Lidar, electronic device, and vehicle

Abstract

Embodiments of the present application provide a kind of laser radar, electronic equipment and vehicle, laser radar includes: laser emission component, laser receiving component and two-dimensional scanner, laser emission component is used to emit at least two laser beams with included angle in the vertical field of view of laser emission component, two-dimensional scanner is used to reflect the laser beam emitted from laser emission component to target object, and is used to reflect the laser beam reflected from target object to laser receiving component, two-dimensional scanner satisfies relationship formula: 1 / 2 beta ≤ 2 alpha 3 / 2 beta, and 2 alpha ≠ beta, wherein, alpha is the single rotation angle of two-dimensional scanner in slow axis direction, beta is the included angle between adjacent two laser beams.Such setting, it can improve the scanning density of two-dimensional scanner in slow axis direction, to improve the vertical angle resolution in slow axis direction, so that small target at long distance can be detected.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and particularly to a lidar, electronic device, and vehicle. Background Technology

[0002] A lidar (Light Detection and Ranging) system is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. The lidar's laser emitting system emits a laser beam at a predetermined power towards the target. Upon encountering the target, the laser beam undergoes diffuse reflection and is received by the lidar's laser receiving system.

[0003] Currently, the performance of lidar can be measured by angular resolution and detection range. Furthermore, the smallest target that lidar can measure can be calculated based on angular resolution and detection range. For example, lidar with an angular resolution of 0.2° in related technologies can meet the detection requirements for objects within 150m.

[0004] However, for detection scenarios involving long-distance, small targets, lidar technology cannot meet the requirements. Summary of the Invention

[0005] This application provides a lidar, an electronic device, and a vehicle. The lidar can meet the usage requirements when applied to long-distance, small target detection scenarios.

[0006] This application provides a lidar, comprising at least a laser emitting component, a laser receiving component, and a two-dimensional scanner. The laser emitting component emits at least two laser beams that are angled together within its vertical field of view. The two-dimensional scanner reflects the laser beams emitted from the laser emitting component to a target object and reflects laser beams reflected back from the target object to the laser receiving component. The two-dimensional scanner satisfies the relationship: 1 / 2β ≤ 2α ≤ 3 / 2β, where 2α ≠ β, where α is a single rotation angle of the two-dimensional scanner in the slow axis direction, and β is the angle between two adjacent laser beams. The single rotation angle in the slow axis direction refers to the angle by which the two-dimensional scanner rotates once in the slow axis direction within a unit cycle of scanning along the fast axis direction. The fast axis direction refers to the horizontal field of view direction of the two-dimensional scanner, and the slow axis direction refers to the vertical field of view direction of the two-dimensional scanner.

[0007] During the scanning process of the lidar, the laser emitting component continuously emits at least two laser beams with an angle within its vertical field of view to detect targets. The angle between any two laser beams within the vertical field of view is not equal to 0°. Additionally, the 2D scanner scans along both the fast and slow axes, reflecting the laser beams emitted by the laser emitting component to the target and reflecting the beams reflected back from the target to the laser receiving component to obtain relevant target information. Within a unit cycle of scanning along the fast axis, the 2D scanner scans once along the slow axis, rotating by an angle α. Since the 2D scanner satisfies the relationship: 1 / 2β ≤ 2α ≤ 3 / 2β, and 2α ≠ β, the angle between the laser beam scanned along the slow axis and the adjacent laser beam from the previous unit cycle can be changed. This increases the scanning density along the slow axis, thereby improving the vertical angular resolution of the lidar in the slow axis direction, and ultimately enhancing the lidar's overall resolution. Therefore, due to the improved angular resolution, lidar can detect small targets at long distances, meeting the application requirements.

[0008] In one possible implementation, α is 1 / 4β, which is set such that the angular interval between any two adjacent point clouds is the same.

[0009] In one possible implementation, the two-dimensional scanner satisfies the relationship: S1 ≥ 30 mm 2 Where S1 is the effective receiving area of ​​the two-dimensional scanner, this setting can further increase the energy received by the two-dimensional scanner, which helps to improve the detection capability of lidar for small targets at long distances.

[0010] In one possible implementation, the laser receiving component and the two-dimensional scanner satisfy the relationship: 0.5 ≤ S2 / S1 ≤ 2, where S2 is the effective receiving area of ​​the laser receiving component and S1 is the effective receiving area of ​​the two-dimensional scanner. This configuration helps to increase the energy received by the laser receiving component, thereby increasing the detection range of the lidar.

[0011] In one possible implementation, the two-dimensional scanner is a 2D galvanometer or a microelectromechanical system (MEMS) galvanometer.

[0012] In one possible implementation, the system further includes a first beam splitter located on the optical path between the laser emitting component and the two-dimensional scanner, and also located on the optical path between the laser receiving component and the two-dimensional scanner. The first beam splitter has a beam-splitting film, or it has a beam-splitting aperture. The first beam splitter enables the separation and convergence of the laser beam emitted by the laser emitting component and the laser beam received by the laser receiving component, thereby ensuring that the emitting and receiving optical paths are coaxial. Here, the emitting optical path refers to the optical path within the laser emitting component, and the receiving optical path refers to the optical path within the laser receiving component.

[0013] In one possible implementation, the laser emitting assembly includes a laser array and a emitting mirror array. The laser array is used to emit at least two laser beams. The emitting mirror array is used to reflect the laser beams emitted from the laser array to the two-dimensional scanner.

[0014] In one possible implementation, the laser array includes a plurality of lasers arranged side-by-side along the vertical field of view of the laser array, each of the plurality of lasers emitting at least one laser beam. This arrangement ensures that, in the slow axis direction, there are at least two laser beams arranged side-by-side and spaced apart to meet detection requirements.

[0015] In one possible implementation, the laser array includes a single laser and a beam splitting unit. The single laser emits a laser beam, and the beam splitting unit divides the emitted laser beam into multiple laser beams. This configuration satisfies detection requirements while reducing the cost of the laser emitting components.

[0016] In one possible implementation, the laser is an edge emitter or a vertical cavity surface-emitting laser.

[0017] In one possible implementation, the beam-splitting unit includes any one of the following devices: a second beam splitter or a diffractive optical element.

[0018] In one possible implementation, the emitting surface of the laser array is located on the focal plane of the emitting mirror array, which allows for collimation of the laser beam emitted by the laser array.

