends vertically upward from the fixed end toward the second base 220 to form the free end of the second cantilever structure 260. The free end is used to fix the fourth lens 250. Preferably, the center of the detector 230 is aligned with the principal point of the fourth lens 250, and the distance between the light-emitting surface of the fourth lens 250 and the center of the detector 230 is 1 to 1.5 times the focal length of the fourth lens 250.

[0134] Figure 17 In (a), the side of the fourth lens 250 is fixed to the side of the second cantilever structure 260. This application embodiment also provides another method for fixing the fourth lens 250, such as... Figure 17 As shown in (b), the bottom end of the fourth lens 250 is fixed to the upper edge of the free end of the second cantilever structure 260. Figure 17 The main difference between (a) and (b) lies in the different fixing methods of the fourth lens 250. Therefore, the specific implementation and working principle of (b) can be referred to (a), and will not be repeated here. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be set, and the size of the fourth lens 250 will all affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250. Therefore, the different fixing positions in (a) and (b) are to consider the issue of whether the detector 230 can normally receive the laser beam output by the fourth lens 250. The appropriate fixing method can be selected according to the actual situation so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

[0135] In the embodiments of this application, Figure 17 The provided laser receiver and Figure 8 The provided laser emitting device is corresponding; therefore, the specific implementation, working principle, and beneficial effects of the laser receiving device provided in this application embodiment can be found by referring to... Figure 8 The laser emitting device provided will not be described in detail here.

[0136] It is worth noting that in the embodiments of this application, the second cantilever structure 260 may be two different structures from the second base 220; however, in order to save costs, the second cantilever structure 260 may also be a structure belonging to the second base 220, that is, it is an integral part of the second base 220.

[0137] In order to reduce the relative displacement between the fourth lens 250 and the detector 230, and to reduce the change in the pointing angle of the laser beam output by the fourth lens 250, so that the detector 230 can normally receive the laser beam output by the fourth lens 250, Figure 18Schematic diagrams of laser receiving devices provided in other embodiments of this application are shown. Among them, embodiments of this application are... Figure 14 A second cantilever structure 260 is added to the provided embodiment. For example... Figure 18 As shown in (a), the fixed end of the second cantilever structure 260 is fixed between the detector carrier 210 and the second base 220. It extends horizontally from the fixed end until it crosses the outer edge of the detector carrier 210, and then extends vertically upwards to form the free end of the second cantilever structure 260. The free end is used to fix the fourth lens 250. Preferably, the center of the detector 230 is aligned with the principal point of the fourth lens 250, and the distance between the light-emitting surface of the fourth lens 250 and the center of the detector 230 is 1 to 1.5 times the focal length of the fourth lens 250. The material, shape, and size of the second cantilever structure 260 can be set as needed, as long as the free end of the second cantilever structure 260 can fix the fourth lens 250 and does not obstruct the laser's optical path; no limitations are imposed here. The fixed end of the second cantilever structure 260 can be made of the same or different material as the detector carrier 210, or the same or different material as the second base 220; the free end of the second cantilever structure 260 can be made of the same or different material as the detector carrier 210, or the same or different material as the second base 220; the fixed end of the second cantilever structure 260 can be made of the same or different material as the free end. Preferably, the fixed end of the second cantilever structure 260 is made of a material with a CTE between that of the detector carrier 210 and the second base 220; the free end is made of a material with a lower CTE.

[0138] Figure 18 In (a), the side of the fourth lens 250 is fixed to the side of the second cantilever structure 260. This application embodiment also provides another method for fixing the fourth lens 250, such as... Figure 18 As shown in (b), the bottom end of the fourth lens 250 is fixed to the upper edge of the free end of the second cantilever structure 260. Figure 18 The main difference between (a) and (b) lies in the different fixing methods of the fourth lens 250. Therefore, the specific implementation method of (b) can be referred to (a), and will not be repeated here. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be set, and the size of the fourth lens 250 will all affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250. Therefore, the different fixing positions in (a) and (b) are to consider the issue of whether the detector 230 can normally receive the laser beam output by the fourth lens 250. The corresponding fixing method can be selected according to the actual situation so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

[0139] In the embodiments of this application, Figure 18The provided laser receiver and Figure 9 The provided laser emitting device is corresponding; therefore, the specific implementation, working principle, and beneficial effects of the laser receiving device provided in this application embodiment can be found by referring to... Figure 9 The laser emitting device provided will not be described in detail here.

