Laser radar and equipment

Abstract

The embodiment of the invention provides a laser radar and equipment, which are used for improving the detection efficiency and the detection distance of the laser radar. The laser radar comprises a receiver, the receiver comprises a focusing assembly, an optical isolation assembly, a dodging assembly and a detector array which are arranged in sequence, and the optical isolation assembly at least comprises a first channel and a second channel. The focusing assembly is used for focusing optical signals to obtain focused optical signals, and the focused optical signals comprise a first optical signal and a second optical signal. The first optical signal passes through the first channel, and the second optical signal passes through the second channel. The dodging assembly is used for dodging the first optical signal to obtain a dodging first optical signal, and is also used for dodging the second optical signal to obtain a dodging second optical signal. The detector array is used for carrying out photoelectric conversion on the first light signal after light uniformization to obtain a first electric signal, and is also used for carrying out photoelectric conversion on the second light signal after light uniformization to obtain a second electric signal.

Description

Technical Field

[0001] This application relates to the field of radar, and more particularly to a lidar and its device. Background Technology

[0002] LiDAR (Light Detection and Ranging) consists of a transmitter and a receiver. The transmitter emits a detection light signal towards the target object and scans it. The receiver receives the echo light signal reflected from the target object, performs photoelectric conversion to obtain an electrical signal. Based on the electrical signal, LiDAR can detect the target object and obtain information such as the target object's three-dimensional spatial coordinates, shape, size, and velocity.

[0003] The receiver includes a detector for photoelectric conversion of the echo light signal; for example, the detector can be a silicon photomultiplier (SiPM). SiPMs are characterized by high sensitivity, low bias voltage, and compact structure. A single SiPM consists of multiple single-photon avalanche diodes (SPADs) connected in parallel. Each SPAD is excited after receiving a single photon, outputting an electrical pulse signal. Furthermore, the peak amplitude of the signal output by the SiPM is proportional to the number of SPADs excited.

[0004] After the receiver receives the echo light signal, it will focus the echo light signal onto the SiPM. The focused echo light signal is incident on a small part of the SiPM, which will cause some of the SPADs in the SiPM to be excited, reducing the signal strength of the SiPM output. This will affect the signal-to-noise ratio of the lidar, thereby reducing the detection efficiency and detection range. Summary of the Invention

[0005] This application provides a lidar and device to improve the detection efficiency and detection range of lidar.

[0006] In a first aspect, embodiments of this application provide a lidar, including a receiver. The receiver includes a focusing component, an optical isolation component, a beam homogenizing component, and a detector array arranged sequentially. The optical isolation component includes at least a first channel and a second channel, and the detector array includes at least a first detector and a second detector. First, the focusing component focuses an optical signal to obtain a focused optical signal and transmits the focused optical signal to the optical isolation component. The focused optical signal includes a first optical signal and a second optical signal. Second, the first optical signal passes through the first channel to be transmitted to the beam homogenizing component, and the second optical signal passes through the second channel to be transmitted to the beam homogenizing component. Third, the beam homogenizing component homogenizes the first optical signal to obtain a homogenized first optical signal and transmits the homogenized first optical signal to the first detector. The beam homogenizing component also homogenizes the second optical signal to obtain a homogenized second optical signal and transmits the homogenized second optical signal to the second detector. The first and second optical signals, after being homogenized by the beam homogenizing component, are distributed uniformly on the surface of the detector array. Furthermore, the first detector performs photoelectric conversion on the homogenized first optical signal to obtain a first electrical signal, and the second detector performs photoelectric conversion on the homogenized second optical signal to obtain a second electrical signal. The LiDAR processor detects the target object based on the first and second electrical signals. Specifically, it detects point cloud data of the target object. The point cloud data may include information such as the target object's three-dimensional spatial coordinates, shape, size, and velocity. Based on this point cloud data, a precise model of a three-dimensional scene or object can be constructed, which is widely used in three-dimensional modeling, terrain mapping, target recognition and tracking, and other fields. It can also be used for environmental perception, positioning and navigation.

[0007] As shown in the first aspect, the light signal received by the photosensitive surface of each detector is a homogenized light signal. Homogenization ensures that the light signal energy evenly covers the entire photosensitive surface of each detector, improving detector sensitivity and increasing the signal strength and signal-to-noise ratio of the electrical signals sent by each detector to the processor, thereby improving the detection efficiency and detection range of the lidar. Detection efficiency refers to the efficiency with which the detection light signal emitted by the lidar can illuminate the target object and receive the reflected echo light signal. Furthermore, the light signal focused by the focusing component is further isolated by the optical isolation component. For example, the first light signal in the focused light signal passes through the first channel of the optical isolation component to enter the homogenizing component, and the second light signal in the focused light signal passes through the second channel of the optical isolation component to enter the homogenizing component. Because the first and second channels are optically isolated from each other, crosstalk between the light signal channels is effectively suppressed, improving detection accuracy and increasing the detection range of the lidar.

[0008] Based on the first aspect, in one optional implementation, the lidar further includes a transmitter, which comprises a laser array specifically including N lasers, where N is any integer greater than 1. For example, the laser array includes a first laser and a second laser, which are respectively used to emit a first detection light signal and a second detection light signal towards a target object. The target object is used to reflect a first echo light signal and a second echo light signal back to the receiver based on the first and second detection light signals, where the light signals include both the first and second echo light signals. The focusing component is used to focus the first echo light signal to obtain the first light signal, and also to focus the second echo light signal to obtain the second light signal. The lidar detects the target object based on the first and second echo light signals to obtain point cloud data.

[0009] Using this implementation method, the transmitter can emit multiple probe optical signals, and the receiver can process the multiple echo optical signals to detect the target object. Since the lidar can scan the target object with multiple probe optical signals at one time, the detection efficiency is improved, and the accuracy of obtaining the point cloud data of the target object is also improved.

[0010] Based on the first aspect, in one optional implementation, the first optical signal passing through the first channel has a first spot, the second optical signal passing through the second channel has a second spot, the first optical signal after homogenization forms a third spot on the surface of the detector array, the second optical signal after homogenization forms a fourth spot on the surface of the detector array, the third spot is larger than the first spot, and the fourth spot is larger than the second spot.

[0011] By employing this implementation method, the light-homing component expands the first light spot to obtain a third light spot, ensuring that the third light spot covers the entire photosensitive surface of the first detector, thereby maximizing the signal strength and signal-to-noise ratio output by the first detector. Through the light-homing component, the second light spot can be expanded to obtain a fourth light spot, ensuring that the fourth light spot covers the entire photosensitive surface of the second detector, thereby maximizing the signal strength and signal-to-noise ratio output by the second detector. This effectively improves the detection efficiency and detection range of the lidar.

[0012] Based on the first aspect, in one optional implementation, the first channel and the second channel are two adjacent channels among the multiple channels included in the optical isolation component, a first gap is formed between the photosensitive surfaces of the first detector and the second detector, a second gap is formed between the third light spot and the fourth light spot, and the first gap and the second gap at least partially overlap.

[0013] In this implementation, the energy covering the first gap cannot be converted into photoelectric energy, resulting in energy loss. However, in this implementation, the first gap and the second gap at least partially overlap, for example, the first gap and the second gap completely overlap, or the first gap and the second gap partially overlap, effectively suppressing the third and fourth light spots, reducing energy loss, and improving detection efficiency and detection distance.

[0014] Based on the first aspect, in one optional implementation, the optical signal includes a first echo optical signal and a second echo optical signal. The focusing component is used to focus the first echo optical signal and the second echo optical signal to obtain the first optical signal and the second optical signal. The absolute value of the angle between the transmission direction of the first echo optical signal and the normal of the homogenizing component is within a preset angle, so that the photosensitive surface of the first detector at least partially coincides with the third light spot, the third light spot being the light spot formed by the first optical signal on the detector array surface after homogenization. The absolute value of the angle between the transmission direction of the second echo optical signal and the normal of the homogenizing component is within the preset angle, so that the photosensitive surface of the second detector at least partially coincides with the fourth light spot, the fourth light spot being the light spot formed by the second optical signal on the detector array surface after homogenization.