[0019] In one possible implementation, the emitting lens group includes any one or more of the following lenses: spherical lens, aspherical lens, or cylindrical lens.

[0020] In one possible implementation, the laser receiving assembly includes a receiving mirror group and a detector. The receiving mirror group is used to reflect the laser beam reflected from the two-dimensional scanner to the detector.

[0021] In one possible implementation, the detector is a silicon photomultiplier tube, an avalanche photodiode, or a single-photon avalanche diode.

[0022] In one possible implementation, the receiving lens group includes any one or more of the following lenses: spherical lens, aspherical lens, or cylindrical lens.

[0023] In one possible implementation, the optical axis of the laser emitting component and the optical axis of the laser receiving component are parallel. This arrangement reduces errors, allowing the 2D scanner to receive more energy and thus improving the detection range of the lidar.

[0024] In one possible implementation, the laser emitting component and the laser receiving component satisfy the relationship: -2° ≤ β ≤ 2°, where β is the angle between the optical axis of the laser emitting component and the optical axis of the laser receiving component on the two-dimensional scanner. This configuration helps to reduce the manufacturing difficulty of lidar.

[0025] In one possible implementation, the system further includes a window located between the 2D scanner and the target object, the window being a flat or curved structure. The window allows the laser beam emitted by the laser emitting assembly to contact the target object, and also allows the laser beam reflected back from the target object to contact the 2D scanner.

[0026] In one possible implementation, the viewport satisfies the relationship: 0 ≤ γ ≤ 45°, where γ is the tilt angle of the viewport. This configuration alters the propagation path of stray beams in the echo beam, preventing them from being received by the laser receiving component and thus forming noise on its point cloud. The echo beam refers to the beam reflected from the target object to the 2D scanner.

[0027] In one possible implementation, the system further includes at least one beam deflector. The at least one beam deflector is used to deflect the laser optical path. The laser optical path includes at least one of the following: an optical path within the laser emitting assembly or an optical path within the laser receiving assembly. The beam deflector can deflect the laser optical path, thereby reducing the size of the laser optical path in a certain direction and improving the internal compactness of the lidar.

[0028] In one possible implementation, the number of the at least one beam folding mirror satisfies the relationship: 1 ≤ M ≤ 15, where M is the total number of the at least one beam folding mirror. This setting helps to reduce the cost of lidar.

[0029] A second aspect of this application provides an electronic device comprising at least a body and the aforementioned lidar, wherein the lidar is mounted on the body.

[0030] A third aspect of this application provides a vehicle that includes at least a vehicle body and a lidar as described above, the lidar being mounted on the vehicle body. Attached Figure Description

[0031] Figure 1 A schematic diagram of a vehicle using lidar provided in an embodiment of this application;

[0032] Figure 2 A three-dimensional structural diagram of a lidar provided for an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0034] Figure 4 A schematic diagram of a laser emitting assembly emitting a laser beam, provided in an embodiment of this application;

[0035] Figure 5 This application provides a first three-dimensional structural schematic diagram of a laser emitting assembly emitting a laser beam, as shown in an embodiment of the present application.

[0036] Figure 6 for Figure 4 A diagram showing the divergence angle distribution of the laser emitting component in the fast axis direction in the illustrated embodiment;

[0037] Figure 7 for Figure 4 A diagram showing the divergence angle distribution of the laser emitting component in the slow axis direction in the illustrated embodiment;

[0038] Figure 8 To and Figure 4 The diagram shows the receiving effect of a laser receiving component in the slow axis direction in the embodiment shown.

[0039] Figure 9 This is a schematic diagram showing the angle of rotation of a laser beam as it is reflected by a two-dimensional scanner.

[0040] Figure 10 A schematic diagram showing the angle between two laser beams before and after reflection;

[0041] Figure 11 This application provides a schematic diagram of a second three-dimensional structure for emitting a laser beam using a laser emitting assembly.

[0042] Figure 12 A third three-dimensional structural diagram of a laser emitting component emitting a laser beam is provided in an embodiment of this application;

[0043] Figure 13A fourth three-dimensional structural diagram of a laser emitting assembly emitting a laser beam is provided in an embodiment of this application;

[0044] Figure 14A A schematic diagram of scanning four laser beams by a two-dimensional scanner with a single rotation angle of 1 / 2β, provided in an embodiment of this application;

[0045] Figure 14B for Figure 14A A schematic diagram of the scan after merging the three point cloud maps;

[0046] Figure 15A A schematic diagram of scanning four laser beams by a two-dimensional scanner with a single rotation angle of 0.12° provided in this application embodiment;

[0047] Figure 15B for Figure 15A A schematic diagram of the scan after merging the three point cloud maps;

[0048] Figure 16 This is a schematic diagram of the structure of a laser array provided in an embodiment of this application;

[0049] Figure 17 This is a schematic diagram of another laser array provided in an embodiment of this application;

[0050] Figure 18 A schematic diagram of a laser receiver assembly structure provided in an embodiment of this application;

[0051] Figure 19 This is a schematic diagram of another lidar structure provided in an embodiment of this application.

[0052] Explanation of reference numerals in the attached figures:

[0053] 1000. LiDAR;

[0054] 100. Laser emitting assembly; 110. Laser assembly; 111. Laser; 112. Beam splitting unit; 120. Emitting mirror assembly;

[0055] 200. Laser receiving assembly; 210. Receiving mirror group; 220. Detector;

[0056] 300. Two-dimensional scanner; 400. First beam splitter; 500. Viewing window; 600. Beam folding mirror; 700. Housing;

[0057] 2000, vehicle; 2100, vehicle body. Detailed Implementation

[0058] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0059] To facilitate understanding, the relevant technical terms involved in the embodiments of this application will first be explained and described.

[0060] The fast axis direction refers to the horizontal field of view direction of a 2D scanner, or it can refer to the horizontal field of view direction in front of the detection area of ​​a lidar (e.g., ...). Figure 2 (in the X direction).

[0061] The slow axis direction refers to the vertical field of view direction of a 2D scanner. The slow axis direction is perpendicular to the fast axis direction (e.g., ...). Figure 2 The Z direction in the context can also refer to the vertical field of view in front of the LiDAR detector.

[0062] The target object refers to the object detected by the lidar, which may include, but is not limited to, pedestrians, vehicles, and buildings around the lidar.

[0063] Point cloud refers to the data signal received by LiDAR at each point, where each point contains three-dimensional coordinate information.

