Transmitting module and solid-state laser radar

Abstract

The present disclosure provides a transmitting module and a solid-state laser radar, the transmitting module comprising: a light source, the light source comprising a plurality of light emitting units arranged along a first direction, the light emitting units being configured to emit probe light; the light uniformizing unit is configured to uniformize the detection light; and the light transmission unit is configured to shape the detection light, the light transmission unit comprises a telecentric lens group, the telecentric lens group comprises a plurality of lenses, and at least one lens is a plastic lens. Through the cooperation of the telecentric lens group and the dodging unit, the detection area of the detection light emitted by the light emitting unit array is enlarged, the space transmission performance of the detection light is improved, the field of view of the laser radar can be effectively enlarged, and the light emission efficiency of the laser radar can be improved; and the plastic lens is used in the telecentric lens group, so that the weight of the laser radar and the number of lenses can be reduced, batch assembly and production are facilitated, and the cost can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar, and in particular to a transmitting module and a solid-state laser radar. Background Art

[0002] Solid-state LiDAR is a commonly used distance measurement sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in unmanned driving, intelligent robots, drones and other fields. In recent years, autonomous driving technology has developed rapidly, and solid-state LiDAR, as its core sensor for distance perception, has become indispensable.

[0003] Solid-state laser radar refers to a laser radar that does not use any mechanical moving parts inside. At present, some solid-state laser radars use a planar array light source with light-emitting units arranged in both the horizontal and vertical directions and a planar array detector with receiving units arranged. All light-emitting units in the planar array light source emit detection light at the same time, and all receiving units in the planar array detector simultaneously receive the echo light formed by the detection light reflected by the target, so as to detect the target in the field of view of the solid-state laser radar.

[0004] However, existing solid-state laser radars often have problems such as small field of view, high cost, and low light emission efficiency. Summary of the invention

[0005] The problem solved by the present disclosure is to expand the field of view, reduce the cost, and improve the light emission efficiency in solid-state laser radar.

[0006] In order to solve the above problems, the present disclosure provides a transmitting module, which is used for a solid-state laser radar and includes:

[0007] A light source, the light source includes a plurality of light-emitting units arranged along a first direction, the light-emitting units are configured to emit detection light; a light homogenizing unit, the light homogenizing unit is configured to homogenize the detection light; and a light transmission unit, the light transmission unit is configured to shape the detection light, the light transmission unit includes a telecentric lens group, the telecentric lens group includes: a plurality of lenses, at least one of which is a plastic lens.

[0008] Optionally, the light homogenization unit homogenizes the detection light in a second direction to increase a detection area of ​​the detection light in the field of view of the solid-state laser radar.

[0009] Optionally, the plastic lens is an aspherical lens.

[0010] Optionally, the telecentric lens group includes: a first lens and a second lens, wherein the second lens is located in the light path between the light source and the first lens, the first lens is a negative lens, and the second lens is a positive lens; the plastic lens is located in the light path between the light source and the second lens.

[0011] Optionally, the curvature and position of the first lens are determined based on the field of view of the solid-state laser radar.

[0012] Optionally, the plastic lens is a positive lens to correct aberrations and adjust the optical power of the light transmission unit.

[0013] Optionally, at least one of the first lens and the second lens is a glass lens.

[0014] Optionally, the plastic lens is a negative lens to correct aberrations; the telecentric lens group further includes: a third lens, which is located in the light path between the light source and the plastic lens.

[0015] Optionally, the third lens is a glass lens.

[0016] Optionally, the optical transmission unit further includes an aperture, and the telecentric lens group is configured to allow the detection lights emitted by the multiple light-emitting units to pass through the aperture.

[0017] Optionally, the aperture is located in the light path between the first lens and the second lens.

[0018] Optionally, the F number of the telecentric lens group matches the divergence angle of the detection light.

[0019] Optionally, the F number of the telecentric lens group is in the range of 1 to 2.

[0020] Optionally, the telecentricity of the telecentric lens group is less than 5°.

[0021] Optionally, the light homogenization unit is further configured to homogenize the detection light in a first direction.

[0022] Optionally, the light homogenization unit includes: a main body, the main body having an inner surface and an outer surface, the inner surface facing the light source, and the outer surface being arranged opposite to the inner surface; a plurality of first cylindrical lenses, the first cylindrical lenses extending along the first direction, and a plurality of the first cylindrical lenses arranged in parallel along the second direction, the first cylindrical lenses being located on one of the inner surface and the outer surface.

[0023] Optionally, the light homogenization unit further includes: a plurality of second cylindrical lenses, the second cylindrical lenses extending along the second direction, and the plurality of second cylindrical lenses arranged in parallel along the first direction, and the second cylindrical lenses are located on the other surface of the inner surface and the outer surface.

[0024] Optionally, the light transmission unit is located in the light path between the light source and the light homogenizing unit, and the light homogenizing unit is a curved surface light homogenizing unit.

[0025] Optionally, the light homogenizing unit is located in the light path between the light source and the light transmission unit; or the light homogenizing unit is located in the light path between the aperture and the first lens, and the light homogenizing unit is a planar light homogenizing unit.

[0026] Accordingly, a solid-state laser radar is also provided, comprising:

[0027] A transmitting module, the transmitting module comprising: a light source, the light source comprising a plurality of light-emitting units arranged along a first direction, the light-emitting units being configured to emit detection light; a light homogenizing unit, the light homogenizing unit being configured to homogenize the detection light; an optical transmission unit, the optical transmission unit being configured to shape the detection light, the optical transmission unit comprising a telecentric lens group, the telecentric lens group comprising: a plurality of lenses, at least one of which is a plastic lens; and a receiving module, the receiving module being configured to receive echo light formed after the detection light is reflected by a target.

[0028] Optionally, the field of view angle of the solid-state laser radar in the second direction is greater than 100°.

[0029] Optionally, the receiving module includes: a single-photon receiving unit array, and the single-photon receiving unit array includes a plurality of single-photon receiving units arranged in an array.

[0030] Optionally, the receiving module further includes: a receiving transmission unit, and the receiving transmission unit is configured to converge the echo light to the single-photon receiving unit array.

[0031] Optionally, the light source of the transmitting module and the single-photon receiving unit array of the receiving module are arranged on the same circuit board.

[0032] Optionally, the receiving module further includes: an optical filter, wherein the optical filter is arranged in the optical path of the echo light.

[0033] Optionally, the activation area in the single-photon receiving unit array of the receiving module is configured to receive echo light formed by the detection light generated by one of the light-emitting units or at least two adjacent light-emitting units.

[0034] Optionally, the single-photon receiving unit array includes: multiple adjacent activation areas, each activation area detects a sub-field of view of the solid-state laser radar, and all activation areas detect the field of view of the solid-state laser radar.

[0035] Optionally, each of the activation areas includes a plurality of columns of detection units, and the plurality of columns of detection units are activated simultaneously, wherein the detection units in each column are arranged along the second direction.