[0015] Using this implementation, the optical isolation component only transmits light signals entering the receiver at a preset angle to the detector array. Therefore, if stray light enters the receiver at a different angle, the isolation effect of the optical isolation component effectively suppresses stray light transmission to the detector array. The optical isolation component can fully receive the echo light signal reflected from the target object while also suppressing stray light transmission to the detector array. This improves the signal-to-noise ratio and enhances the accuracy and detection range of the target object. By effectively suppressing stray light from entering the receiver through the channel, noise is effectively reduced, improving the performance and reliability of the lidar.

[0016] Based on the first aspect, in one optional implementation, the preset angle is not less than 0 degrees and not greater than 0.8 degrees.

[0017] By employing this implementation method, the optical isolation component effectively suppresses stray light incident on the focusing component at a preset angle, thereby increasing the signal-to-noise ratio of the electrical signal sent by the detector to the processor. Because it effectively suppresses stray light from passing through the channel into the receiver, it effectively reduces noise and improves the performance and reliability of the lidar.

[0018] Based on the first aspect, in one optional implementation, a focal plane of the focusing component and a focal plane of the homogenizing component are both located between the focusing component and the homogenizing component.

[0019] With this implementation, when both a focal plane of the focusing component and a focal plane of the homogenizing component are located between the focusing component and the homogenizing component, it is possible to focus each optical signal while improving the uniformity of energy of each optical signal and increasing the signal-to-noise ratio.

[0020] Based on the first aspect, in one optional implementation, a focal plane of the focusing component coincides with a focal plane of the uniform light component.

[0021] In this implementation, when one focal plane of the focusing component coincides with one focal plane of the homogenizing component, a focusless system is formed between the focusing component and the homogenizing component. This means that the distance between the focusing component and the homogenizing component is equal to the sum of the focal lengths of the focusing component and the homogenizing component. This can improve the uniformity of energy of each optical signal on the detector surface, increase the signal-to-noise ratio, and simultaneously realize the construction of an optical system for signal reception and homogenization. It reduces the number and complexity of optical components included in the optical system, lowers manufacturing costs, and improves the stability and reliability of the optical system. It also reduces the complexity of the optical system adjustment and calibration process and helps to minimize energy loss of the optical signal during focusing, thereby improving energy utilization.

[0022] Based on the first aspect, in one optional implementation, the optical signal is incident from the focusing component to be focused by the focusing component, and the first optical signal and the second optical signal after homogenization are transmitted to the detector array via the exit pupil surface of the homogenizing component to be photoelectrically converted by the detector array, and the surface of the detector array facing the homogenizing component coincides with the exit pupil surface.

[0023] By employing this implementation, each optical signal incident from the entrance pupil passes through the focusing component and the homogenizing component in sequence, resulting in the energy of each optical signal being evenly distributed on the exit pupil. Therefore, when the surface of the detector array facing the homogenizing component coincides with the exit pupil, it effectively ensures that the energy of the light spot illuminating the detector array surface after homogenization is in a uniform distribution state, thereby improving the detection accuracy and signal-to-noise ratio.

[0024] Based on the first aspect, in one optional implementation, the ratio between the first aperture and the second aperture is greater than or equal to the ratio of the focal length of the focusing component to the focal length of the light-uniforming module included in the light-uniforming component, wherein the first aperture is the longest diameter of the incident light spot, the incident light spot is the light spot formed on the entrance pupil surface of the focusing component by the first echo light signal, the focusing component is used to focus the first echo light signal to obtain the first light signal, and the second aperture is the longest diameter of the light spot formed on the exit pupil surface by the first light signal after light uniformation.

[0025] Using this implementation method, taking the first echo light signal as an example, when the first echo light signal is incident on the focusing component, the ratio between the first aperture and the second aperture is greater than or equal to the ratio between the focal length of the focusing component and the focal length of the uniform light module. This effectively ensures that the light spot formed by the first echo light signal on the surface of the first detector can cover the entire photosensitive surface of the first detector, thereby improving the detection efficiency.

[0026] Based on the first aspect, in one optional implementation, the surface of the detector array facing the homogenizing component coincides with the exit pupil surface.

[0027] By adopting this implementation method, the surface of the detector array facing the light homogenizing component is ensured to coincide with the exit pupil surface, thereby ensuring that the energy of each light homogenized optical signal can be distributed uniformly on the surface of the detector array, improving detection efficiency and detection distance.

[0028] Based on the first aspect, in one optional implementation, the receiver further includes a bracket, a first end of which is used to fix the light-diffusing component, and the other end of which is used to fix the detector array. The bracket is used to make the surface of the detector array facing the light-diffusing component coincide with the exit pupil surface.

[0029] Using this implementation, the bracket located between the homogenizing component and the detector array can ensure that the surface of the detector array facing the homogenizing component coincides with the exit pupil surface, thereby ensuring that the energy of each homogenized optical signal can be distributed uniformly on the surface of the detector array, improving detection efficiency and detection distance.

[0030] Based on the first aspect, in one optional implementation, the bracket includes a first bracket slot and a second bracket slot, the first detector is located inside the first bracket slot, the second detector is located inside the second bracket slot, the first optical signal after homogenization enters the first bracket slot through the slot opening of the first bracket slot to be transmitted to the first detector, and the second optical signal after homogenization enters the second bracket slot through the slot opening of the second bracket slot to be transmitted to the second detector.

[0031] In this implementation, the first bracket slot and the second bracket slot of the bracket are optically isolated from each other, thereby suppressing crosstalk between optical signals after homogenization, so as to ensure that the first homogenized optical signal can accurately cover the first detector and the second homogenized optical signal can accurately cover the second detector, thus improving the detection accuracy.

[0032] Based on the first aspect, in one optional implementation, the light homogenizing component includes a light homogenizing substrate and a light homogenizing surface located on the surface of the light homogenizing substrate, and the light homogenizing surface is located between the light homogenizing substrate and the optical isolation component. The light homogenizing surface is used to homogenize the first optical signal and the second optical signal respectively, and the light homogenizing substrate is used to make the surface of the detector array facing the light homogenizing component coincide with the exit pupil surface.

[0033] Using this implementation, the receiver does not need to have additional parts (such as a bracket). Instead, it directly uses a light-uniforming substrate with a certain height to make the surface of the detector array facing the light-uniforming component coincide with the exit pupil surface. This ensures that the energy of the light signal after light uniformization can be evenly distributed on the surface of the detector array, which simplifies the receiver structure and reduces the complexity of packaging and assembly.

[0034] Based on the first aspect, in one optional implementation, the light-uniforming substrate includes a first light-transmitting region and a second light-transmitting region, and the light-uniforming substrate further includes an isolator located between the first light-transmitting region and the second light-transmitting region. After light uniformization, a first optical signal passes through the first light-transmitting region and is transmitted to the first detector, and after light uniformization, a second optical signal passes through the second light-transmitting region and is transmitted to the second detector.

[0035] By employing this implementation method, the isolator located between the first and second light-transmitting regions can effectively suppress crosstalk and stray light transmission to the photosensitive surface of the detector array, thereby improving the accuracy and efficiency of detection.

[0036] Based on the first aspect, in one optional implementation, the sidewalls of the first channel and the second channel respectively include an extinction structure, which is used to suppress stray light from entering the homogenizing component.