[0064] Ranging capability refers to the maximum measurement distance of a lidar system.

[0065] Angular resolution refers to the angle between point clouds in a LiDAR system, and is divided into vertical angular resolution and horizontal angular resolution. Specifically, horizontal angular resolution represents the angle between points on a horizontal plane, and vertical angular resolution represents the angle between points on a vertical plane.

[0066] The focal plane, also known as the front focal plane or object focal plane, is an optical term referring to the plane that is perpendicular to the principal optical axis of the system.

[0067] Micro-Electro-Mechanical Systems (MEMS), also known as microelectromechanical systems, microsystems, micromechanics, microelectromechanical system mirrors, etc., refer to high-tech devices with dimensions of a few millimeters or even smaller.

[0068] The lidar 1000 is a target detection technology. The lidar 1000 emits a laser beam through a laser 111. When the laser beam encounters a target object, it undergoes diffuse reflection. The detector 220 receives the reflected beam and determines the target object's distance, orientation, height, speed, attitude, shape, and other characteristics based on the emitted and reflected beams.

[0069] The LiDAR 1000 has a wide range of applications. Besides its military applications, it is also widely used in everyday life, including but not limited to: vehicles, autonomous vehicles, autonomous aircraft, 3D printing, virtual reality (VR), augmented reality (AR), and robotics. When the LiDAR 1000 of this application embodiment is applied to electronic devices such as drones, smart furniture devices, or smart manufacturing equipment, the LiDAR 1000 can be mounted on the main body of the electronic device. When the LiDAR 1000 provided in this application embodiment is applied to a vehicle, the LiDAR 1000 can serve as an auxiliary component of an intelligent driving system for detecting surrounding vehicles, pedestrians, and obstacles.

[0070] This application embodiment specifically uses the application of LiDAR 1000 in a vehicle as an example for detailed description. The vehicle 2000 can be an electric vehicle (EV), an electric food delivery vehicle, an electric delivery vehicle, a pure electric vehicle / battery electric vehicle (PEV / BEV), a hybrid electric vehicle (HEV), a range-extended electric vehicle (REEV), a plug-in hybrid electric vehicle (PHEV), or a new energy vehicle.

[0071] Figure 1 This is a schematic diagram illustrating a scenario of lidar application on a vehicle, as provided in an embodiment of this application. (Reference) Figure 1 The vehicle 2000 includes a vehicle body 2100 and at least one lidar 1000. For example, Figure 1 In this embodiment, three lidar sensors 1000 are installed on the vehicle body 2100. The lidar sensors 1000 can be installed on the roof, headlights, windshield, bumper, etc., of the vehicle body 2100, and are not specifically limited in this application. For example, Figure 1 In the vehicle body 2100, two LiDAR sensors 1000 are installed on the front bumper, and one LiDAR sensor 1000 is installed on the rear bumper. It should be noted that the number of LiDAR sensors 1000 includes, but is not limited to, three.

[0072] By installing a LiDAR 1000 on a vehicle 2000, the LiDAR 1000 can scan the surrounding environment of the vehicle 2000 by rapidly and repeatedly emitting laser beams to obtain point cloud data reflecting the shape, position, and motion of one or more objects in the surrounding environment. Specifically, the LiDAR 1000 emits laser beams into the surrounding environment and receives the echo beams reflected back by various objects in the surrounding environment. By calculating the time delay between the emission time of the laser beam and the return time of the echo beam, the position information of each object is determined. In addition, the LiDAR 1000 can also determine the angular information describing the spatial orientation of the laser beam. By combining the position information of each object with the angular information of the laser beam, a three-dimensional map including the scanned surrounding environment and each object is generated. This three-dimensional map can be used to guide the autonomous driving of the vehicle 2000.

[0073] Currently, the performance of a LiDAR 1000 can be measured by indicators such as angular resolution and ranging capability to determine whether it meets detection requirements. Angular resolution determines the total number of point clouds that the LiDAR 1000 can obtain in a single scan and the smallest obstacle size it can detect. For example, if the angular resolution of a LiDAR 1000 in related technologies is 0.2°, then at a detection distance of 150m, the distance between two laser beams at 150m is approximately 150m * tan0.2° ≈ 0.524m. When the detection distance exceeds 150m, the LiDAR 1000 can only detect targets larger than 0.524m; it cannot accurately detect targets smaller than 0.524m. Therefore, the LiDAR 1000 in related technologies cannot meet the requirements for detecting long-distance, small targets. In some implementation scenarios, "long-distance" in this application embodiment can refer to a detection distance greater than 150m, and "small target" can refer to a target smaller than 0.524m.

[0074] In view of this, this application provides a lidar 1000. The laser emitting component 100 of the lidar 1000 can emit at least two laser beams with an angle within the vertical field of view of the laser emitting component 100. In a unit cycle of scanning along the fast axis, the single rotation angle of the two-dimensional scanner 300 in the slow axis direction of the lidar 1000 satisfies the relationship: 1 / 2β≤2α≤3 / 2β, and 2α≠β. This setting can improve the scanning density of the lidar 1000 in the slow axis direction, thereby improving the angular resolution of the lidar 1000. As a result, the lidar 1000 can be applied to long-distance, small target detection scenarios, thus meeting the usage requirements.

[0075] Figure 2 This is a three-dimensional structural diagram of a lidar provided in an embodiment of this application. Figure 3This is a schematic diagram of the structure of a lidar provided in an embodiment of this application.

[0076] refer to Figure 2 and Figure 3 The lidar 1000 of this application embodiment may include a laser emitting assembly 100, a laser receiving assembly 200, a two-dimensional scanner 300, a first beam splitter 400, a viewing window 500, and a housing 700. The laser emitting assembly 100, the laser receiving assembly 200, the two-dimensional scanner 300, and the first beam splitter 400 are located within the housing 700. The viewing window 500 is embedded in the side wall of the housing 700. The laser emitting assembly 100 and the laser receiving assembly 200 are located along... Figure 2 The X-axis spacing is set. The 2D scanner 300 is close to the viewing window 500 and aligned with the first beam splitter 400. Figure 2 The X-axis spacing is set. The first beam splitter 400 is located on the emission optical path between the laser emitting component 100 and the two-dimensional scanner 300, and is also located on the receiving optical path between the laser receiving component 200 and the two-dimensional scanner 300. The first beam splitter 400 can separate and combine the laser beam emitted by the laser emitting component 100 and the laser beam received by the laser receiving component 200, thereby setting the emission optical path and the receiving optical path to be coaxial. The window 500 is used to protect the laser emitting component 100, the laser receiving component 200, the two-dimensional scanner 300 and other components installed inside the lidar 1000. In addition, it can also ensure that the laser beam emitted by the laser emitting component 100 can contact the target object, and that the laser beam reflected back by the target object can contact the two-dimensional scanner 300.