[0140] In order to reduce the relative displacement between the fourth lens 250 and the detector 230, thereby reducing the degree of change in the pointing angle of the laser beam output by the fourth lens 250, Figure 19 Schematic diagrams of laser receiving devices provided in other embodiments of this application are shown. Among them, embodiments of this application are... Figure 14 A second cantilever structure 260 is added to the provided embodiment. For example... Figure 19 As shown in (a), the fixed end of the second cantilever structure 260 is fixed to the detector carrier 210, and extends horizontally from the fixed end until it crosses the outer edge of the detector carrier 210, and then extends vertically downward to form the free end of the second cantilever structure 260. The free end is used to fix the fourth lens 250. The material, shape, size, etc. of the second cantilever structure 260 can be set as needed, as long as the free end of the second cantilever structure 260 can fix the fourth lens 250 and does not block the laser light path, and is not limited here. The fixed end of the second cantilever structure 260 can be made of the same or different material as the detector carrier 210, or the same or different material as the second base 220; the free end of the second cantilever structure 260 can be made of the same or different material as the detector carrier 210, or the same or different material as the second base 220; the fixed end of the second cantilever structure 260 can be made of the same or different material as the free end.

[0141] Figure 19 In (a), the side of the fourth lens 250 is fixed to the side of the second cantilever structure 260. This application embodiment also provides another method for fixing the fourth lens 250, such as... Figure 19 As shown in (b), the bottom end of the fourth lens 250 is fixed to the lower edge of the free end of the second cantilever structure 260. Figure 19The main difference between (a) and (b) lies in the different fixing methods of the fourth lens 250. Therefore, the specific implementation method of (b) can be referred to (a), and will not be repeated here. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be set, and the size of the fourth lens 250 will all affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250. Therefore, the different fixing positions in (a) and (b) are to consider the issue of whether the detector 230 can normally receive the laser beam output by the fourth lens 250. The corresponding fixing method can be selected according to the actual situation so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

[0142] In the embodiments of this application, Figure 19 The provided laser receiver and Figure 10 The provided laser emitting device is corresponding; therefore, the specific implementation, working principle, and beneficial effects of the laser receiving device provided in this application embodiment can be found by referring to... Figure 10 The laser emitting device provided will not be described in detail here.

[0143] Figure 20 The embodiments provided in this application are shown. Figure 16 (a) Figure 17 (a) and Figure 18 A top view of the detector, fourth lens, and second cantilever structure in (a). Figure 20 As shown, when the fourth lens 250 is fixed to the side of the second cantilever structure 260, the second cantilever structure 260 must satisfy the requirement of not blocking the light path of the beam. That is, in the horizontal plane, the second cantilever structure 260 is usually set relative to the offset detector 230.

[0144] It should be noted that, Figure 19 In the laser receiving device of (a), the arrangement of detector 230, fourth lens 250, and second cantilever structure 260 should be consistent with... Figure 20 The configuration should be adapted to the condition that the second cantilever structure 260 does not obstruct the optical path of the laser beam.

[0145] Figure 21 The embodiments provided in this application are shown. Figure 16 (b) Figure 17 (b) and Figure 18 A top view of the detector, fourth lens, and second cantilever structure in (b). Figure 21 As shown, when the fourth lens 250 is fixed on the upper edge of the second cantilever structure 260, the second cantilever structure 260 must satisfy the requirement of not blocking the light beam path. That is, in the horizontal plane, the second cantilever structure 260 is usually aligned with the detector 230.