[0037] Using this implementation, the extinction structure can effectively suppress the reflection of stray light within the receiver, thereby achieving an extinction effect. For example, the roughness of the sidewall surface can be changed to scatter the stray light incident on the sidewall, thus reducing the reflection intensity. Alternatively, the structure of the sidewall can be modified to make it non-planar, such as serrated, irregular, or arranged concave-convex shapes, causing the stray light to be reflected multiple times on the sidewall, thereby reducing the reflection intensity. Furthermore, the sidewall can have an extinction film layer, which can absorb stray light and reduce its intensity. Finally, the extinction structure can use a grating or other periodic structures to cause interference extinction of the stray light.

[0038] Based on the first aspect, in one optional implementation, the light homogenizing component includes at least a first light homogenizing module and a second light homogenizing module. The first light homogenizing module is used to homogenize the first optical signal, and the second light homogenizing module is used to homogenize the second optical signal. The first light homogenizing module includes a microlens, a microlens array, or a metalens, and the second light homogenizing module includes a microlens, a microlens array, or a metalens. The microlens array includes multiple microlenses arranged in an array.

[0039] The light homogenizing module implemented using this method, which employs microlenses, microlens arrays, or metalenses, can ensure that the light signal is distributed uniformly on the surface of the detector array, and effectively reduces the size and weight of the light homogenizing component.

[0040] Based on the first aspect, in one optional implementation, the first detector and the second detector are silicon photomultiplier tubes (SiPMs).

[0041] In this implementation, each detector is a SiPM (SiPhase Induction Phaser), and each SiPM has a photosensitive surface, which includes multiple SPADs connected in parallel. Each SPAD is excited and outputs an electrical pulse signal after receiving a single photon. Furthermore, the peak amplitude of the signal output by the SiPM is proportional to the number of SPADs excited. Taking the first detector as an example, the light signal incident on the photosensitive surface of the first detector is the first light signal after being homogenized by the homogenizing component. This homogenized first light signal covers all the SPADs included in the first detector, causing each SPAD in the first detector to be excited, effectively increasing the intensity of the first electrical signal output by the first detector.

[0042] Based on the first aspect, in one optional implementation, the transmitter of the lidar is used to emit a detection light signal, and the receiver includes a filter. The filter is used to allow the detection light signal to enter the receiver and to block non-target light signals from entering the receiver. The wavelength of the detection light signal is different from the wavelength of the non-target light signal. The filter is located at at least one of the following positions: the surface of the optical isolation component facing the focusing component, the surface of the optical isolation component facing the homogenizing component, the surface of the bracket facing the homogenizing component, and the surface of the bracket facing the detector array, wherein the bracket is located between the detector array and the homogenizing component.

[0043] In this implementation, the receiver includes a filter. The filter allows the probe light signal to enter the receiver for photoelectric conversion, thereby enabling the detection of the target object. The filter also blocks non-target light signals from entering the receiver. These non-target light signals are all light signals entering the receiver except for the echo light signal reflected back from the target object; for example, stray light. The main drawback of stray light is that it mixes with the echo light signal, reducing the signal-to-noise ratio, the accuracy of target object detection, and the detection range. However, as shown in this aspect, the wavelength of the probe light signal differs from the wavelength of the non-target light signal. Therefore, the filter effectively suppresses non-target light signals from entering the receiver, thereby improving detection accuracy and detection range.

[0044] Based on the first aspect, in one optional implementation, the transmitter of the lidar emits a detection light signal, and the lidar further includes a scanner, which is used to adjust the transmission direction of the detection light signal to transmit it to a target object; the light signal reflected by the target object is transmitted to the receiver after the transmission direction is adjusted by the scanner.

[0045] Using this implementation method, the scanner can transmit the detection light signal to the corresponding position of the target object as needed, thereby realizing the detection of multiple different positions of the target object and improving the detection efficiency.

[0046] Based on the first aspect, in one optional implementation, the lidar further includes a reflector, the detection light signal emitted by the transmitter is transmitted to the reflector, and the reflector is used to reflect the detection light signal to the scanner; after the light signal is adjusted in transmission direction by the scanner, it is transmitted to the reflector, and the reflector is used to reflect the light signal to the receiver.

[0047] By employing this implementation method, the reflector ensures the reliability of the transmission of the detection light signal to the scanner and the reliability of the transmission of the echo light signal to the receiver, reducing energy loss and thus improving detection accuracy. Furthermore, the reflector helps to improve the folding degree of the lidar optical path, thereby enhancing the lidar's integration.

[0048] Secondly, this application provides a device including a processor and a lidar as described in any of the first aspects above. This device includes, but is not limited to: smart home devices (e.g., televisions, robot vacuums, smart lamps, audio systems, smart lighting systems, appliance control systems, home background music systems, home theater systems, intercom systems, video surveillance, etc.), smart transportation devices (e.g., automobiles, ships, drones, trains, freight cars, trucks, etc.), smart manufacturing devices (e.g., robots, industrial equipment, smart logistics, smart factories, etc.), or, alternatively, computer devices with laser detection capabilities (e.g., desktop computers, personal computers, servers, etc.), or terminal devices (e.g., mobile phones, tablets, PDAs, headphones, speakers, wearable devices (e.g., smartwatches), in-vehicle devices, virtual reality devices, augmented reality devices, etc.). The lidar is used to obtain point cloud data based on the first electrical signal and the second electrical signal. The point cloud data may include information such as the three-dimensional spatial coordinates, shape, size, and speed of the target object. The processor is used to respond to the point cloud data. For example, the processor's response to the point cloud data may include, but is not limited to, at least one of the following:

[0049] Point cloud data is used for autonomous driving, obstacle avoidance, route planning, automated function control, and environmental perception and detection, thereby enabling safety warnings.

[0050] Based on the second aspect, in one alternative implementation, the device is a means of transportation. Attached Figure Description

[0051] Figure 1a An example diagram of an overall structure of the lidar provided in this application;

[0052] Figure 1b for Figure 1a Example diagram of the internal structure shown;

[0053] Figure 1c Example diagram of the overall structure of the transceiver module provided in this application;

[0054] Figure 1d for Figure 1c Example diagram of the internal structure shown;

[0055] Figure 2 Example diagram of the lidar connection structure provided in this application;

[0056] Figure 3 Example structural diagram of a first embodiment of the receiver provided in this application;

[0057] Figure 4 for Figure 3 The image shown is an exploded view of part of the receiver's structure.

[0058] Figure 5 for Figure 3 The diagram shows a partial cross-sectional view of the receiver.

[0059] Figure 6 for Figure 3 The optical path diagram of the receiver shown is an example.

[0060] Figure 7 An example image of a light spot on the surface of a detector array illuminated by an un-uniformed light signal.

[0061] Figure 8 An example diagram of a light spot illuminating the surface of a detector array after the light is homogenized by the light homogenizing component provided in this application embodiment;

[0062] Figure 9 Example image comparing the spot of the focused light signal with the spot of the homogenized light signal;

[0063] Figure 10 Example diagram illustrating reduced energy loss of the lidar provided in this application;

[0064] Figure 11 for Figure 5 The diagram shows an example of an exploded receiver.

[0065] Figure 12 An example assembly diagram of the receiver provided in this application;

[0066] Figure 13 Example structural diagram of a second embodiment of the receiver provided in this application;

[0067] Figure 14 Example diagram of the structure of the receiver provided in the third embodiment of this application;

[0068] Figure 15 This is a structural example diagram of one embodiment of the optical isolation component provided in this application;

[0069] Figure 16 An example structural diagram of one embodiment of the stent provided in this application;

[0070] Figure 17 An example structural diagram of one embodiment of the vehicle provided in this application. Detailed Implementation

[0071] This application provides a lidar that can be applied to a device to enable the device to detect lasers. The device can be a smart device with laser detection capabilities, including but not limited to: smart home devices (e.g., televisions, robot vacuums, smart lamps, audio systems, smart lighting systems, appliance control systems, home background music systems, home theater systems, intercom systems, video surveillance, etc.), smart transportation equipment (e.g., automobiles, ships, drones, trains, freight cars, trucks, etc.), smart manufacturing equipment (e.g., robots, industrial equipment, smart logistics, smart factories, etc.), or computer devices with laser detection capabilities (e.g., desktop computers, personal computers, servers, etc.), or terminal devices (e.g., mobile phones, tablets, PDAs, headphones, speakers, wearable devices (e.g., smartwatches), in-vehicle devices, virtual reality devices, augmented reality devices, etc.).