[0077] refer to Figure 2 and Figure 3 The laser beam emitted by the laser emitting component 100 passes through the first beam splitter 400 and comes into contact with the two-dimensional scanner 300. It is then reflected by the two-dimensional scanner 300 and passes through the viewing window 500. Finally, the laser beam comes into contact with the target object and undergoes diffuse reflection. The portion of the laser beam that comes into contact with the target object is reflected back. The reflected laser beam passes through the viewing window 500 and is reflected by the two-dimensional scanner 300 to the laser receiving component 200, thus allowing the lidar 1000 to obtain relevant information about the target object. This relevant information includes characteristic quantities such as range, azimuth, altitude, velocity, attitude, and shape.

[0078] The laser emitting assembly 100 is used to emit at least two laser beams that have an angle between them within the vertical field of view of the laser emitting assembly 100, for example... Figure 4 This is a schematic diagram illustrating the emission of a laser beam from a laser emitting assembly provided in an embodiment of this application. (Reference) Figure 4As shown, the laser emitting component 100 emits six laser beams within its vertical field of view: laser beam L1, laser beam L2, laser beam L3, laser beam L4, laser beam L5, and laser beam L6. Furthermore, the angle between any two adjacent laser beams is β, for example, the angle between laser beams L1 and L2 is β, and the angle between laser beams L3 and L4 is β. The angle β can be obtained by subtracting the pointing angles of two adjacent laser beams, i.e., β = |w| i -w i+1 | where wi represents the pointing angle of the i-th laser beam, and wi+1 represents the pointing angle of the (i+1)-th laser beam. The pointing angle refers to the angle between the laser beam and a horizontal reference line perpendicular to the window surface of the laser emitting assembly 100. For example, the pointing angle w1 of laser beam L1 is -0.14°, and the pointing angle w2 of laser beam L2 is 0.14°, thus the angle β between laser beams L1 and L2 is β = |-0.14° - 0.14°| = 0.28°. Furthermore, the pointing angle can determine the position of the laser beam within the vertical field of view of the laser emitting assembly 100; for example, the pointing angle of laser beam L6 is -0.7°.

[0079] It should be noted that, since the laser beam is a point beam, it will diverge because it has a divergence angle, which includes a vertical divergence angle along the slow axis and a horizontal divergence angle along the fast axis. Therefore, the position of the laser beam within the field of view can be determined by wi + θi, where θi refers to the divergence angle of the i-th laser beam. Figure 5 This is a first three-dimensional structural schematic diagram of a laser emitting assembly emitting a laser beam, provided as an embodiment of this application. (Reference) Figure 5 When the laser beam L2 emitted by the laser emitting component 100 has a divergence angle θ2 in the fast axis direction, the laser beam L2 diverges into a laser beam L2'. Furthermore, the angle between two adjacent laser beams also changes accordingly: |(w i +θ i )-(w i+1 +θ i+1 Thus, the included angle between two adjacent laser beams can be the same or different. Figure 6 for Figure 4 The diagram shows the divergence angle distribution of the laser emitting component in the fast axis direction of the embodiment shown. Figure 7 for Figure 4 The diagram shows the divergence angle distribution of the laser emitting component in the slow axis direction of the illustrated embodiment. For example, refer to... Figure 6 and Figure 7 Since the six laser beams have the same horizontal divergence angle along the fast axis and essentially the same vertical divergence angle along the slow axis, the angle between any two adjacent laser beams can be determined by the beam pointing angle. Therefore, the angle between any two adjacent laser beams can be the same, i.e., β = |w|i -w i+1 |

[0080] It is understandable that the number of laser beams emitted by the laser emitting component 100 within its vertical field of view is the same as the number of laser beams received by the laser receiving component 200 within its vertical field of view. Figure 8 To and Figure 4 The diagram illustrates the receiving effect of a laser receiving component in the slow axis direction according to the embodiment shown. For example, when the laser emitting component 100 emits six laser beams: 0.14°±0.04°, 0.42°±0.04°, 0.7°±0.04°, -0.14°±0.04°, -0.42°±0.04°, and -0.7°±0.04°, the receiving effect of the laser receiving component 200 is as follows: Figure 8 As shown, six light spots are formed in the slow axis direction.

[0081] Figure 9 This is a schematic diagram showing the angle of rotation of a laser beam as it is reflected by a two-dimensional scanner. Figure 10 This is a schematic diagram showing the angle between two laser beams before and after reflection. Figure 11 This is a second three-dimensional structural diagram of a laser emitting assembly emitting a laser beam, provided in an embodiment of this application. Figure 12 This is a third-dimensional structural diagram of a laser emitting component emitting a laser beam, provided in an embodiment of this application. Figure 13 This is a fourth three-dimensional structural diagram of a laser emitting component emitting a laser beam, provided in an embodiment of this application. Figure 14B This is a scanning schematic diagram of a two-dimensional scanner provided in an embodiment of this application. Figure 15B This is another scanning schematic diagram of the two-dimensional scanner provided in the embodiments of this application.

[0082] In this embodiment, the 2D scanner 300 satisfies the following relationship: 1 / 2β ≤ 2α ≤ 3 / 2β, and 2α ≠ β. Here, α is the single rotation angle of the 2D scanner in the slow axis direction, and β is the angle between two adjacent laser beams. The single rotation angle in the slow axis direction refers to the angle of one rotation of the 2D scanner 300 in the slow axis direction within a unit cycle of scanning along the fast axis direction. When the single rotation angle in the slow axis direction satisfies the above relationship, the angle between the laser beam scanned by the 2D scanner 300 in the slow axis direction and the adjacent laser beam in the previous unit cycle can be changed, thereby increasing the scanning density of the 2D scanner 300 in the slow axis direction and thus improving the vertical angular resolution. It should be noted that regardless of how many unit cycles the 2D scanner 300 scans, the angle between two adjacent laser beams will not change within the same unit cycle. In addition, the smaller the angle between the laser beam scanned in the slow axis direction of the 2D scanner and the adjacent laser beam in the previous unit cycle, the higher the angular resolution (that is, the smaller the angle between the laser beams, the smaller the smaller the object that can be identified, and thus the higher the angular resolution).