[0146] It should be noted that, Figure 19 In the laser receiving device of (b), the arrangement of detector 230, fourth lens 250, and second cantilever structure 260 should be consistent with... Figure 21 The configuration should be adapted to the condition that the second cantilever structure 260 does not obstruct the optical path of the laser beam.

[0147] To better reduce the relative displacement between detector 230 and fourth lens 250, and to reduce the change in the pointing angle of the laser beam output by fourth lens 250, so that detector 230 can normally receive the laser beam output by fourth lens 250, Figure 22 A schematic diagram of the structure of fixing the fourth lens 250 using a third fixing block and a fourth fixing block in an embodiment of this application is shown. The embodiment of this application is... Figure 14 The provided embodiment adds a third fixing block 270, a fourth fixing block 280, and a second groove 290. For example... Figure 22 As shown, the laser receiving device also includes a third fixing block 270 and a fourth fixing block 280. A second groove 290 is provided on the outer edge of the detector carrier 210. The third fixing block 270 and the fourth fixing block 280 are respectively disposed on two sides of the second groove 290 and do not block the light path of the laser. The fourth lens 250 is located in the second groove 290, and both the third fixing block 270 and the fourth fixing block 280 abut against the fourth lens 250 to clamp and fix the fourth lens 250.

[0148] In the embodiments of this application, Figure 22 The provided laser receiver and Figure 13 The provided laser emitting device is corresponding; therefore, the specific implementation, working principle, and beneficial effects of the laser receiving device provided in this application embodiment can be found by referring to... Figure 13 The laser emitting device provided will not be described in detail here.

[0149] It is worth noting that when the fourth lens 250 is disposed on the second base 220, if the detector 230 can normally receive the laser beam output by the fourth lens 250, the fourth lens 250 can still be fixed by the method of fixing the fourth lens 250 provided in the embodiments of this application. That is, the fourth lens 250 is fixed by setting the third fixing block and the fourth fixing block, thereby reducing the degree of relative displacement between the fourth lens 250 and the detector 230.

[0150] In some embodiments, the outer side edges of the detector carrier 210 are not provided with grooves to reduce the size of the detector carrier 210 and to reduce the processing procedures. The third fixing block 270 and the fourth fixing block 280 are arranged at the outer side edges of the detector carrier 210 and are located in a direction intersecting the optical axis of the fourth lens 250 and not blocking the laser light path. The fourth lens 250 is arranged between the third fixing block 270 and the fourth fixing block 280 and is located at the outer side of the detector carrier 210. The third fixing block 270 and the fourth fixing block 280 are in abutment with the fourth lens 250 to clamp and fix the fourth lens 250.

[0151] The embodiments of the present application also provide a laser radar, which comprises any one of the laser emitting devices provided by the above embodiments and / or any one of the laser receiving devices provided by the above embodiments. The laser emitting device is used to emit laser to a detection area, and the laser receiving device is used to receive reflected laser from the detection area. Here, the laser radar 300 is taken as an example for description. Figure 23 Figure 23 The structure schematic diagram of the laser radar provided by the embodiments of the present application is shown. As shown in Figure 23 the laser radar 300 comprises a laser emitting device 301 and a laser receiving device 302. The laser emitting device 301 can emit laser beams to a detection area, and the laser receiving device 302 can receive reflected laser from the detection area, so that the laser radar 300 can complete effective detection of the detection area.

[0152] As described above, if the bearing parts of the optical elements in the laser emitting device and / or the laser receiving device of the laser radar are deformed, the laser emitted by the laser emitting device will deviate and cannot reach the detection area, and / or the laser receiving device cannot normally receive the reflected laser from the detection area, so that the detection cannot be completed. In the embodiments of the present application, by using the laser emitting device provided by the above embodiments, the change degree of the pointing angle of the laser beams emitted by the laser emitting device can be reduced; by using the laser receiving device provided by the above embodiments, the change degree of the pointing angle of the reflected laser beams received by the laser receiving device can be reduced, so that the laser radar can complete effective detection.​

Claims

1. A laser emitting device, characterized in that, The laser emitting device includes: Light source carrier; The first base is disposed on one side of the light source carrier; A light source is disposed on the other side of the light source carrier relative to the first base, and is used to emit laser light into the detection area; A first lens is disposed on the light-emitting side of the light source to receive the laser beam and reduce the divergence angle of the laser beam. The second lens is disposed on the first base and is used to receive the laser output from the first lens and collimate the received laser before outputting it. Wherein, the optical power of the first lens accounts for a first proportion of the total optical power of the laser emitting device, the optical power of the second lens accounts for a second proportion of the total optical power of the laser emitting device, and both the first proportion and the second proportion are greater than 0, and the sum of the first proportion and the second proportion is 1.