[0072] The lidar shown in this embodiment is used to emit a detection light signal towards a target object. The target object reflects an echo light signal back to the lidar based on the detection light signal. The lidar then uses the echo light signal to detect the target object, such as detecting point cloud data of the target object. The point cloud data may include information such as the target object's three-dimensional spatial coordinates, shape, size, and velocity. Based on this point cloud data, a precise three-dimensional scene or object model can be constructed, which is widely used in 3D modeling, terrain mapping, target recognition and tracking, and other fields. It can also be used for environmental perception, positioning and navigation based on point cloud data. The overall structure of the lidar provided in this embodiment can be found in [reference needed]. Figure 1a As shown, Figure 1a This is an example diagram of an overall structure of the lidar provided in this application. The lidar shown in this embodiment includes a housing 100, which has a window 101. This window 101 allows the detection light signal and the echo light signal to pass through. The window 101 shown in this embodiment also prevents dust, moisture, or other contaminants from entering the lidar from the outside, thus improving the reliability of the lidar. For the internal structure of the housing 100, please refer to [reference needed]. Figure 1b As shown, where, Figure 1b for Figure 1a The diagram shows an example of the internal structure. The lidar housing 100 internally includes a transceiver module 130 and an optical path adjustment assembly 131. For the overall structure of the transceiver module 130, please refer to [link to diagram]. Figure 1c As shown, where, Figure 1c An example diagram of the overall structure of the transceiver module provided in this application. Figure 1d for Figure 1c The diagram shows an example of the internal structure. The transceiver module 130 shown in this embodiment specifically includes a transmitter 140 and a receiver 150.

[0073] Figure 2This is an example diagram of the connection structure of the lidar provided in this application. The lidar shown in this embodiment includes a processor 200, a transmitter 140, an optical path adjustment component 131, and a receiver 150. It should be noted that the description of the lidar structure in this embodiment is an optional example and is not limited. For example, the above example uses the lidar including a transceiver module 130, thus making the lidar simultaneously include a transmitter 140 and a receiver 150. In other examples, the lidar may not include a transmitter 140, or the lidar may not include a receiver 150, etc., and there is no specific limitation. In this embodiment, the transmitter 140 and the receiver 150 are respectively connected to the processor 200. The optical path adjustment component 131 specifically includes a scanner 121 and a reflector 122. The scanner 121 is connected to the processor 200. This embodiment does not limit the specific location of the processor 200 within the lidar. The following provides a detailed description of each component of the lidar.

[0074] The processor 200 shown in this embodiment may include one or more chips, or one or more integrated circuits. For example, the processor 200 may include a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), a central processing unit (CPU), a neural-network processing unit (NPU), an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other integrated chips.

[0075] The transmitter 140 includes a laser array, specifically comprising N lasers, where N is any integer greater than 1. This embodiment uses N as an example with a value of 4, but the specific value of N is not limited. The N lasers in this embodiment can be arranged in a single row, a single column, or in an i-row, j-column arrangement, where i and j are both any integer greater than 1. The processor 200 sends control signals to the laser array, driving each laser in the array to output a probe light signal. This embodiment does not limit the type of lasers included in the laser array; for example, they can be gas lasers, solid-state lasers, or semiconductor lasers.

[0076] The optical path adjustment component 131 shown in this embodiment is located on the transmission optical path of the probe optical signal. Combined with... Figure 1b , Figure 1d as well as Figure 2 As shown, the probe light signal emitted from the transmitter of the transceiver module 130 is transmitted to the reflector 122, which reflects the probe light signal to the scanner 121. The scanner 121 adjusts the transmission direction of the probe light signal to emit it toward the target object 210. The scanner 121 can be a micro-electro-mechanical system (MEMS) galvanometer. Based on MEMS technology, the scanner 121 can scan the target object 210 along a specified angle and range using the probe light signal. Specifically, the scanner 121 receives a drive signal from the processor 200 and deflects the transmission direction of the probe light signal from the transmitter 140 according to the drive signal, thereby changing the position of the probe light signal illuminating the target object 210 to achieve scanning of the target object. For example, taking a laser array comprising four lasers, the wavelengths of the probe light signals emitted by the four lasers are λ1, λ2, λ3, and λ4, respectively. This embodiment uses the example of different lasers emitting different wavelengths of light signals in a laser array. Different wavelengths of detection light signals can detect different detection characteristics of the target object 210, effectively improving detection accuracy and anti-interference capability. Optionally, in other examples, the wavelengths of the detection light signals emitted by different lasers in the laser array can be the same to simplify the signal processing process of lidar detection and improve detection efficiency.

[0077] Scanner 121 deflects the transmission direction of each probe light signal, thereby enabling multiple probe light signals to scan the target object 210 horizontally, vertically, or along row i and column j. This embodiment does not limit the position of each probe light signal illuminating the target object 210. The description of the scanner 121 type in this embodiment is optional and not limited. Scanner 121 can be implemented based on optical phased array technology or a mechanical scanning mechanism. A mechanical scanning mechanism can refer to a mechanism that uses a motor to drive the laser to rotate or move, thereby changing the transmission direction of the probe light signals. The description of the structure of the optical path adjustment component 131 in this embodiment is an optional example and is not limited. For example, in the transmission direction of the detection light signal emitted by the transmitter 140, the optical path adjustment component 131 may also include a collimating lens. The collimating lens is used to collimate the detection light signal emitted by the transmitter 140 or the detection light signal emitted by the scanner 121, so that the spot radius of the detection light signal remains unchanged during the transmission to the target object 210, thereby improving the detection accuracy.

[0078] During the transmission of multiple probe optical signals, once a probe optical signal encounters a target object 210 and is reflected by the target object 210, it returns multiple echo optical signals to the lidar. For example, if four probe optical signals illuminate the target object 210, then the target object 210 can return four echo optical signals to the lidar. The transmission of the four echo optical signals involves deflection by the scanner 121 and reflection by the reflector 122, so that the four optical signals enter the receiver 150 included in the lidar. For an explanation of the process of the echo optical signals being transmitted to the receiver 150 via the scanner 121 and the reflector 122, please refer to the explanation of the probe optical signals being transmitted to the target object 210 via the reflector 122 and the scanner 121, which will not be repeated here. The scanner 121 shown in this embodiment is an optional structure. In other examples, if the lidar does not have a scanning function, the scanner 121 may not be included, and this application does not specifically limit this.

[0079] Figure 3This is a structural example diagram of a first embodiment of the receiver provided in this application. The receiver 300 includes a focusing component 301, an optical isolation component 302, a beam homogenizing component 303, and a detector array 304 arranged sequentially. The optical signal 311 returned by the target object 210 to the lidar is deflected by the scanner 121 and reflected by the reflector 122 before being incident on the focusing component 301. For example, the optical signal 311 includes the four echo optical signals shown above. Optionally, the receiver shown in this embodiment includes a first reflector 161 and a second reflector 162. The optical signal 311 entering the transceiver module 130 is reflected by the first reflector 161 and the second reflector 162 before being incident on the focusing component 301. The first reflector 161 and the second reflector 162 can each be a reflector. The focusing component 301 is used to focus each echo light signal included in the optical signal 311 to obtain a focused optical signal 312. Focusing refers to controlling each echo light signal reflected by the target object 210 to converge each echo light signal to a single point as much as possible. The focusing component 301 shown in this embodiment includes one or more lenses. This embodiment does not limit the number or type of lenses; for example, the lenses can be convex lenses, concave lenses, mirrors, cylindrical lenses, spherical lenses, and toroidal lenses, or combinations of these lenses.