[0036] Optionally, the activation area of ​​the single-photon receiving unit array includes multiple first activation areas and multiple second activation areas; the first activation area is configured to receive echo light formed by the detection light generated by one of the light-emitting units; the second activation area is configured to receive echo light formed by the detection light generated by at least two adjacent light-emitting units; the first activation area and the second activation area are arranged along the first direction according to a preset rule.

[0037] Compared with the prior art, the technical solution disclosed in the present invention has the following advantages:

[0038] In the technical solution disclosed in the present invention, the transmitting module includes a light source having an array of light-emitting units, a light-homogenizing unit for homogenizing the detection light, and an optical transmission unit, wherein the optical transmission unit includes a telecentric lens group, and at least one of the multiple lenses of the telecentric lens group is a plastic lens. Through the cooperation of the telecentric lens group and the light-homogenizing unit, the detection light emitted by the array of light-emitting units expands the detection area and improves the spatial transmission performance of the detection light, which can effectively expand the field of view of the laser radar and improve the light emission efficiency of the laser radar; and the use of plastic lenses in the telecentric lens group can reduce the weight and number of lenses of the laser radar, which is conducive to mass assembly and production, and can reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation on the present disclosure. In the drawings:

[0040] Figure 1 is a schematic structural diagram of the first embodiment of the transmitting module disclosed in the present invention;

[0041] Figure 2 yes Figure 1 A schematic diagram of the structure of the light homogenization unit in the embodiment of the transmitting module shown;

[0042] Figure 3 yes Figure 1 A schematic diagram of the optical path of the optical transmission unit in the embodiment of the transmitting module shown;

[0043] Figure 4 is a schematic diagram of the optical path of the optical transmission unit in the second embodiment of the transmitting module disclosed herein;

[0044] Figure 5is a schematic diagram of the optical path of the optical transmission unit in the third embodiment of the transmitting module disclosed herein;

[0045] Figure 6 is a schematic diagram of the optical path of the optical transmission unit in the fourth embodiment of the transmitting module disclosed herein;

[0046] Figure 7 is a schematic diagram of the optical path of the optical transmission unit in the fifth embodiment of the transmitting module disclosed herein;

[0047] Figure 8 is a schematic diagram of the optical path of the optical transmission unit in the sixth embodiment of the transmitting module disclosed herein;

[0048] Fig. 9 is a functional block diagram of an embodiment of the solid-state laser radar disclosed herein;

[0049] Fig.10 yes Fig. 9 A schematic diagram of the optical path of a receiving and transmitting unit in the solid-state laser radar embodiment shown;

[0050] Fig.11 yes Fig. 9 A schematic diagram of the top view of the circuit board in the solid-state laser radar embodiment shown;

[0051] Fig.12 yes Fig. 9 A schematic diagram of the working timing of the transmitting module and the receiving module in the solid-state laser radar embodiment shown;

[0052] Fig.13 It is a schematic diagram of the working timing of the transmitting module and the receiving module in another embodiment of the solid-state laser radar disclosed in the present invention. DETAILED DESCRIPTION

[0053] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0054] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0055] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0056] In the present disclosure, unless otherwise expressly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0057] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0058] As can be seen from the background technology, solid-state laser radars in the prior art often have problems such as small field of view, high cost, and low light emission efficiency.

[0059] In order to solve the technical problem, the present disclosure provides a transmitting module, which is used for a solid-state laser radar and includes:

[0060] A light source, the light source includes a plurality of light-emitting units arranged along a first direction, the light-emitting units are configured to emit detection light; a light homogenizing unit, the light homogenizing unit is configured to homogenize the detection light; and a light transmission unit, the light transmission unit is configured to shape the detection light, the light transmission unit includes a telecentric lens group, the telecentric lens group includes: a plurality of lenses, at least one of which is a plastic lens.

[0061] The disclosed technical solution, the optical transmission unit includes a telecentric lens group, and at least one of the multiple lenses of the telecentric lens group is a plastic lens. Through the cooperation of the telecentric lens group and the light homogenization unit, the detection light emitted by the light-emitting unit array expands the detection area and improves the spatial transmission performance of the detection light, which can effectively expand the field of view of the laser radar and improve the light emission efficiency of the laser radar; and the use of plastic lenses in the telecentric lens group can reduce the weight and number of lenses of the laser radar, which is conducive to mass assembly and production, and can reduce costs.

[0062] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0063] refer to Figure 1 , showing a schematic structural diagram of an embodiment of a transmitting module disclosed herein.

[0064] The transmitting module 101 is used for a solid-state laser radar. The transmitting module includes: a light source 110, the light source 110 includes a plurality of light-emitting units 111 arranged along a first direction x, the light-emitting units 111 are configured to emit detection light; a light homogenizing unit 120, the light homogenizing unit 120 is configured to homogenize the detection light; an optical transmission unit 130, the optical transmission unit 130 is configured to shape the detection light, the optical transmission unit 130 includes a telecentric lens group 131, the telecentric lens group 131 includes: a plurality of lenses, at least one of which is a plastic lens.

[0065] The optical transmission unit 130 includes a telecentric lens group 131, and at least one of the multiple lenses of the telecentric lens group 131 is a plastic lens. Through the cooperation of the telecentric lens group 131 and the light homogenization unit 120, the field of view of the laser radar can be effectively expanded and the light emission efficiency of the laser radar can be improved; and the use of plastic lenses in the telecentric lens group 131 can reduce the weight and number of lenses of the laser radar, which is conducive to mass assembly and production, and can reduce costs.

[0066] The technical solution of the transmitting module embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

[0067] The light source 110 is used to generate detection light.

[0068] The plurality of light emitting units 111 in the light source 110 are arranged linearly along a first direction x. Each of the light emitting units 111 emits a beam of detection light. In some specific embodiments, the first direction x corresponds to the horizontal direction of the field of view of the solid-state laser radar, and the first direction x is the horizontal field of view direction of the solid-state laser radar.

[0069] It should be noted that Figure 1 shows a view of the transmitting module embodiment in a horizontal plane, Figure 1 3 is a schematic diagram of the top view of the structure of the transmitting module embodiment.

[0070] In some embodiments of the present disclosure, the light emitting unit 111 in the light source 110 may be a laser; specifically, the light emitting unit 111 may be a vertical cavity surface emitting laser (VCSEL). In other embodiments of the present disclosure, the light emitting unit may also be an edge emitting laser (Edge-emitting Laser, EEL), or other light emitting elements capable of generating laser light.

[0071] The light homogenization unit 120 is used to homogenize the detection light. The light source 110 realizes the field of view coverage corresponding to the specific direction in the field of view of the solid-state laser radar through multiple light-emitting units 111 arranged along a specific direction; the light homogenization unit 120 realizes the field of view coverage of another specific direction in the field of view of the solid-state laser radar.