[0083] The principle behind the above formula will be explained in detail below.

[0084] First, let's explain the relationship between the single rotation angle α of the 2D scanner 300 and the single rotation angle of the laser beam, as well as the angular relationship between adjacent laser beams.

[0085] Because the 2D scanner 300 rotates by α in the slow axis direction, the laser beam reflected by the 2D scanner 300 rotates by an angle of 2α. (Reference) Figure 9 When the 2D scanner 300 is not rotating in the slow axis direction (Z), the laser beam L1 is reflected by the 2D scanner 300 into a laser beam L11. Laser beams L1 and L11 are symmetrical about the normal F0. When the 2D scanner 300 rotates by α in the slow axis direction (Z), the position of the 2D scanner 300 becomes 300', and the normal F0 also rotates by an angle α. At this time, the laser beam L1 is reflected by the 2D scanner 300 into a laser beam L11', and the angle between laser beams L11 and L11' is 2α. Therefore, when the 2D scanner 300 rotates by an angle α in the slow axis direction, the laser beam reflected by the 2D scanner 300 will rotate by 2α. That is, when the 2D scanner 300 scans once with a single rotation angle (rotation α), the reflected laser beam will rotate by 2α.

[0086] refer to Figure 10Laser beam L1 is reflected by the two-dimensional scanner 300 to become laser beam L11, and laser beam L2 is reflected by the two-dimensional scanner 300 to become laser beam L22. The angle between laser beams L1 and L2 is β, and the angle between laser beams L11 and L22 is also β. Therefore, for the above content... Figure 2 For laser beams L1 and L2, the angle between them before reflection is β, and the angle between the reflected laser beams L11 and L22 is also β. Therefore, through... Figure 9 and Figure 10 It is known that the angle through which the reflected laser beam rotates can be changed by controlling the single rotation angle of the two-dimensional scanner 300 in the slow axis direction, thereby changing the angular resolution.

[0087] Generally, the 2D scanner 300 continuously scans the object in front of it, completing one scan within one cycle. The above describes the situation when the 2D scanner 300 performs one slow-axis scan. In reality, the 2D scanner 300 performs multiple scan cycles, acquiring point cloud images from these multiple cycles to further achieve target recognition. The cycles can be continuous or intermittent; no limitation is made here.

[0088] The following further explains the complete scanning process of the 2D scanner 300 across multiple cycles.

[0089] In each cycle, the 2D scanner 300 scans in both the fast and slow axis directions. The scanning process of the 2D scanner 300 in the fast and slow axis directions within one cycle, i.e., within one unit cycle, is described in detail below.

[0090] The 2D scanner 300, within a unit cycle, continues to refer to the above content in the fast axis direction. Figure 11The 2D scanner 300 scans from position L22 to position L22x of the laser beam, and then back to position L22 (which can be understood as one head-shaking motion). After the fast-axis scan is completed, in the slow-axis direction, the 2D scanner 300 scans from position L22 to position L22z of the laser beam (which can be understood as one head-nodding motion). This completes one cycle of scanning. Therefore, the angle between position L22 and position L22z of the laser beam is twice the angle of a single rotation (i.e., 2α). In the next cycle, in the fast axis direction, the 2D scanner 300 can start from the laser beam L22z position and scan along the X-axis for one round before returning to the laser beam L22z position. After the fast axis scan is completed, in the slow axis direction, the 2D scanner 300 will scan from the laser beam L22z position at an angle of 2α (not shown in the figure) and complete another nod. When the 2D scanner 300 has completed all scans in the slow axis direction, the 2D scanner 300 will turn up and return to the position before nodding (e.g., the initial position) before starting the next cycle scan.

[0091] Further reference Figure 11 t1 is the time taken for the 2D scanner 300 to scan from position L22 to position L22x, and t2 is the time taken for the 2D scanner 300 to return from position L22x to position L22. The unit period is equal to the sum of times t1 and t2. Within the unit period, the 2D scanner 300 moves along the fast axis (e.g., ...). Figure 11 The scanning process in the X-axis direction is as follows: first, scan from position L22 clockwise to position L22x, and then scan from position L22x counterclockwise back to position L22. Alternatively, within a unit period, the scanning process of the 2D scanner 300 in the fast axis direction can also be as follows: first, scan from position L22x counterclockwise to position L22, and then scan from position L22 clockwise back to position L22x.

[0092] The following describes the angular resolution of the LiDAR 1000 under several different single rotation angles of the 2D scanner 300.

[0093] refer to Figure 11 When the single rotation angle α of the 2D scanner 300 is 1 / 4β, the laser beam L22 reflected by the 2D scanner 300 rotates 2α and moves to the position of laser beam L22z. The laser beam L11 reflected by the 2D scanner 300 rotates 2α and moves to the position of laser beam L11z. At this time, the angle between laser beam L22z and laser beam L11 is... For angular resolution, since 2α = 1 / 2β, therefore Therefore, when the single rotation angle of the 2D scanner 300 is 1 / 4β, after scanning in the slow axis direction, the angle between the laser beam and the adjacent laser beam in the previous scanning cycle (e.g., Figure 11 The angle between laser beams L22z and L11 in the middle ) becomes the angle between two adjacent laser beams in the previous scanning cycle (e.g. Figure 11 The angle β between laser beams L11 and L22 is half of the angle β between them, which can improve angular resolution.

[0094] refer to Figure 12 When the single rotation angle α of the 2D scanner 300 is 3 / 4β, the laser beam L22 reflected by the 2D scanner 300 rotates 2α and moves to the position of laser beam L22z. At this time, the angle between laser beam L22z and laser beam L11 is... Since α = 3 / 4β, therefore Therefore, when the single rotation angle of the 2D scanner 300 is 3 / 4β, after scanning in the slow axis direction, the angle between the laser beam and the adjacent laser beam in the previous scanning cycle (e.g., Figure 12 The angle between laser beams L22z and L11 in the middle ) becomes the angle between two adjacent laser beams in the previous scanning cycle (e.g. Figure 12 The angle β between laser beams L11 and L22 is half of the angle between them, which makes the laser beams emitted by the lidar 1000 more concentrated, thereby improving the angular resolution.