[0080] The optical isolation component 302 shown in this embodiment includes multiple channels. For example, if the laser array of the lidar includes four lasers, then the optical isolation component 302 includes four channels. That is, the number of channels included in the optical isolation component 302 is equal to the number of lasers included in the laser array, and is not specifically limited. For example, the number of channels included in the optical isolation component 302 is greater than the number of lasers included in the laser array, as long as each echo light signal reflected by the target object can enter one channel. For detailed explanation, please refer to... Figures 4 to 6 As shown, where, Figure 4 for Figure 3 The image shows an exploded view of part of the receiver's structure. Figure 5 for Figure 3 The diagram shows a partial cross-sectional view of the receiver. Figure 6 for Figure 3 The diagram shows an example of the optical path of the receiver.

[0081] The optical isolation component 302 shown in this embodiment can be an aperture stop, where an aperture stop is the edge, frame, or specially provided perforated barrier of an optical element in an optical assembly. This embodiment does not limit the specific type of the optical isolation component 302, as long as it has multiple optically isolated channels. For example, the optical isolation component 302 has an isolation component body, and multiple channels are formed by passing through the optical isolation component 302 along the transmission direction of the focused optical signal. When the detector array includes four detectors, the optical isolation component 302 specifically includes four channels: a first channel 401, a second channel 402, a third channel 403, and a fourth channel 404. It can be understood that this embodiment assumes the number of channels included in the optical isolation component 302 is equal to the number of detectors included in the detector array, but this is not specifically limited. For example, the number of channels included in the optical isolation component 302 may be greater than the number of detectors, as long as each optical signal emitted from the optical isolation component 302 can be transmitted to one detector in one detector array 304.

[0082] In the optical isolation component 302, any two adjacent channels are optically isolated from each other. For example, if the first channel 401 and the second channel 402 are adjacent, then the first channel 401 and the second channel 402 are optically isolated from each other. Optical isolation means that the optical signals transmitted through the first channel 401 and the second channel 402 are guaranteed to be transmitted independently, avoiding interference and crossover between the optical signals transmitted through different channels. For example, the optical signal focused by the focusing component 301 specifically includes a first optical signal, a second optical signal, a third optical signal, and a fourth optical signal. The first optical signal enters the first channel 401 from its first channel port, is transmitted along the guide of the first channel 401, and exits from the second channel port of the first channel 401. It can be understood that the first channel port and the second channel port of the first channel 401 are interconnected, with the first channel port of the first channel 401 facing the focusing component 301 and the second channel port of the first channel 401 facing the homogenizing component 303. The second optical signal enters the second channel 402 from the first channel port and is transmitted along the guide of the second channel 402, and then passes through the second channel port of the second channel 402. It can be understood that the first and second channel ports of the second channel 402 are interconnected, with the first channel port of the second channel 402 facing the focusing component 301, and the second channel port of the second channel 402 facing the homogenizing component 303, and so on. Therefore, the first optical signal exiting from the second channel port of the first channel 401, the second optical signal exiting from the second channel port of the second channel 402, the third optical signal exiting from the second channel port of the third channel 403, and the fourth optical signal exiting from the second channel port of the fourth channel 404 are all incident on the homogenizing component 303.

[0083] The homogenizing component 303 is used to homogenize each optical signal from the optical isolation component 302. Specifically, the homogenizing component 303 homogenizes a first optical signal to obtain a homogenized first optical signal, a second optical signal to obtain a homogenized second optical signal, a third optical signal to obtain a homogenized third optical signal, and a fourth optical signal to obtain a homogenized fourth optical signal. The homogenized first, second, third, and fourth optical signals emitted by the homogenizing component 303 are then incident on the detector array 304. Each optical signal, after being homogenized by the homogenizing component 303, can cover the detector array in a uniform energy distribution manner.

[0084] Specifically, the light homogenizing component 303 includes multiple light homogenizing modules, each used to homogenize a focused optical signal. When the optical isolation component 302 includes four channels, the light homogenizing component 303 may also include four light homogenizing modules, such as a first light homogenizing module 411, a second light homogenizing module 412, a third light homogenizing module 413, and a fourth light homogenizing module 414. The first light homogenizing module 411 is located on the transmission optical path of the first optical signal exiting from the first channel 401, the second light homogenizing module 412 is located on the transmission optical path of the second optical signal exiting from the second channel 402, the third light homogenizing module 413 is located on the transmission optical path of the third optical signal exiting from the third channel 403, and the fourth light homogenizing module 414 is located on the transmission optical path of the fourth optical signal exiting from the fourth channel 404. This embodiment does not limit the type of light homogenizing module, as long as each module can homogenize a focused optical signal. For example, each light homogenizing module may be a microlens or a microlens array, where the microlens array includes multiple microlenses arranged in an array. Microlenses, also known as fly-eye lenses or compound-eye lenses, can be spherical or aspherical. The light-diffusing assembly 303, based on microlenses, effectively reduces its size and weight.

[0085] The detector array 304 shown in this embodiment includes multiple detectors, each located on the transmission optical path of a homogenized optical signal. For example, the detector array 304 includes a first detector 421, a second detector 422, a third detector 423, and a fourth detector 424. The first detector 421 is located on the optical path of the homogenized first optical signal emitted from the homogenizing component 303 to ensure that the first detector 421 can successfully receive the homogenized first optical signal. The second detector 422 is located on the optical path of the homogenized second optical signal emitted from the homogenizing component 303 to ensure that the second detector 422 can successfully receive the homogenized second optical signal. The third detector 423 is located on the optical path of the homogenized third optical signal emitted from the homogenizing component 303 to ensure that the third detector 423 can successfully receive the homogenized third optical signal. The fourth detector 424 is located on the optical path of the homogenized fourth optical signal emitted from the homogenizing component 303 to ensure that the fourth detector 424 can successfully receive the homogenized fourth optical signal.

[0086] Specifically, each detector is a SiPM (SiPhase Induction Phaser), and each SiPM has a photosensitive surface, which includes multiple SPADs connected in parallel. Each SPAD is excited and outputs an electrical pulse signal after receiving a single photon. Furthermore, the peak amplitude of the signal output by the SiPM is proportional to the number of SPADs excited. Using the first detector 421 as an example, the light signal incident on the photosensitive surface of the first detector 421 is the first light signal after being homogenized by the homogenizing component 303. This homogenized first light signal covers all the SPADs included in the first detector 421, causing each SPAD in the first detector to be excited, effectively increasing the intensity of the first electrical signal output by the first detector. In this embodiment, the first detector 421 performs photoelectric conversion on the received homogenized first optical signal to obtain a first electrical signal. Similarly, the second detector 422 performs photoelectric conversion on the homogenized second optical signal to obtain a second electrical signal, the third detector 423 performs photoelectric conversion on the homogenized third optical signal to obtain a third electrical signal, and the fourth detector 424 performs photoelectric conversion on the homogenized fourth optical signal to obtain a fourth electrical signal. The detector array 304 sends the first, second, third, and fourth electrical signals to the processor 200. The processor 200 processes the electrical signals from the detector array 304 to obtain point cloud data of the target object 210. During the detection process, the processor 200 can control the scanner 121 to repeatedly change the position of the emitted detection light signal illuminating the target object 210 to detect point cloud data corresponding to different positions of the target object 210.

[0087] The lidar shown in this embodiment uses a SiPM as the detector, which helps improve the detector's sensitivity in receiving optical signals, thereby enhancing the lidar's ranging performance. Furthermore, the optical signals received by each detector's photosensitive surface are homogenized, ensuring that the optical signal energy evenly covers the entire photosensitive surface of each detector. This improves detector sensitivity and also increases the signal strength and signal-to-noise ratio of the electrical signals sent by each detector to the processor, thus enhancing the lidar's detection efficiency and detection range. Detection efficiency refers to the efficiency with which the lidar's emitted detection optical signal illuminates the target object and receives the reflected echo signal.