[0072] In some embodiments of the present disclosure, the light homogenization unit 120 homogenizes the detection light along the second direction z to increase the detection area of ​​the detection light in the field of view of the solid-state laser radar. In some specific embodiments, the second direction z is perpendicular to the first direction x, and the second direction z is perpendicular to the optical path direction of the detection light. Figure 1 In some of the embodiments shown, the second direction z corresponds to the vertical field of view of the solid-state laser radar, and the second direction z is the vertical direction in the field of view of the solid-state laser radar.

[0073] Specifically, Figure 1 As shown, the specific direction is the first direction x, corresponding to the horizontal direction in the field of view of the solid-state laser radar; a plurality of light-emitting units 111 are linearly arranged along the first direction x to realize the detection of the horizontal field of view in the solid-state laser radar; the homogenizing unit 120 homogenizes the detection light along the second direction z, which can increase the detection area of ​​the detection light in the vertical field of view of the solid-state laser radar, and realize the detection of the vertical field of view in the field of view of the solid-state laser radar.

[0074] In some specific embodiments, the light homogenizing unit 120 includes: a main body 121, the main body 121 having an inner surface and an outer surface, the inner surface faces the light source 110, and the outer surface is arranged opposite to the inner surface; the light homogenizing unit 120 also includes a plurality of first cylindrical lenses 122, the first cylindrical lenses 122 extend along the first direction x, and the plurality of first cylindrical lenses 122 are arranged in parallel along the second direction z, and the first cylindrical lenses 122 are located on one of the inner surface and the outer surface.

[0075] The body 121 extends in a plane or a curved surface that intersects the direction of the detection light path. Figure 2 As shown, the light homogenizing unit 120 is a planar light homogenizing unit 120, the body 121 is flat, extending in a plane perpendicular to the detection light path, and the body 121 extends in a plane (i.e., xz plane) determined by the first direction x and the second direction z. The inner and outer surfaces of the body 121 are both planes.

[0076] The first cylindrical lens 122 makes the transmitted detection light have a preset divergence angle in the second direction z to achieve uniform light in the second direction, so that the sub-field of view corresponding to the light-emitting unit 111 extends in the second direction z, increases the size of the sub-field of view corresponding to the light-emitting unit 111 in the second direction z, and increases the detection area of ​​the detection light in the field of view of the solid-state laser radar.

[0077] The first cylindrical lenses 122 extend along the first direction x, and a plurality of the first cylindrical lenses 122 are arranged in parallel along the second direction z; generatrixes of the plurality of the first cylindrical lenses 122 are parallel to each other, and the generatrixes of the first cylindrical lenses 122 are parallel to the first direction x.

[0078] like Figure 2 In some of the embodiments shown, the first cylindrical lens 122 is located on the inner surface of the body 121 , and the first cylindrical lens 122 faces the light source 110 ; in other embodiments, the first cylindrical lens 122 may also be located on the outer surface of the body.

[0079] In some embodiments of the present disclosure, the light homogenization unit 120 is further configured to homogenize the detection light in the first direction x. The light homogenization unit 120 homogenizes the detection light in the first direction x, so that the sub-field of view corresponding to the light-emitting unit 111 extends in the first direction x, increases the size of the sub-field of view corresponding to the light-emitting unit 111 in the first direction x, reduces the gap between the sub-fields of view corresponding to adjacent light-emitting units 111, and increases the detection area of ​​the detection light in the field of view of the solid-state laser radar.

[0080] In some embodiments, the homogenizing unit 120 homogenizes the detection light in the first direction x to form a corresponding sub-field of view, so that the sub-fields of view corresponding to adjacent light-emitting units 111 are connected, eliminating the dark areas in the laser radar field of view caused by the gaps between adjacent light-emitting units 111, thereby forming the entire field of view of the solid-state laser radar.

[0081] Specific as Figure 2 In some of the embodiments shown, the light homogenizing unit 120 also includes: a plurality of second cylindrical lenses 123, the second cylindrical lenses 123 extend along the second direction z, and the plurality of second cylindrical lenses 123 are arranged in parallel along the first direction x, and the second cylindrical lenses 123 are located on the other surface between the inner surface and the outer surface.

[0082] In some specific embodiments, the second cylindrical lens 123 makes the detection light have a preset divergence angle in the first direction x, so that the sub-fields of view corresponding to adjacent light-emitting units 111 are connected, the edges of the sub-fields of view corresponding to adjacent light-emitting units 111 are in contact, and the sub-fields of view corresponding to multiple light-emitting units 111 are fused and spliced ​​to form the field of view of the solid-state laser radar.

[0083] In other embodiments, the second cylindrical lens makes the detection light have a preset divergence angle in the first direction x, so that the sub-fields of view corresponding to adjacent light-emitting units partially overlap, and the sub-fields of view corresponding to multiple light-emitting units are fused and spliced ​​to form the field of view of the solid-state laser radar.

[0084] The second cylindrical lenses 123 extend along the second direction z, and a plurality of the second cylindrical lenses 123 are arranged in parallel along the first direction x; generatrixes of the plurality of the second cylindrical lenses 123 are parallel to each other, and the generatrixes of the second cylindrical lenses 123 are parallel to the second direction z.

[0085] like Figure 2 In some embodiments shown, the second cylindrical lens 123 is arranged opposite to the first cylindrical lens 122, and the second cylindrical lens 123 is located on the outer surface of the body 121, and the second cylindrical lens 123 faces away from the light source 110. In other embodiments, the second cylindrical lens 123 may also be located on the inner surface of the body.

[0086] In some specific embodiments, the light homogenizing unit 120 may be one of injection-molded plastic, molded glass or nano-imprinted optical elements. Specifically, the materials of the body 121, the first cylindrical lens 122 and the second cylindrical lens 123 may be one or more of plastic, glass or polymer materials, and the body 121, the first cylindrical lens 122 and the second cylindrical lens 123 may be formed by injection molding, molding or nano-imprinting.

[0087] It should be noted that, in some embodiments of the present disclosure, the light homogenization unit 120 may include at least one of a light homogenizer, a diffractive optical element (DOE) and a holographic optical element (HOE).

[0088] Continue to refer Figure 1 The transmitting module also has an optical transmission unit for shaping the detection light, wherein the optical transmission unit 130 has a telecentric lens group 131, and the telecentric lens group 131 collimates the detection light.

[0089] A telecentric lens group refers to a lens group whose optical path is a telecentric optical path, that is, a lens group whose entrance pupil is located at the front focal position.

[0090] In some specific embodiments, the telecentric lens group is an object-side telecentric lens group. The object-side telecentric lens group refers to an aperture stop of the optical path that is imaged at infinity by the lens group. Therefore, when the object moves back and forth in the field of view, that is, when the distance between the object and the telecentric lens group changes, the image point on the image plane will only change in clarity while the position of the image point remains unchanged. Based on the principle of reversibility of the optical path, the use of a telecentric lens group 131 in the optical transmission unit 130 can effectively ensure that the detection light emitted by the light-emitting units 111 at various positions on the same circuit board can all pass through the telecentric lens group to the far field outside the laser radar, which can effectively ensure the distance measurement capability of the solid-state laser radar.