[0095] It should be noted that the reference is... Figure 13 When the single rotation angle α of the 2D scanner 300 is 1 / 2β, the laser beam L22 reflected by the 2D scanner 300 rotates 2α and moves to the position of laser beam L22z, and laser beam L22z coincides with laser beam L11. The laser beam L11 reflected by the 2D scanner 300 rotates 2α and moves to the position of laser beam L11z, and laser beam L11z coincides with laser beam L33. Since the angle between laser beams L11 and L22 is β, and the angle between laser beams L11 and L33 is β, and 2α = β, when the single rotation angle α of the 2D scanner 300 is 1 / 2β, the laser beams in two adjacent scanning cycles coincide, and the angle between two adjacent laser beams is always β. The angular resolution does not change. Therefore, the single rotation angle α of the 2D scanner 300 is ≠ 1 / 2β, that is, 2α ≠ β.

[0096] The following point cloud images obtained from three cycles of scanning further illustrate the angular resolution of the LiDAR 1000 under several different single rotation angles of the 2D scanner 300.

[0097] When the single rotation angle α of the 2D scanner 300 is 1 / 2β, the scanning schematic diagram of the 2D scanner 300 is as follows. Figure 14A As shown, the two-dimensional scanner 300 scans four laser beams. Point cloud 1 is the point cloud obtained by the two-dimensional scanner 300 scanning in a certain cycle in the slow axis direction, which is set as the first cycle (it can be any cycle); point cloud 2 is the point cloud obtained by the two-dimensional scanner 300 scanning in the second cycle after the first cycle in the slow axis direction (single rotation angle α = 1 / 2β); point cloud 3 is the point cloud obtained by the two-dimensional scanner 300 scanning in the third cycle after the second cycle in the slow axis direction (single rotation angle α = 1 / 2β).

[0098] By merging the point clouds from three unit periods, we can obtain Figure 14B As shown, through Figure 14B It can be seen that the point cloud images of point cloud 1, point cloud 2 and point cloud 3 overlap. Therefore, when 2α = β, the point cloud images obtained by the two-dimensional scanner after more than 300 scans overlap, and the included angle between two adjacent point clouds remains unchanged, so the angular resolution does not change. Therefore, in this embodiment of the application, in order to improve the angular resolution, the single rotation angle α of the two-dimensional scanner 300 is ≠ 1 / 2β, that is, 2α ≠ β.

[0099] In this embodiment, when the single rotation angle of the two-dimensional scanner 300 satisfies the relationship: 1 / 2β≤2α≤3 / 2β, and 2α≠β, for example, when the included angle between two adjacent laser beams is 0.28° and the single rotation angle α is 0.12°, then when 2α=0.24°, the scanning schematic diagram of the two-dimensional scanner 300 is as follows. Figure 15A As shown. Reference Figure 15A Point cloud 1 is the point cloud image obtained by the 2D scanner 300 in the first cycle of scanning along the slow axis, and is... Figure 14A It is the same as point cloud number 1, but... Figure 15A In the diagram, point cloud 2 is obtained by the 2D scanner 300 during the second cycle scan in the slow axis direction (when the single rotation angle α = 0.12°). It can be seen that point cloud 2 does not coincide with point cloud 1 in the slow axis direction. Point cloud 3 is obtained by the 2D scanner 300 during the third cycle scan in the slow axis direction (when the single rotation angle α = 0.12°). It can be seen that point cloud 3 does not coincide with either point cloud 2 or point cloud 1 in the slow axis direction. Figure 15A By merging the three point cloud images, we can obtain Figure 15B The point cloud diagram shown is from Figure 15B As can be seen, point cloud image #2 is inserted into point cloud image #1, and point cloud image #3 is inserted into point cloud image #2, ultimately forming an interlaced point cloud image. This results in a high angular resolution point cloud, thereby improving angular resolution. Figure 15BIn this model, the angular resolution can reach 0.04° (the angular resolution between two nearest neighbor point clouds), which is comparable to... Figure 14A Compared to the angular resolution of 0.28°, the scanning density in this embodiment is increased, thereby improving the angular resolution and enabling scanning of long-distance, small targets.

[0100] As can be seen, the above embodiments use 2α = 1 / 2β and 2α = 3 / 2β as examples of two extreme cases. Based on the above principle, it can be known that as long as the point cloud maps scanned by multiple adjacent cycles can form a 15B interlacing pattern, it is sufficient. Therefore, as long as the single rotation angle of the 2D scanner 300 satisfies the relationship: 1 / 2β ≤ 2α ≤ 3 / 2β, and 2α ≠ β, the scanning density of the 2D scanner 300 can be increased, and the angular resolution of the lidar 1000 in the slow axis direction can be improved to meet the application scenarios of long distance and small targets.

[0101] In some possible implementations, the two-dimensional scanner 300 can be a 2D galvanometer or a microelectromechanical system (MEMS) galvanometer.

[0102] In some possible implementations, the 2D scanner 300 can also satisfy the relation: S1 ≥ 30 mm 2 S1 represents the effective receiving area of ​​the 2D scanner 300, which refers to the area of ​​the laser beam received by the 2D scanner 300. A larger effective receiving area means the 2D scanner 300 can receive more laser beams, thus allowing the laser receiving component 200 to receive more energy. Therefore, by increasing the effective receiving area of ​​the 2D scanner 300 in addition to improving angular resolution, the detection range of the lidar 1000 can be further increased, thereby enhancing the lidar 1000's ability to detect small targets at long distances.

[0103] In some possible implementations, the 2D scanner 300 and the laser receiving component 200 can also satisfy the relationship: 0.5 ≤ S2 / S1 ≤ 2, where S2 is the effective receiving area of ​​the laser receiving component 200 and S1 is the effective receiving area of ​​the 2D scanner 300. This configuration can increase the energy received by the laser receiving component 200, which helps to further improve the detection capability of the lidar 1000 for small targets at long distances.

[0104] In some possible implementations, the optical axis of the laser emitting component 100 can be parallel to the optical axis of the laser receiving component 200. This arrangement can reduce errors, allowing the 2D scanner 300 to receive more energy and thus improving the detection range of the lidar 1000. However, due to manufacturing or assembly errors in the laser emitting component 100 and the laser receiving component 200, in some examples, the optical axes of the laser emitting component 100 and the laser receiving component 200 can satisfy the relationship: -2° ≤ β ≤ 2°. Here, β is the angle between the optical axes of the laser emitting component 100 and the laser receiving component 200 on the 2D scanner 300.