[0088] Optionally, one or more focusing lenses may be included between the homogenizing component 303 and the detector array 304, so that the homogenized light signal is focused onto the photosensitive surface of each detector after passing through the focusing lens, so as to ensure that the light signal emitted from the focusing lens can completely cover the photosensitive surface of each detector.

[0089] In the lidar shown in this embodiment, the optical signal focused by the focusing component is further isolated by the optical isolation component 302. For example, the first optical signal in the focused optical signal passes through the first channel in the optical isolation component 302 and is incident on the homogenizing component 303, while the second optical signal in the focused optical signal passes through the second channel in the optical isolation component 302 and is incident on the homogenizing component 303. Because the first channel and the second channel are optically isolated from each other, crosstalk between the optical signal channels is effectively suppressed, improving the detection accuracy. For example, the transmission channel of the first optical signal includes the first channel in the optical isolation component 302, the first homogenizing module, and the first detector. The transmission channel of the second optical signal includes the second channel in the optical isolation component 302, the second homogenizing module, and the second detector. The optical isolation component 302 can isolate the transmission of the first and second optical signals based on the first and second channels, effectively suppressing the first optical signal from entering the transmission channel of the second optical signal, and also suppressing the second optical signal from entering the transmission channel of the first optical signal. This effectively suppresses the reception of optical signals from channels other than the first optical signal transmission channel by the first detector, and also suppresses the reception of optical signals from channels other than the second optical signal transmission channel by the second detector. This improves the isolation between different optical signal channels, suppresses crosstalk between them, enhances the accuracy of lidar detection, reduces the error in detecting the target object, and increases the detection range of the lidar. The lidar shown in this embodiment uses an array where the number of detectors equals the number of optical signal channels. In other examples, the number of optical signal channels can be greater than the number of detectors. Therefore, new detectors can be added as needed to improve the resolution and scanning speed supported by the lidar.

[0090] This embodiment describes a one-to-one correspondence between the multiple lasers and detectors in a lidar system, i.e., one laser emitter and one detector receive. For example, four lasers—a first laser, a second laser, a third laser, and a fourth laser—are used. One-to-one transmission and reception means that the detection light signal emitted by the first laser is reflected by the target object and received by the first detector, and so on, with the detection light signal emitted by the fourth laser being reflected by the target object and received by the fourth detector. Using a one-to-one transmission lidar helps improve the detection accuracy and reliability of the lidar. Alternatively, a lidar can also be one-to-many transmission, where multiple lasers and multiple detectors have a one-to-many relationship. Specifically, the detection light signal emitted by the first laser is received by multiple detectors (e.g., the first detector and the second detector). Using a one-to-many transmission lidar allows it to maintain stable performance in various complex environments, and also helps improve detection resolution, the ability to capture details of the target object, and detection efficiency. For example, a lidar can be a multiple-transmitter-one-receiver system, meaning that there is a many-to-one relationship between multiple lasers and multiple detectors. Specifically, the detection light signals emitted by the first laser and the second laser are received by the same detector, etc. However, this embodiment does not specify the exact configuration. Using a multiple-transmitter-one-receiver lidar enhances the detection's anti-interference capability.

[0091] Figure 7 This is an example diagram showing the light spots on the surface of a detector array caused by un-homogenized light signals. The echo light signal reflected from the target object passes only through the focusing component, without being homogenized. Therefore, the four light signals emitted from the focusing component illuminate the detector array surface, forming four light spots. These four light spots can form the following pattern on the detector array surface: Figure 7 The three distribution examples are shown. Distribution example 700 refers to the echo light signal being incident on the focusing component at an angle with a field of view (FOV) of 0 degrees. Here, FOV is the angle between the transmission direction of the echo light signal incident on the focusing component and the normal to the focusing component. Distribution example 701 refers to the light signal being incident on the focusing component at an angle with an FOV of 0.2 degrees. Distribution example 702 refers to the light signal being incident on the focusing component at an angle with an FOV of 0.45 degrees.

[0092] Figure 8 This diagram illustrates an example of light spots illuminating the surface of a detector array, formed by the light signal homogenized by the homogenizing component provided in this embodiment. The light signal reflected from the target object, after homogenization by the homogenizing component, results in four homogenized light signals emitted from the component illuminating the detector array surface and forming four light spots. These four light spots can form a pattern on the detector array surface as shown in the diagram. Figure 8The three distribution examples are shown. Distribution example 800 refers to an optical signal incident on the focusing component at an angle of FOV = 0 degrees. Here, FOV is the angle between the transmission direction of the echo optical signal incident on the focusing component and the normal of the homogenizing component. Distribution example 801 refers to an optical signal incident on the focusing component at an angle of FOV = 0.2 degrees. Distribution example 802 refers to an optical signal incident on the focusing component at an angle of FOV = 0.45 degrees. For a description of the focusing component and the homogenizing component, please refer to the above embodiments; specific details will not be repeated here.

[0093] contrast Figure 7 as well as Figure 8 As shown, the spot size of the light signal after focusing by the focusing component is smaller than the spot size of the light signal after being homogenized by the homogenizing component. For example... Figure 9 As shown, where, Figure 9 This diagram illustrates a comparison between the focused optical signal spot and the homogenized optical signal spot. Specifically, the first optical signal exiting from the first channel of the optical isolation component has a first spot 901, the second optical signal exiting from the second channel has a second spot 902, and so on. The homogenized first optical signal exiting from the homogenizing component forms a third spot 911 on the detector array surface, the homogenized second optical signal exiting from the homogenizing component forms a fourth spot 912 on the detector array surface, and so on. It is evident that the third spot 911 is larger than the first spot 901, and the fourth spot 912 is larger than the second spot 902. Through the light homogenization effect of the light homogenizing module shown in this embodiment, the third light spot 911 can cover the entire photosensitive surface of the first detector, thereby triggering as many SPADs as possible in the first detector. Similarly, the fourth light spot 912 can cover the entire photosensitive surface of the second detector, thereby triggering as many SPADs as possible in the second detector. This increases the signal peak output by both the first and second detectors. Therefore, when the target object reflects light signals of equal intensity, this embodiment will produce a higher signal-to-noise ratio and detection efficiency.

[0094] See also Figure 7As shown, when the field of view (FOV) of the echo light signal incident on the focusing assembly is different but similar, the displacement of the light spot on the detector array caused by the echo light signal will be significant. For example, the first echo light signal is incident on the focusing assembly at an angle of FOV = 0 degrees and illuminates the detector array surface to form light spot 711; it is incident on the focusing assembly at an angle of FOV = 0.2 degrees and illuminates the detector array surface to form light spot 712; and it is incident on the focusing assembly at an angle of FOV = 0.45 degrees and illuminates the detector array surface to form light spot 713. It can be understood that when the FOV of the first echo light signal is different but similar, the positions of the light spots formed on the detector array are all different and the displacement difference is significant. For example, the displacement of light spot 712 on the detector array is relatively large compared to the displacement of light spot 711 on the detector array. If a lidar lacks a beam-uniforming component and only includes a focusing component, to ensure that the echo light signal reflected from the target object accurately illuminates the photosensitive surface of the detector, the field of view (FOV) of the light signal incident on the focusing component must be at a specific angle or within a specific range. For example, the echo light signal must be incident on the focusing component at an angle of FOV = 0.2 degrees to ensure that the light spot covers the photosensitive surface of the first detector. If the FOV = 0 degrees or FOV = 0.45 degrees, the light spot cannot cover the entire photosensitive surface of the first detector. This places high tolerance requirements on the lidar, increasing the manufacturing difficulty of the lidar and reducing its reliability and lifespan.