[0091] In some embodiments of the present disclosure, the telecentric lens group 131 has a preset telecentricity so that the detection light generated by all the light-emitting units 111 in the light source 110 is emitted from the laser radar to the external far field. The telecentricity refers to the angle between the main ray of the detection light at the edge of the field of view of the solid-state laser radar and the optical axis of the telecentric lens group. Specifically, the preset telecentricity is less than 5°, and the telecentricity of the telecentric lens group 131 is less than 5°.

[0092] In some embodiments of the present disclosure, the F number of the telecentric lens group 131 matches the divergence angle of the detection light. In optical design, the F number refers to the reciprocal of the lens aperture, and the F number of the telecentric lens group 131 refers to the reciprocal of the aperture of the telecentric lens group 131. Among them, the lens aperture is equal to the entrance pupil diameter divided by the focal length, that is, the F number is equal to the focal length divided by the entrance pupil diameter, and the F number of the telecentric lens group 131 is equal to the ratio of the focal length of the telecentric lens group 131 to the entrance pupil diameter or the aperture diameter. The position of the entrance pupil is determined by the aperture diaphragm of the lens, and the aperture diaphragm limits the width of the detection light emitted from the transmitting module. Therefore, the square of the F number is inversely proportional to the detection light illumination (the luminous flux per unit area in the emitted detection light), that is, the smaller the F number, the larger the aperture of the transmitting module, and the larger the emitted luminous flux; the smaller the F number, the larger the aperture of the transmitting module, and the higher the light emission efficiency.

[0093] By matching the F number of the telecentric lens group 131 with the divergence angle of the detection light, it is possible to ensure that the detection light emitted by the light-emitting units 111 arranged at various positions on the same circuit board can be emitted from the laser radar to the far field, while reducing the size of the lens used in the telecentric lens group 111, so as to achieve the purpose of controlling the cost of the telecentric lens group 111 and the cost of the transmitting module 101 and the laser radar.

[0094] In some specific embodiments, the light emitting unit 111 is a vertical cavity surface emitting laser, the divergence angle of the emitting unit 111 is in the range of 18° to 26°, the divergence angle of the detection light generated by the emitting unit 111 is in the range of 18° to 26°, the telecentric lens group 131 is a telecentric lens group with a small F number, and the F number of the telecentric lens group 131 is in the range of 1 to 2.

[0095] It should be noted that in some embodiments of the present disclosure, the telecentric lens group 131 is a lens group that has been F-θ corrected to improve the consistency of the angular resolution of the solid-state laser radar. Specifically, the telecentric lens group 131 is set as a lens group that has been F-θ corrected, which can make the actual image height smaller than the ideal image height to match the actual image height, thereby satisfying the linear relationship between the image height and the angle.

[0096] Combined with reference Figure 3 The telecentric lens group 131 includes a plurality of lenses, at least one of which is a plastic lens 133. Setting at least one lens in the telecentric lens group 131 as a plastic lens can effectively control the cost of the telecentric lens group 111.

[0097] In some embodiments of the present disclosure, the plastic lens 133 is an aspheric lens. Setting the plastic lens 133 as an aspheric lens can effectively correct aberrations, especially spherical aberrations, and effectively reduce the production cost of aspheric lenses, so as to achieve the purpose of controlling the cost of the telecentric lens group 111 and the cost of the transmitting module 101 and the laser radar.

[0098] Specific as Figure 3 In some of the illustrated embodiments, the telecentric lens group 131 includes: a first lens 131a and a second lens 131b, wherein the second lens 131b is located in the optical path between the light source 110 and the first lens 131a, the first lens 131a is a negative lens, and the second lens 131b is a positive lens; the plastic lens 133 is located in the optical path between the light source 110 and the second lens 131b.

[0099] In some specific embodiments, the curvature and position of the first lens 131a are determined based on the field of view of the solid-state laser radar, and the second lens 131b is used to collimate the detection light generated by the light-emitting unit 111. Specifically, the first lens 131a is a negative lens, and the second lens 131b is a positive lens.

[0100] The first lens 131a is farthest from the light source 110, and is used to determine the field of view of the solid-state laser radar. The shape (eg, curvature) and position of the first lens 131a determine the wide angle of the emitted detection light. Specifically, Figure 3In some of the embodiments shown, the first lens 131a is a negative lens.

[0101] In some specific embodiments, at least one of the first lens 131a and the second lens 131b is a glass lens. Figure 3 In some embodiments shown, the first lens 131a and the second lens 131b are both glass lenses, that is, the materials of the first lens 131a and the second lens 131b are both glass. In other embodiments of the present disclosure, the first lens may be a glass lens and the second lens may be a plastic lens; or the first lens may be a plastic lens and the second lens may be a glass lens.

[0102] In some specific embodiments, the plastic lens 133 is a positive lens to correct aberrations and adjust the optical focal length of the light transmission unit 130. The optical focal length is suitable for characterizing the ability of an optical system to deflect parallel light beams.

[0103] Specific as Figure 3 As shown, the plastic lens 133 is located at the most upstream of the optical path of the detection light, and in the optical path between the second lens 131b and the light source 110, the plastic lens 133 is closest to the light source 110. The plastic lens 133 is also suitable for controlling the telecentricity of the telecentric lens group 131, and the position and shape of the plastic lens 133 are determined according to the telecentricity of the telecentric lens group 131.

[0104] Continue to refer Figure 2 The optical transmission module 130 further includes an aperture 132. The aperture 132 has a limiting effect on the detection light beam in the optical path; Figure 3 As shown, the aperture 132 is located in the optical path between the first lens 131a and the second lens 131b.

[0105] The telecentric lens group 131 is configured to make the detection lights emitted by the multiple light-emitting elements 111 pass through the aperture 132 to be emitted from the transmitting module. Specifically, the telecentric lens group 131 is an object-side telecentric lens group to ensure that the detection lights emitted by the light-emitting units 111 at various positions on the same circuit board can pass through the aperture 132; the telecentricity of the telecentric lens group 131 is set so that the detection lights generated by all the light-emitting units 111 in the light source 110 can pass through the aperture 132; the F number of the telecentric lens group 131 is set, and the size of the lens used in the telecentric lens group 131 ensures that the detection lights emitted by the light-emitting units 111 at various positions on the same circuit board can pass through the aperture 132.

[0106] It should be noted that the first lens 131a is used to determine the range of the field of view of the solid-state laser radar; specifically, the first lens 131a is used to determine the range of the field of view of the solid-state laser radar, the shape (such as curvature) and position of the first lens 131a determine the wide-angle degree of the emitted detection light, and the distance between the first lens 131a and the aperture 132 and the shape (such as curvature) of the first lens 131a are determined based on the field of view of the solid-state laser radar.