2. The laser emitting device according to claim 1, characterized in that, The first ratio is greater than the second ratio.

3. The laser emitting device according to claim 1, characterized in that, The first lens is fixed to the light source carrier by a first fixing member or directly fixed to the light source carrier, or The first lens is fixed to the first base by a first fixing member or directly fixed to the first base.

4. The laser emitting device according to claim 3, characterized in that, The first fixing member is a first cantilever structure, and the first lens is fixed to the free end of the first cantilever structure.

5. The laser emitting device according to claim 4, characterized in that, The fixed end of the first cantilever structure is made of the same or different material as the light source carrier, or the fixed end of the first cantilever structure is made of the same or different material as the first base, and / or The free end of the first cantilever structure is made of the same or different material as the light source carrier, or the free end of the first cantilever structure is made of the same or different material as the first base.

6. The laser emitting device according to claim 3, characterized in that, The first fixing member includes a first fixing block and a second fixing block. The first fixing block and the second fixing block are arranged in a direction that intersects with the optical axis of the first lens and do not block the optical path of the laser. The first lens is located between the first fixing block and the second fixing block. The first fixing block and the second fixing block abut against the first lens to clamp and fix the first lens.

7. A laser receiving device, characterized in that, The laser receiving device includes: Detector carrier; The second base is disposed on one side of the detector carrier; The third lens, disposed on the second base, is used to receive and converge reflected laser light from the detection area; The fourth lens is used to receive and converge the laser output from the third lens; A detector is disposed on the other side of the detector carrier relative to the second base, and is used to receive the laser light focused by the fourth lens; Wherein, the optical power of the third lens accounts for a third proportion of the total optical power of the laser receiving device, the optical power of the fourth lens accounts for a fourth proportion of the total optical power of the laser receiving device, and both the third proportion and the fourth proportion are greater than 0, and the sum of the third proportion and the fourth proportion is 1.

8. The laser receiving device according to claim 7, characterized in that, The third ratio is less than the fourth ratio.

9. The laser receiving device according to claim 7, characterized in that, The fourth lens is fixed to the detector carrier by the second fixing member or directly fixed to the detector carrier, or The fourth lens is fixed to the second base by the second fixing member or directly fixed to the second base.

10. The laser receiving device according to claim 9, characterized in that, The second fixing member is a second cantilever structure, and the fourth lens is fixed to the free end of the second cantilever structure.

11. The laser receiving device according to claim 10, characterized in that, The fixed end of the second cantilever structure is made of the same or different material as the detector carrier, or the fixed end of the second cantilever structure is made of the same or different material as the second base, and / or The free end of the second cantilever structure is made of the same or different material as the detector carrier, or the free end of the second cantilever structure is made of the same or different material as the second base.

12. The laser receiving device according to claim 9, characterized in that, The second fixing member includes a third fixing block and a fourth fixing block. The third fixing block and the fourth fixing block are arranged in a direction that intersects with the optical axis of the fourth lens and do not block the optical path of the laser output by the third lens. The fourth lens is located between the third fixing block and the fourth fixing block, and both the third fixing block and the fourth fixing block abut against the fourth lens to clamp and fix the fourth lens.

13. A lidar, characterized in that, The lidar includes a laser emitting device as described in any one of claims 1-6, and / or includes a laser receiving device as described in any one of claims 7-12, wherein the laser emitting device is used to emit laser light to the detection area, and the laser receiving device is used to receive reflected laser light from the detection area.

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