[0095] See also Figure 8As shown, when the FOVs of the echo light signals incident on the focusing assembly are different but similar, the displacement of the light spot on the detector array caused by the echo light signals is not significant. That is, when the FOVs of the echo light signals incident on the focusing assembly are different but similar, the displacement of different light spots is not significantly different, and they will all cover the entire photosensitive surface of the detector. For example, the first echo light signal is incident on the focusing assembly at an angle of FOV = 0 degrees and illuminates the detector array surface to form light spot 811; it is incident on the focusing assembly at an angle of FOV = 0.2 degrees and illuminates the detector array surface to form light spot 812; and it is incident on the focusing assembly at an angle of FOV = 0.45 degrees and illuminates the detector array surface to form light spot 813. It can be understood that when the FOVs of the echo light signals incident on the focusing assembly are different but similar (e.g., 0.2 degrees, 0 degrees, and 0.45 degrees), the positions of the light spots formed on the detector array are the same or approximately the same. For example, the position of spot 812 on the detector array is only slightly different from the position of spot 811 on the detector array. Furthermore, the positions of spot 811 and spot 812 on the detector array partially or completely overlap. Therefore, in the case of a lidar system including a homogenizing component, if the echo light signal is incident on the focusing component at a large FOV angle, the echo light signal spot will accurately illuminate the photosensitive surface of the detector. For example... Figure 8 As shown in the example, light spots 811, 812, and 813 all cover the entire photosensitive surface of the first detector. Therefore, the lidar shown in this embodiment effectively reduces the tolerance requirements and the manufacturing difficulty of the lidar. The low tolerance requirements will improve the reliability and service life of the lidar.

[0096] The lidar shown in this embodiment can effectively reduce the energy loss used for detection. Figure 10This is an example diagram illustrating reduced energy loss in the lidar provided in this application. In this embodiment, the first channel 401 and the second channel 402 are two adjacent channels among the multiple channels included in the optical isolation component. A first optical signal exiting from the first channel 401 is transmitted to a first homogenizing module. After homogenizing the first optical signal, the first homogenizing module outputs a homogenized first optical signal, which forms a third light spot 1001 on the photosensitive surface of the first detector 1021. Similarly, a second optical signal exiting from the second channel 402 is transmitted to a second homogenizing module. After homogenizing the second optical signal, the second homogenizing module outputs a homogenized second optical signal, which forms a fourth light spot 1002 on the photosensitive surface of the second detector 1022. For a detailed explanation of the formation of the third light spot 1001 and the fourth light spot 1002, please refer to the above description; further details will not be repeated here. In this embodiment, a first gap 1011 exists between the photosensitive surfaces of the first detector 1021 and the second detector 1022, and a second gap 1012 exists between the third light spot 1001 and the fourth light spot 1002. Because the first gap 1011 is located between the photosensitive surfaces of the first detector 1021 and the second detector 1022, the energy covering the first gap 1011 cannot be converted into photoelectric value, resulting in energy loss and reducing the detection efficiency and range of the lidar. However, in this embodiment, the first gap 1011 is located within the coverage area of ​​the second gap 1012. For example, the orthographic projection of the first gap 1011 onto the detector array surface is within the coverage area of ​​the orthographic projection of the second gap 1012 onto the detector array surface. Therefore, neither the third light spot 1001 nor the fourth light spot 1002 will cover the first gap 1011, allowing all the energy of the third light spot 1001 and the fourth light spot 1002 to be photoelectrically converted by the photosensitive surface, thus improving detection efficiency and detection distance. The description of the positional relationship between the first gap 1011 and the second gap 1012 in this embodiment is optional and not limited. For example, the first gap 1011 and the second gap 1012 may partially overlap, or they may completely overlap. In this case, the energy of the third light spot 1001 covering the first gap 1011 and the energy of the fourth light spot 1002 covering the first gap 1011 are effectively suppressed.

[0097] The lidar shown in this embodiment can effectively suppress stray light from the environment from entering the detector array. The stray light received by the receiver mainly consists of all non-target light signals entering the receiver, excluding the echo signal reflected back from the target object. The echo signal entering the receiver refers to the light signal reflected back to the receiver by the target object based on the detection light signal from the transmitter. The main drawback of stray light is that when stray light mixes with the echo signal and enters the receiver, it reduces the signal-to-noise ratio, the accuracy of target object detection, and the detection range. Stray light entering the receiver also introduces noise, which may originate from other reflectors in the environment, atmospheric scattering, or scattering within the lidar itself, degrading lidar performance and potentially causing detection failure. The lidar shown in this embodiment can effectively suppress stray light from entering the detector array. For detailed explanation, please refer to [link to documentation]. Figure 5 As shown in this embodiment, the optical isolation component 404 will only transmit the echo light signal that enters the receiver at a preset angle to the detector array. Therefore, if stray light does not enter the receiver at the preset angle, the isolation effect of the optical isolation component will suppress the transmission of stray light that does not enter the receiver at the preset angle to the detector array.

[0098] Specifically, continuing with the example of a detector array comprising four detectors, the light signals reflected from the target object received by the focusing component include a first echo light signal, a second echo light signal, a third echo light signal, and a fourth echo light signal. Taking the first echo light signal as an example, the first echo light signal is incident on the focusing component at a preset FOV (Field of View). The FOV refers to the absolute value of the angle between the transmission direction of the first echo light signal and the normal of the homogenizing component. This preset angle can be no less than 0 degrees and no greater than 0.8 degrees. In this embodiment, the preset angle is no less than 0 degrees and no greater than 0.45 degrees. After the first echo light signal is focused by the focusing component, the first light signal 511 is emitted. The first optical signal 511 emitted from the focusing component is incident on the first channel 401 of the optical isolation component. The first optical signal 511 passes through the first channel 401 and is transmitted to the first homogenizing module of the homogenizing component. The first homogenizing module homogenizes the first optical signal 511 to obtain a homogenized first optical signal 512, which is then transmitted to the first detector 421 of the detector array. When the first echo optical signal is incident on the focusing component at a field of view (FOV) within a preset angle, the homogenized first optical signal 512 illuminates the photosensitive surface of the first detector 421, forming a third light spot that covers the entire photosensitive surface of the first detector. If stray light is not incident on the focusing component at an FOV within the preset angle, the stray light is effectively suppressed from entering the first channel 401, thereby suppressing stray light transmission to the first detector. Similarly, the second echo optical signal is incident on the focusing component at an FOV within a preset angle. After being focused by the focusing component, the second echo optical signal 521 is emitted. The second optical signal 521 emitted from the focusing component is incident on the second channel 402 of the optical isolation component. The second optical signal 521 passes through the second channel 402 and is transmitted to the second homogenizing module of the homogenizing component. The second homogenizing module homogenizes the second optical signal 521 to obtain a homogenized second optical signal 522, which is then transmitted to the second detector 422 of the detector array. When the second echo optical signal is incident on the focusing component at a field of view (FOV) within a preset angle, the homogenized second optical signal 522 illuminates the photosensitive surface of the second detector 422, forming a fourth light spot that covers the entire photosensitive surface of the second detector. If stray light is not incident on the focusing component at an FOV within the preset angle, then the stray light is effectively suppressed from entering the second channel 402, thereby suppressing stray light transmission to the second detector. It is understood that the optical isolation component shown in this embodiment can fully receive the echo light signal reflected by the target object while suppressing stray light transmission to the detector array. Therefore, using the lidar shown in this embodiment can improve the signal-to-noise ratio and enhance the accuracy and detection range of the target object. By effectively suppressing stray light from passing through the channel into the receiver, noise is effectively reduced, and the performance and reliability of the lidar are improved.