[0107] So if Figure 2 and Figure 3 As shown, in the optical transmission module 130, a positive lens-positive lens-aperture-homogenizing unit-negative lens are arranged in sequence along the optical path of the detection light to meet the requirements of large field of view (field of view angle greater than 100°), small F number (F number in the range of 1 to 2), and telecentric design (telecentricity less than 1°) in the laser radar.

[0108] It should be noted that if Figure 2 In some specific embodiments shown in the figure, the light homogenization unit 120 is a planar light homogenization unit; the body 121 of the light homogenization unit 120 is a flat plate extending in a plane perpendicular to the optical path of the detection light, and the inner surface and the outer surface of the body 121 are both planes; Figure 3 As shown, the light homogenizing unit 120 is located in the optical path between the aperture 132 and the first lens 131a. The light homogenizing unit 120 is arranged near the aperture 132, and is generally arranged as a plane light homogenizing unit, which can effectively simplify the design of the light homogenizing unit 120; and the light homogenizing unit 120 can be installed and adjusted together with the telecentric lens group 131, which can simplify the installation and adjustment steps of the transmitting module and reduce the difficulty of the installation and adjustment of the transmitting module; accordingly, the design of the telecentric lens group 131 needs to ensure the field of view design performance of the solid-state laser radar, that is, to meet the design requirements of the laser radar two-dimensional field of view detection.

[0109] It should be noted that, in the above embodiment, the plastic lens 133 is a positive lens to correct aberration and adjust the optical focal length of the light transmission unit 130. In other embodiments of the present disclosure, the telecentric lens group may also adopt other structures.

[0110] refer to Figure 4 , showing a schematic structural diagram of the optical transmission module of the second embodiment of the transmitting module disclosed in the present invention.

[0111] The same as the above embodiment, the present disclosure will not repeat it here. The difference from the above embodiment is that: Figure 4 In some of the embodiments shown, the telecentric lens group 131 includes a larger number of lenses, has a better collimation effect, and has a better telecentricity.

[0112] like Figure 4In some specific embodiments shown, the plastic lens 233 is a negative lens to correct aberrations; the telecentric lens group 231 also includes: a third lens 231 c, and the third lens 231 c is located in the light path between the light source 210 and the plastic lens 233.

[0113] The third lens 231c is closest to the light source 210, and the third lens 231c is used to control the telecentricity of the telecentric lens group 231. The distance between the third lens 231c and the light source 210, the telecentricity of the telecentric lens group 231, and the size of the third lens 231c affect each other. The distance between the third lens 231c and the light source 210 and the telecentricity of the telecentric lens group 231 determine the size of the third lens 231c. Specifically, Figure 4 In some of the illustrated embodiments, the third lens 231c is a positive lens, and the third lens 231c is a glass lens.

[0114] The plastic lens 233 plays a role in aberration correction, but does not play a role in adjusting the optical power. The larger the focal length of the plastic lens 233, the larger the curvature of the plastic lens 233, and the flatter the lens, that is, it does not play a role in adjusting the optical power. The plastic lens 233 is an aspherical lens, and the plastic lens 233 can correct aberrations.

[0115] In addition, if Figure 4 As shown, the first lens 231a is a negative lens, the second lens 231b is a positive lens, and the third lens 231c is a positive lens; it can be seen that the first lens 231a, the second lens 231b and the third lens 231c are all glass lenses, and the positive lens-negative lens-positive lens-aperture-homogenizing unit 220-negative lens are arranged in sequence along the optical path of the detection light in the optical transmission module 130 to meet the requirements of large field of view (field of view angle greater than 100°), small F number (F number in the range of 1 to 2), and telecentric design (telecentricity less than 1°) in the laser radar.

[0116] like Figure 4 In some specific embodiments shown, the light homogenizing unit 220 is a planar light homogenizing unit; the body of the light homogenizing unit 220 is a flat plate extending in a plane perpendicular to the detection light path, and the inner surface and outer surface of the body are both planes; the light homogenizing unit 220 is located in the light path between the aperture 232 and the first lens 231a.

[0117] It should be noted that, in the above embodiment, the light homogenizing unit is arranged in the optical path between the aperture and the first lens, and is located near the aperture. In other embodiments of the present disclosure, the light homogenizing unit may also be arranged at other positions in the optical path.

[0118] like Figure 5 In some embodiments shown, the telecentric lens group of the optical transmission module 330 is Figure 3 The telecentric lens group 131 of the illustrated embodiment has the same structure and materials, the telecentric lens group includes two glass lenses and one plastic lens, the optical transmission module 330 is a negative lens-aperture-positive lens-positive lens structure (a positive lens-positive lens-aperture-negative lens structure arranged along the optical path); the homogenizing unit 320 is a planar homogenizing unit, the body of the homogenizing unit 320 is a flat plate extending in a plane perpendicular to the optical axis of the optical path of the detection light, and the inner surface and outer surface of the body are both planes; the homogenizing unit 320 is located in the optical path between the light source 310 and the optical transmission unit 330.

[0119] like Figure 6 In some embodiments shown, the telecentric lens group of the optical transmission module 430 is Figure 4 The telecentric lens group 231 of the illustrated embodiment has the same structure and materials, the telecentric lens group is a 3G1P lens group, the optical transmission module 430 is a negative lens-aperture-positive lens-negative lens-positive lens structure (a structure of a positive lens-negative lens-positive lens-aperture-negative lens arranged along the optical path); the light homogenizing unit 420 is a planar light homogenizing unit, the body of the light homogenizing unit 420 is a flat plate extending in a plane perpendicular to the optical axis of the optical path of the detection light, and the inner surface and the outer surface of the body are both planes; the light homogenizing unit 420 is located in the optical path between the light source 410 and the optical transmission unit 430.

[0120] The light homogenizing unit is located in the optical path between the light source and the optical transmission unit, the light homogenizing unit is arranged at a position close to the light source, and the light homogenizing unit is located near the focal plane of the telecentric lens group; the light homogenizing unit is integrated with the light source in an integrated design, and the light homogenizing unit is integrated in the light-emitting unit of the light source, which can effectively reduce the design difficulty of the light homogenizing unit and realize the integrated assembly and adjustment of the light homogenizing unit and the light source; accordingly, the design of the telecentric lens group needs to ensure the field of view design performance of the solid-state laser radar and meet the two-dimensional field of view design requirements.

[0121] It should be noted that in the above embodiments, the light homogenization units are all planar light homogenization units. In other embodiments of the present disclosure, the light homogenization units may also be light homogenization units of other structures, for example, the light homogenization units may also be curved surface light homogenization units.