[0105] Figure 16 This is a schematic diagram of a laser array provided in an embodiment of this application. Figure 17 This is a schematic diagram of another laser assembly provided in an embodiment of this application.

[0106] In order to emit at least two laser beams that are angled together within the vertical field of view of the laser emitting assembly 100, some possible implementations refer to... Figure 16 The laser emitting assembly 100 may include a laser group 110 and a emitting mirror group 120. The laser group 110 can emit at least two laser beams that are angled together within the vertical field of view of the laser group 110. The emitting mirror group 120 is used to reflect the laser beams emitted by the laser group 110 to the two-dimensional scanner 300.

[0107] Continue to refer to Figure 16 The laser array 110A may include four lasers 111 spaced apart within the vertical field of view of the laser array 110A. Each laser 111 emits at least one laser beam, thereby enabling the laser array 110A to emit at least two laser beams with an angle within the vertical field of view. The number of lasers 111 can be 2, 3, 5, 6, etc., in addition to the four shown in the figure. Furthermore, the number of laser beams emitted by each laser 111 can be the same or different; for example, each laser 111 may emit one laser beam in the figure.

[0108] Of course, in addition to the laser array 110A composed of multiple lasers 111, reference Figure 17The laser array 110B may include a laser 111 and a beam splitting unit 112. The laser 111 emits at least one laser beam; for example, in this embodiment, the laser 111 emits a single laser beam. The beam splitting unit 112 is located between the laser 111 and the emitting mirror group 120. The beam splitting unit 112 is used to split the single laser beam emitted by the laser 111 into multiple laser beams, thereby enabling the laser array 110B to emit at least two laser beams that have an angle within the vertical field of view of the laser array 110B.

[0109] The beam splitting unit 112 may include any one of the following devices: a second beam splitter or a diffractive optical element. When the beam splitting unit 112 uses a second beam splitter, on the one hand, a single laser beam emitted by the laser 111 can be divided into multiple laser beams, and on the other hand, the cost of the beam splitting unit 112 can be reduced.

[0110] Laser 111 can be an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL). Alternatively, when laser group 110 includes multiple lasers 111, all lasers 111 can be of the same type, or the multiple lasers 111 can include at least two types of lasers 111, for example, some lasers 111 are edge emitters and some are vertical-cavity surface-emitting lasers 111.

[0111] In this embodiment of the application, the light-emitting surface of the laser group 110 may also be located on the focal plane of the light-emitting mirror group. With this arrangement, the laser beam emitted by the laser group 110 can be collimated.

[0112] In this embodiment, the emitting lens group 120 includes any one or more of the following lenses: spherical lenses, aspherical lenses, or cylindrical lenses. For example, the emitting lens group 120 may include spherical lenses and aspherical lenses, or the emitting lens group 120 may include aspherical lenses and cylindrical lenses, or all lenses of the emitting lens group 120 may be spherical lenses.

[0113] Figure 18 This is a schematic diagram of a laser receiver assembly structure provided in an embodiment of this application.

[0114] Among some possible implementations, refer to Figure 18The laser receiving assembly 200 may include a receiving mirror group 210 and a detector 220. The receiving mirror group 210 is used to reflect the laser beam reflected from the two-dimensional scanner 300 to the detector 220. It should be noted that, in addition to the single detector shown in the figure, the number of detectors 220 can also be multiple, allowing the lidar 1000 to form a single-transmitter, multi-receiver radar architecture.

[0115] The detector 220 can be an avalanche photodiode (APD), a PIN photodiode (PIN PD), a single-photo avalanche photodiode (SPAD), or a multi-pixel photo counter (MPPC), etc. Furthermore, the specific type of detector 220 can be determined according to the detection requirements and is not specifically limited here. The detection requirements must include at least one or more of the following indicators: detection sensitivity, detection range, or response speed.

[0116] The receiving lens group 210 may include any one or more of the following lenses: spherical lenses, aspherical lenses, or cylindrical lenses. For example, when there are multiple lenses in the receiving lens group 210, all lenses in the receiving lens group 210 may be spherical lenses, or the receiving lens group 210 may include both spherical and aspherical lenses.

[0117] In this embodiment, the first beam splitter 400 may have a beam splitting film or a beam splitting aperture, thereby enabling the receiving optical path and the transmitting optical path to be arranged on the same optical axis.

[0118] In the embodiments of this application, reference is made to Figure 13 The viewing window 500 can be a flat plate or a curved plate. In addition to being embedded in the side wall of the housing 700, in some examples, the housing 700 has a through-hole through which the laser beam passes, and the viewing window 500 is located within the housing 700 and covers this through-hole. Furthermore, the material of the viewing window 500 can be light-transmitting glass or plastic; for example, the material of the viewing window 500 is polycarbonate.

[0119] In this embodiment, the window 500 can also satisfy the relationship: 0 ≤ γ ≤ 45°, where γ is the tilt angle of the window 500. This setting can change the propagation path of stray beams in the echo beam, preventing stray beams from being received by the laser receiving component 200 and thus forming noise on its point cloud. The echo beam refers to the beam reflected from the target object to the 2D scanner 300, and includes both the laser beam and stray beams. Furthermore, the tilt angle of the window 500 refers to the angle at which the window 500 is tilted relative to the 2D scanner 300. The window 500 can be tilted inwards or outwards; this is not limited.

[0120] Figure 19 This is a schematic diagram of another lidar structure provided in an embodiment of this application.

[0121] In the embodiments of this application, reference is made to Figure 19 The lidar 1000 may further include at least one beam refracting mirror 600. A beam refracting mirror 600 is disposed in the optical path between the laser emitting assembly 100 and the first beam splitter 400. The beam refracting mirror 600 causes the optical path within the laser emitting assembly 100 to be refracted, thereby reducing the size of the laser emitting assembly 100 in a certain direction and helping to improve the compactness of the lidar 1000.

[0122] Of course, the beam refracting mirror 600 can be used not only to refract the optical path within the laser emitting assembly 100, but also to refract the optical path within the laser receiving assembly 200. Furthermore, at least one of the laser emitting assembly 100 and the laser receiving assembly 200 contains a beam refracting mirror 600; for example, one beam refracting mirror 600 is present in the laser emitting assembly 100 as shown in the figure. Additionally, when both the laser emitting assembly 100 and the laser receiving assembly 200 contain beam refracting mirrors 600, the number of beam refracting mirrors 600 in the laser emitting assembly 100 can be the same as or different from the number of beam refracting mirrors 600 in the laser receiving assembly 200.