[0122] like Figure 7 In some embodiments shown, the telecentric lens group of the optical transmission module 530 is Figure 3The telecentric lens group 131 of the illustrated embodiment has the same structure and materials, the telecentric lens group of the optical transmission module 530 is a 2G1P lens group, and the optical transmission module 530 is a negative lens-aperture-positive lens-positive lens structure (a positive lens-positive lens-aperture-negative lens structure arranged along the optical path); the homogenizing unit 520 is a curved surface homogenizing unit, the body of the homogenizing unit 520 extends in a curved surface intersecting with the optical axis of the optical path of the detection light, and the inner surface and the outer surface of the body are both curved surfaces; the homogenizing unit 520 is located in the optical path of the optical transmission unit 530 away from the light source 510, and the optical transmission unit 530 is located in the optical path between the light source 510 and the homogenizing unit 520.

[0123] like Figure 8 In some embodiments shown, the telecentric lens group of the optical transmission module 630 is Figure 4 The telecentric lens group 231 of the illustrated embodiment has the same structure and materials, the telecentric lens group is a 3G1P lens group, the optical transmission module 630 is a negative lens-aperture-positive lens-negative lens-positive lens structure (a structure of a positive lens-negative lens-positive lens-aperture-negative lens arranged along the optical path); the light homogenizing unit 620 is a curved surface light homogenizing unit, the body of the light homogenizing unit 620 extends in a curved surface intersecting with the optical axis of the optical path of the detection light, and the inner surface and the outer surface of the body are both curved surfaces; the light homogenizing unit 620 is located in the optical path of the optical transmission unit 630 away from the light source 610, and the optical transmission unit 630 is located in the optical path between the light source 610 and the light homogenizing unit 620.

[0124] The curved surface light homogenization unit is located in the optical path of the optical transmission unit on the side away from the light source. The curved surface light homogenization unit is located downstream of the telecentric lens group in the optical path of the detection light, and can correct distortion to match the lens group in the receiving module of the solid-state laser radar; specifically, the curvature of the curved surface light homogenization unit and the distance between the curved surface light homogenization unit and the telecentric lens group are used to ensure the transceiver alignment of the solid-state laser radar to overcome processing errors.

[0125] The light homogenizing unit is located downstream of the telecentric lens group in the optical path of the detection light, which can realize the independent adjustment of the light homogenizing unit relative to the telecentric lens group and the light source, can perform distortion design according to the optical path requirements, and can simplify the design requirements of the telecentric lens group.

[0126] Correspondingly, the present disclosure also provides a solid-state laser radar.

[0127] refer to Fig. 9 , combined with reference Figure 1The solid-state laser radar includes: a transmitting module 101, the transmitting module 101 includes: a light source 110, the light source 110 includes a plurality of light-emitting units 111 arranged along a first direction x, the light-emitting unit 111 is configured to emit detection light; a light homogenizing unit 120, the light homogenizing unit 120 is configured to homogenize the detection light; an optical transmission unit 130, the optical transmission unit 130 is configured to shape the detection light, the optical transmission unit 130 includes a telecentric lens group 131, the telecentric lens group 131 includes: a plurality of lenses, at least one of which is a plastic lens 133; a receiving module 102, the receiving module 102 is configured to receive the echo light formed after the detection light is reflected by the target.

[0128] It should be noted that solid-state LiDAR refers to a LiDAR that does not use any mechanical moving parts.

[0129] In some specific embodiments, the transmitting module 101 is the transmitting module of the present disclosure; the specific technical solution of the transmitting module 101 refers to the specific embodiment of the transmitting module 101 described above, which will not be described in detail in the present disclosure.

[0130] In some embodiments of the present invention, the field of view angle of the solid-state laser radar in the second direction z is greater than 100°. In some embodiments, the second direction z is the vertical direction in the field of view of the solid-state laser radar, and the second direction z is the vertical field of view direction of the solid-state laser radar. The solid-state laser radar has a large vertical field of view.

[0131] In some embodiments of the present invention, the receiving module 102 includes: a single-photon receiving unit array 710, wherein the single-photon receiving unit array 710 includes a plurality of single-photon receiving units arranged in an array. In some embodiments, the receiving module 102 also includes: a receiving transmission unit 720, wherein the receiving transmission unit 720 is configured to converge the echo light to the single-photon receiving unit array 710.

[0132] It should be noted that, in some embodiments of the present invention, the receiving module 102 further includes: a filter, and the filter is arranged in the optical path of the echo light. Fig. 9 In some of the illustrated embodiments, the filter is integrated on a surface of the single-photon receiving unit array 710 that faces the receiving and transmitting unit 720 .

[0133] Specifically, in the receiving module 102, the receiving transmission unit 720 and the single-photon receiving unit array 710 are sequentially located in the optical path of the echo light.

[0134] Specific as Fig.10In some embodiments shown, the receiving transmission unit 720 includes: a receiving lens group, and the receiving lens group includes: 2 glass spherical lenses and 1 plastic aspherical lens. Among them, lens 721 is configured to receive echo light incident within the range of 0° to 60°, lens 722 is a positive lens with a higher refractive index, configured to converge the echo light, and lens 723 is a plastic aspherical lens, configured to optimize the aberration and continue to converge the echo light; an aperture (not shown in the figure) is arranged between the lens 721 and the lens 722 to limit the receiving field of view of the echo light received by the lens 721; a filter is arranged in the optical path downstream of the lens 723 to filter the optical signal of the wavelength outside the wavelength range of the detection light, for example, in some embodiments, the wavelength of the detection light is 905nm, 940nm, etc.

[0135] The field of view of the solid-state laser radar can reach 120°. The solid-state laser radar can receive echo light within the field of view of 120°, and the receiving performance at the edge of the field of view is less attenuated than that at the center of the field of view; in the optical path downstream of the lens 723, the echo light incident at various angles is close to normal incidence to the filter, and the filter has a small bandwidth, which can effectively suppress the influence of ambient light on the crosstalk of the single-photon receiving unit; at the same time, the receiving lens group has low requirements on the structural assembly tolerance, which can further reduce the assembly cost.

[0136] The single-photon receiving unit of the single-photon receiving unit array 710 may be a single-photon avalanche diode (SPAD). In other embodiments of the present invention, the single-photon receiving unit may also be other photoelectric elements capable of single-photon reception, such as a high-sensitivity avalanche photodiode (APD), a silicon photomultiplier (SiPM), etc.

[0137] like Fig.11 As shown, the light source 110 of the transmitting module 101 and the single-photon receiving unit array 710 of the receiving module 102 are arranged on the same circuit board 730 to reduce the assembly accuracy of the transmitting module and the receiving module, as well as the influence of temperature changes, mechanical deformation, etc. on the transmitting field of view and the receiving field of view during the use of the laser radar.

[0138] In some embodiments of the present invention, the single-photon receiving unit array includes: multiple adjacent activation areas, each activation area detects a sub-field of view of the laser radar, and all activation areas detect the entire field of view of the laser radar.

[0139] like Fig.12As shown, the single-photon receiving unit array includes: multiple activation areas, namely, activation area bank1, activation area bank2, activation area bank3, activation area bank4, ..., activation area bank n; the multiple activation areas are arranged adjacent to each other, and the activation area bank1, the activation area bank2, the activation area bank3, the activation area bank4, ..., activation area bank n are arranged adjacent to each other, that is, no other devices are arranged between the activation area bank1, the activation area bank2, the activation area bank3, the activation area bank4, ..., activation area bank n.

[0140] The activation area bank1, the activation area bank2, the activation area bank3, the activation area bank4, ..., the activation area bank n respectively detect a corresponding sub-field of view, and the sub-fields of view corresponding to the activation area bank1, the activation area bank2, the activation area bank3, the activation area bank4, ..., the activation area bank n form a whole field of view for detecting the solid-state laser radar.

[0141] In some embodiments, in the single-photon receiving unit array of the receiving module 102, each of the activation regions includes multiple columns of detection units, and the multiple columns of detection units are activated simultaneously, wherein the detection units in each column are arranged along the second direction z.

[0142] Specifically, Fig.12 In some of the embodiments shown, each of the activation areas includes: 3 columns of detection units activated simultaneously, and the detection units in each column are arranged along the second direction z:

[0143] The activation area bank1 includes: a first column of detection units, a second column of detection units and a third column of detection units that are activated simultaneously, multiple detection units in the first column of detection units are arranged in sequence along the second direction z, multiple detection units in the second column of detection units are arranged in sequence along the second direction z, and multiple detection units in the third column of detection units are arranged in sequence along the second direction z.

[0144] The activation area bank2 includes: a 4th column of detection units, a 5th column of detection units and a 6th column of detection units that are activated simultaneously, multiple detection units in the 4th column of detection units are arranged in sequence along the second direction z, multiple detection units in the 5th column of detection units are arranged in sequence along the second direction z, and multiple detection units in the 6th column of detection units are arranged in sequence along the second direction z.

[0145] The activation area bank3 includes: a 7th column of detection units, an 8th column of detection units and a 9th column of detection units that are activated simultaneously, multiple detection units in the 7th column of detection units are arranged in sequence along the second direction z, multiple detection units in the 8th column of detection units are arranged in sequence along the second direction z, and multiple detection units in the 9th column of detection units are arranged in sequence along the second direction z.

[0146] The activation area bank4 includes: the 10th column detection unit, the 11th column detection unit and the 12th column detection unit that are activated simultaneously, the multiple detection units in the 10th column detection unit are arranged in sequence along the second direction z, the multiple detection units in the 11th column detection unit are arranged in sequence along the second direction z, and the multiple detection units in the 12th column detection unit are arranged in sequence along the second direction z. The settings of other activation areas are similar.

[0147] In addition, if Fig.12 As shown, in the transmitting module of the solid-state laser radar, the light source includes: multiple light-emitting units, namely light-emitting unit LD1, light-emitting unit LD2, light-emitting unit LD3, light-emitting unit LD4, ..., LDn, where n can be the number of channels of the multi-line laser radar, such as 32, 64, 128, 256 or even other line numbers.

[0148] In some embodiments of the present invention, the activation area in the single-photon receiving unit array of the receiving module 102 is configured to receive the echo light formed by the detection light generated by one of the light-emitting units or at least two adjacent light-emitting units.

[0149] In some specific embodiments, the activation area of ​​the single-photon receiving unit array includes multiple first activation areas and multiple second activation areas; the first activation area is configured to receive echo light formed by the detection light generated by one of the light-emitting units; the second activation area is configured to receive echo light formed by the detection light generated by at least two adjacent light-emitting units; the first activation area and the second activation area are arranged along the first direction x according to a preset rule.

[0150] In some embodiments, the second activation area is configured to receive the echo light formed by the detection light generated by two adjacent light emitting units. In some specific embodiments, the activation area banki is the first activation area, where i is an even number, and the activation area bankj is the second activation area, where j is an odd number. Fig.12As shown, the activation area bank2 and the activation area bank4 are first activation areas: the activation area bank2 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD2, and the activation area bank4 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD3; the activation area bank1 and the activation area bank3 are second activation areas: the activation area bank1 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD1 and the light emitting unit LD2, and the activation area bank3 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD2 and the light emitting unit LD3.

[0151] In some specific embodiments, along the first direction x, the second activation area and the first activation area are arranged at intervals, and the activation areas of the single-photon receiving unit array are arranged in sequence along the first direction x according to the rule of the second activation area, the first activation area, the second activation area, the first activation area... and are activated in sequence.

[0152] like Fig.12 As shown in the working timing, at time t1, the light emitting unit LD1 and the light emitting unit LD2 are turned on at the same time to generate detection light, and the activation area bank1 is activated to collect the echo light formed; then, at time t2, the light emitting unit LD2 is turned on alone to generate detection light, and the activation area bank2 is activated to collect the echo light formed; then, at time t3, the light emitting unit LD2 and the light emitting unit LD3 are turned on at the same time to generate detection light, and the activation area bank3 is activated to collect the echo light formed; then, at time t4, the light emitting unit LD3 is turned on alone to generate detection light, and the activation area bank4 is activated to collect the echo light formed, and so on.

[0153] In other embodiments of the present invention, along the first direction x, the first activation area and the second activation area are arranged at intervals, and the activation areas of the single-photon receiving unit array are arranged in sequence along the first direction x according to the rule of the first activation area, the second activation area, the first activation area, the second activation area..., and are activated in sequence.

[0154] In some embodiments, the active region banki is a first active region, where i is an odd number, and the active region bankj is a second active region, where j is an even number. Fig.13As shown in the figure, the activation area bank1 and the activation area bank3 are the first activation areas: the activation area bank1 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD1, and the activation area bank3 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD2; the activation area bank2 and the activation area bank4 are the second activation areas: the activation area bank2 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD1 and the light emitting unit LD2, and the activation area bank4 is configured to receive the echo light formed by the detection light generated by the light emitting unit LD2 and the light emitting unit LD3.

[0155] like Fig.13 As shown in the working timing, at time t1, the light-emitting unit LD1 is turned on alone to generate detection light, and the activation area bank1 is activated to collect the echo light formed; then, at time t2, the light-emitting unit LD1 and the light-emitting unit LD2 are turned on at the same time to generate detection light, and the activation area bank2 is activated to collect the echo light formed; then, at time t3, the light-emitting unit LD2 is turned on alone to generate detection light, and the activation area bank3 is activated to collect the echo light formed; then, at time t4, the light-emitting unit LD2 and the light-emitting unit LD3 are turned on at the same time to generate detection light, and the activation area bank4 is activated to collect the echo light formed, and so on.

[0156] By activating adjacent activation areas in a time-sharing manner, crosstalk between different activation areas can be suppressed, and the receiving field of view corresponding to each activation area can match the transmitting field of view of the detection light after passing through the telecentric lens group and the homogenizing unit.