[0123] It should be noted that the number of beam refracting mirrors 600 is at least one, and there is no specific limit here. For example, the number of beam refracting mirrors 600 may be 1, 2, 3, 4, etc.

[0124] In this embodiment, the number of beam refracting mirrors 600 can also satisfy the relationship: 1 ≤ M ≤ 15. Here, M is the total number of beam refracting mirrors 600. This arrangement satisfies the refracting requirements while reducing the cost of the beam refracting mirrors 600.

[0125] It should be noted that the numerical values ​​and ranges involved in the embodiments of this application are approximate values ​​and may have a certain range of errors, which can be considered negligible by those skilled in the art.

[0126] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0127] The devices or elements referred to in the embodiments of this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of this application. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0128] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, component, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0129] The term "multiple" in this article refers to two or more. The term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects; in formulas, the character " / " indicates a "division" relationship between the preceding and following related objects.

[0130] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0131] It is understood that, in the embodiments of this application, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

Claims

1. A lidar, characterized in that, include: Laser emitting component, laser receiving component, and two-dimensional scanner; The laser emitting assembly is used to emit at least two laser beams that are angled together within the vertical field of view of the laser emitting assembly. The two-dimensional scanner is used to reflect the laser beam emitted from the laser emitting component to the target object, and to reflect the laser beam reflected back from the target object to the laser receiving component; The two-dimensional scanner satisfies the following relation: And the , wherein, the The angle of a single rotation of the two-dimensional scanner in the slow axis direction is the angle of rotation of the scanner in the slow axis direction. The angle between two adjacent laser beams; The single rotation angle in the slow axis direction refers to the angle of rotation of the two-dimensional scanner in the slow axis direction during one scan within a unit cycle of the two-dimensional scanner scanning along the fast axis direction. Here, the fast axis direction refers to the horizontal field of view of the two-dimensional scanner, and the slow axis direction refers to the vertical field of view of the two-dimensional scanner.

2. The lidar according to claim 1, characterized in that, The 1 / 4 .

3. The lidar according to claim 1 or 2, characterized in that, The two-dimensional scanner satisfies the following relation: ,in, This represents the effective receiving area of ​​the two-dimensional scanner.

4. The lidar according to claim 3, characterized in that, The laser receiving component and the two-dimensional scanner satisfy the following relationship: ,in, The effective receiving area of ​​the laser receiving component. The effective receiving area of ​​the two-dimensional scanner is denoted as .

5. The lidar according to any one of claims 1, 2, and 4, characterized in that, The two-dimensional scanner is a 2D galvanometer or a microelectromechanical system (MEMS) galvanometer.

6. The lidar according to any one of claims 1, 2, and 4, characterized in that, Also includes: The first beam splitter is located in the optical path between the laser emitting component and the two-dimensional scanner, and is also located in the optical path between the laser receiving component and the two-dimensional scanner; The first beam splitter has a beam-splitting film, or the first beam splitter has a beam-splitting aperture.

7. The lidar according to any one of claims 1, 2, and 4, characterized in that, The laser emitting assembly includes a laser group and an emitting mirror group; The laser array is used to emit at least two of the laser beams; The emitting mirror group is used to reflect the laser beam emitted from the laser group to the two-dimensional scanner.

8. The lidar according to claim 7, characterized in that, The laser group includes a plurality of lasers arranged side by side along the vertical field of view of the laser group, each of the plurality of lasers being used to emit at least one laser beam; or, the laser group includes a laser and a beam splitting unit, the laser being used to emit a laser beam, and the beam splitting unit being used to split the laser beam emitted by the laser being used to split the laser beam emitted by the laser being used to split the laser beam emitted by the laser being used to split the laser beam emitted by the laser being used to split the laser beam into multiple laser beams.

9. The lidar according to claim 8, characterized in that, The laser is an edge emitter or a vertical cavity surface emitter laser.

10. The lidar according to claim 8 or 9, characterized in that, The beam splitting unit includes any one of the following devices: a second beam splitter or a diffractive optical element.

11. The lidar according to claim 8 or 9, characterized in that, The emitting surface of the laser array is located on the focal plane of the emitting mirror array.

12. The lidar according to claim 8 or 9, characterized in that, The emitting lens group includes any one or more of the following lenses: spherical lens, aspherical lens, or cylindrical lens.

13. The lidar according to any one of claims 1, 2, 4, 8, and 9, characterized in that, The laser receiving assembly includes a receiving mirror group and a detector; The receiving mirror group is used to reflect the laser beam reflected from the two-dimensional scanner to the detector.

14. The lidar according to claim 13, characterized in that, The detector is a silicon photomultiplier tube, an avalanche photodiode, or a single-photon avalanche diode.

15. The lidar according to claim 13, characterized in that, The receiving lens group includes any one or more of the following lenses: spherical lens, aspherical lens, or cylindrical lens.

16. The lidar according to any one of claims 1, 2, 4, 8, 9, 14, and 15, characterized in that, The optical axis of the laser emitting component is parallel to the optical axis of the laser receiving component.

17. The lidar according to any one of claims 1, 2, 4, 8, 9, 14, and 15, characterized in that, Also includes: A viewing window located between the two-dimensional scanner and the target object, the viewing window being a flat plate structure or a curved plate structure.

18. The lidar according to claim 17, characterized in that, The window satisfies the following relation: ,in, The tilt angle of the viewport.

19. The lidar according to any one of claims 1, 2, 4, 8, 9, 14, 15, and 18, characterized in that, Also includes: At least one beam-folding mirror; The at least one beam folding mirror is used to fold the laser optical path, wherein the laser optical path includes at least one of the following optical paths: the optical path within the laser emitting component or the optical path within the laser receiving component.

20. The lidar according to claim 19, characterized in that, The number of at least one beam-rotating mirrors satisfies the following relationship: ,in, The total number of the at least one beam-rotating mirror.

21. An electronic device, characterized in that, It includes a body and a lidar as described in any one of claims 1-20, wherein the lidar is mounted on the body.

22. A vehicle, characterized in that, It includes a vehicle body and a lidar as described in any one of claims 1-20, wherein the lidar is mounted on the vehicle body.

Images