[0157] In summary, the transmitting module includes a light source having an array of light-emitting units, a light-homogenizing unit for homogenizing the detection light, and an optical transmission unit, wherein the optical transmission unit includes a telecentric lens group, and at least one of the multiple lenses of the telecentric lens group is a plastic lens. Through the cooperation of the telecentric lens group and the light-homogenizing unit, the detection light emitted by the light-emitting unit array expands the detection area and improves the spatial transmission performance of the detection light, which can effectively expand the field of view of the laser radar and improve the light emission efficiency of the laser radar; and the use of plastic lenses in the telecentric lens group can reduce the weight and number of lenses of the laser radar, which is conducive to mass assembly and production, and can reduce costs.

[0158] Although the disclosure is disclosed as above, the disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, so the protection scope of the disclosure should be based on the scope defined by the claims.

Claims

1. A transmitting module, characterized in that: The transmitting module is used for a solid-state laser radar, and includes: A light source, the light source comprising a plurality of light emitting units arranged along a first direction, the light emitting units being configured to emit detection light; A light homogenization unit, wherein the light homogenization unit is configured to homogenize the detection light; An optical transmission unit is configured to shape the detection light, and the optical transmission unit includes a telecentric lens group, and the telecentric lens group includes: a plurality of lenses, at least one of which is a plastic lens.

2. The transmitting module according to claim 1, characterized in that: The homogenizing unit is configured to homogenize the detection light in a second direction to increase a detection area of ​​the detection light in the field of view of the solid-state laser radar.

3. The transmitting module according to claim 1, characterized in that: The plastic lens is an aspherical lens.

4. The transmitting module according to claim 3, characterized in that: The telecentric lens group comprises: a first lens and a second lens, wherein the second lens is located in the light path between the light source and the first lens, the first lens is a negative lens, and the second lens is a positive lens; The plastic lens is located in the light path between the light source and the second lens.

5. The transmitting module according to claim 4, characterized in that: The curvature and position of the first lens are determined based on the field of view of the solid-state laser radar.

6. The transmitting module according to claim 4, characterized in that: The plastic lens is a positive lens to correct aberration and adjust the optical power of the light transmission unit.

7. The transmitting module according to claim 4, characterized in that: At least one of the first lens and the second lens is a glass lens.

8. The transmitting module according to claim 4, characterized in that: The plastic lens is a negative lens to correct aberration; The telecentric lens group further includes a third lens, which is located in the light path between the light source and the plastic lens.

9. The transmitting module according to claim 8, characterized in that: The third lens is a glass lens.

10. The transmitting module according to any one of claims 1 to 9, characterized in that: The optical transmission unit further includes an aperture, and the telecentric lens group is configured to allow the detection lights emitted by the plurality of light-emitting units to all pass through the aperture.

11. The transmitting module according to claim 10, characterized in that: The aperture is located in the optical path between the first lens and the second lens.

12. The transmitting module according to claim 10, characterized in that: The F number of the telecentric lens group matches the divergence angle of the detection light.

13. The transmitting module according to claim 10, characterized in that: The F number of the telecentric lens group is in the range of 1 to 2.

14. The transmitting module according to claim 10, characterized in that: The telecentricity of the telecentric lens group is less than 5°.

15. The transmitting module according to claim 1, characterized in that: The light homogenization unit is further configured to homogenize the detection light in a first direction.

16. The transmitting module according to claim 15, characterized in that: The light homogenization unit comprises: A body, the body having an inner surface and an outer surface, the inner surface faces the light source, and the outer surface is arranged opposite to the inner surface; A plurality of first cylindrical lenses are provided, wherein the first cylindrical lenses extend along the first direction, and the plurality of first cylindrical lenses are arranged in parallel along a second direction, and the first cylindrical lenses are located on one of the inner surface and the outer surface.

17. The transmitting module according to claim 16, characterized in that: The light homogenization unit also includes: A plurality of second cylindrical lenses are provided, wherein the second cylindrical lenses extend along the second direction, and the plurality of second cylindrical lenses are arranged in parallel along the first direction, and the second cylindrical lenses are located on the other of the inner surface and the outer surface.

18. The transmitting module according to claim 1, characterized in that: The light transmission unit is located in the light path between the light source and the light homogenizing unit, and the light homogenizing unit is a curved surface light homogenizing unit.

19. The transmitting module according to claim 1, characterized in that: The light homogenizing unit is located in the light path between the light source and the light transmission unit; or the light homogenizing unit is located in the light path between the aperture and the first lens, and the light homogenizing unit is a plane light homogenizing unit.

20. A solid-state laser radar, characterized in that: include: A transmitting module, the transmitting module comprising: a light source, the light source comprising a plurality of light-emitting units arranged along a first direction, the light-emitting units being configured to emit detection light; a light homogenizing unit, the light homogenizing unit being configured to homogenize the detection light; an optical transmission unit, the optical transmission unit being configured to shape the detection light, the optical transmission unit comprising a telecentric lens group, the telecentric lens group comprising: a plurality of lenses, at least one of which is a plastic lens; A receiving module is configured to receive echo light formed after the detection light is reflected by the target.

21. The solid-state laser radar according to claim 20, characterized in that: The field of view angle of the solid-state laser radar in the second direction is greater than 100°.

22. The solid-state laser radar according to claim 20, characterized in that: The receiving module comprises: a single-photon receiving unit array, wherein the single-photon receiving unit array comprises a plurality of single-photon receiving units arranged in an array.

23. The solid-state laser radar according to claim 22, characterized in that: The receiving module further includes: a receiving transmission unit configured to converge the echo light to the single-photon receiving unit array.

24. The solid-state laser radar according to claim 20, characterized in that: The light source of the transmitting module and the single-photon receiving unit array of the receiving module are arranged on the same circuit board.

25. The solid-state laser radar according to claim 20, characterized in that: The receiving module further includes: an optical filter, and the optical filter is arranged in the optical path of the echo light.

26. The solid-state laser radar according to claim 20, characterized in that: The activation area in the single-photon receiving unit array of the receiving module is configured to receive the echo light formed by the detection light generated by one of the light-emitting units or at least two adjacent light-emitting units.

27. The solid-state laser radar according to claim 26, characterized in that: The single-photon receiving unit array includes: a plurality of adjacent activation areas, each activation area detects a sub-field of view of the solid-state laser radar, and all activation areas detect the field of view of the solid-state laser radar.

28. The solid-state laser radar according to claim 26, characterized in that: Each of the activation areas includes a plurality of columns of detection units, and the plurality of columns of detection units are activated simultaneously, wherein the detection units in each column are arranged along the second direction.

29. The solid-state laser radar according to claim 26, characterized in that: The activation area of ​​the single-photon receiving unit array includes a plurality of first activation areas and a plurality of second activation areas; The first activation area is configured to receive echo light formed by the detection light generated by one of the light-emitting units; The second activation area is configured to receive echo light formed by the detection light generated by at least two adjacent light-emitting units; The first activation area and the second activation area are arranged along the first direction according to a preset rule.

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