[0099] To improve the receiver's stray light isolation effect, each channel sidewall of the optical isolation assembly includes an extinction structure. For example, both the first and second channel sidewalls of the optical isolation assembly include extinction structures. The extinction structure effectively suppresses stray light reflection within the receiver, thereby achieving an extinction effect. For example, the roughness of the sidewall surface can be changed to scatter the stray light incident on the sidewall, thus reducing the reflection intensity of the stray light. Alternatively, the structure of the sidewall can be modified to make it non-planar, such as serrated, irregular, or arranged concave-convex shapes, causing the stray light to reflect multiple times on the sidewall, thereby reducing the reflection intensity of the stray light. Another example is that the sidewall may have an extinction film layer, which can absorb stray light and reduce its intensity. Furthermore, the extinction structure can be achieved through gratings or other periodic structures, causing interference extinction of the stray light. The description of the extinction structure in this embodiment is an optional example and is not limited. As long as the extinction structure can suppress stray light transmission to the light homogenizing component based on the principles of absorption, reflection, interference, and scattering, it is acceptable.

[0100] To ensure that the focused light signals from each path uniformly cover the photosensitive surface of the detector, the receiver needs to meet two conditions: Condition 1, both a focal plane of the focusing component and a focal plane of the homogenizing component are located between the focusing component and the homogenizing component. Condition 2, the surface of the detector array facing the homogenizing component coincides with the exit pupil surface of the homogenizing component. Detailed explanation follows:

[0101] For condition 1, see below. Figure 3As shown, the first focal plane of the focusing component 301 is located between the focusing component 301 and the light-diffusing component 303. The first focal plane of the focusing component 301 means that light emitted from any point on the first focal plane towards the focusing component 301 in all directions will become a set of parallel rays after passing through the focusing component 301. The second focal plane of the light-diffusing component 303 is located between the focusing component 301 and the light-diffusing component 303. For a description of the second focal plane, please refer to the description of the first focal plane; details will not be repeated here. In this embodiment, both the first and second focal planes are located between the focusing component 301 and the light-diffusing component 303. This embodiment uses the first and second focal planes coinciding as an example. Therefore, the focusing component 301 and the light-diffusing component 303 form an afocal system, also known as a telephoto system or bokeh system. This means that the distance between the focusing component 301 and the light-diffusing component 303 is equal to the sum of the focal length of the focusing component 301 and the focal length of the light-diffusing component 303. When the first and second focal planes coincide, it is possible to focus each optical signal while improving the uniformity of energy for each signal, increasing the signal-to-noise ratio, and simultaneously achieving the construction of an optical system that combines focusing and homogenization. This reduces the number and complexity of optical components, lowers manufacturing costs, and improves the stability and reliability of the optical system. It also reduces the complexity of adjustment and calibration processes and helps minimize energy loss during focusing, thereby improving energy utilization. It should be noted that this embodiment uses the coincidence of the first and second focal planes as an example. In other examples, there may be a certain range of deviation between the first and second focal planes. The magnitude of this deviation is not limited, as long as the light spot of each optical signal can completely cover the photosensitive surface of a detector.

[0102] For condition 2, the echo light signals reflected by the target object shown in this embodiment are incident from the entrance pupil surface of the focusing component 301 and focused by the focusing component 301. The exit pupil surface of the homogenizing component 303 is located behind the homogenizing component 303, that is, the exit pupil surface is located between the homogenizing component 303 and the detector array 304. The exit pupil surface refers to the plane where the exit pupil of the homogenizing component 303 is located; on this exit pupil surface, the light intensity distribution is relatively uniform, with no significant light intensity variation. It can be understood that the second focal plane of the homogenizing component 303 is located between the focusing component 301 and the homogenizing component 303, and the third focal plane of the homogenizing component 303 is located between the homogenizing component 303 and the detector array 304. For an explanation of the third focal plane, please refer to the explanation of the second focal plane; details will not be repeated here. In this embodiment, the entrance pupil surface of the focusing component 301 and the exit pupil surface of the homogenizing component 303 are optically conjugate; therefore, the conjugate surface of the entrance pupil surface is the exit pupil surface. The optically conjugate positional relationship between the entrance pupil and the exit pupil can be reflected in the transmission mode of optical signals. When the entrance pupil and the exit pupil are optically conjugate, the echo optical signals entering the receiver from the entrance pupil pass through the focusing component 301 and the homogenizing component 302 in sequence, resulting in a uniform distribution of the energy of each optical signal on the exit pupil, thereby achieving a uniform light spot. In this embodiment, the surface of the detector array 304 facing the homogenizing component 303 coincides with the exit pupil. Because the entrance pupil and the exit pupil are optically conjugate, the optical signals incident from the entrance pupil pass through the focusing component 301 and the homogenizing component 302 in sequence, resulting in a uniform distribution of the energy of each optical signal on the exit pupil. Therefore, when the surface of the detector array 304 facing the homogenizing component 303 coincides with the exit pupil, it effectively ensures that the energy of the light spot illuminating the surface of the detector array 304 after homogenization is in a uniform distribution state, improving the detection accuracy and signal-to-noise ratio. It should be clarified that this embodiment takes the case where the surface of the detector array 304 facing the light homogenizing component 303 coincides with the exit pupil surface. In other examples, there may be a gap of ten micrometers between the surface of the detector array 304 facing the light homogenizing component 303 and the exit pupil surface. The specific size of the gap is not limited, as long as the energy of the light spot on the surface of the detector array 304 after light homogenization is in a uniform distribution state.

[0103] To ensure that the light spots formed by each optical signal on the detector array surface can cover the entire photosensitive surface of the detector, taking the first echo light signal as an example, when the first echo light signal is incident on the focusing component, the ratio between the first aperture and the second aperture needs to be greater than or equal to the ratio of the focal length of the focusing component to the focal length of the homogenizing module. Here, the first aperture is the longest diameter of the incident light spot, and the incident light spot is the light spot formed on the entrance pupil surface of the focusing component by the light signal of the first echo light signal incident on the focusing component. In this embodiment, the incident light spot is taken as a circle. Therefore, the longest diameter of the incident light spot is the diameter of the incident light spot. It should be noted that this embodiment does not limit the specific shape of the incident light spot. For example, the incident light spot can be elliptical or any other shape. The longest diameter of the incident light spot refers to the line segment passing through the center of the incident light spot and connecting the two farthest points of the incident light spot. The second aperture is the longest diameter of the light spot after homogenization. The homogenized light spot is the longest diameter of the light spot formed on the exit pupil surface by the homogenized first light signal after homogenization by the homogenizing component. For an explanation of the longest diameter of the homogenized light spot, please refer to the explanation of the longest diameter of the incident light spot; details will not be repeated here. In this embodiment, the ratio between the first aperture and the second aperture of the second echo light signal must also be greater than or equal to the ratio of the focal length of the focusing component to the focal length of the homogenizing module. Specifically, the first aperture is the longest diameter of the light spot formed on the entrance pupil surface of the focusing component by the light signal incident on the focusing component, the second aperture is the longest diameter of the light spot formed on the exit pupil surface by the homogenized second light signal, and so on; details will not be repeated here.

[0104] As shown above, to ensure that the energy of the light signal can be evenly distributed on the surface of the detector array after homogenization, it is necessary to ensure that the surface of the detector array 304 facing the homogenization component 303 coincides with the exit pupil surface. For this purpose, see... Figure 4 , Figure 5 and Figure 11 As shown, where, Figure 11 for Figure 5The diagram shows an exploded view of the receiver. The receiver includes a bracket 1100 located between an optical isolation component 303 and a detector array 304. A first end of the bracket 1100 is used to fix the homogenizing component 303, and the other end is used to fix the detector array 304. When both the homogenizing component 303 and the detector array 304 are fixed to the bracket 1100, the surface of the detector array 304 facing the homogenizing component 303 coincides with the exit pupil surface. For example, if the distance between the exit pupil surface of the homogenizing component 303 and its first surface is L, where the surface of the homogenizing component 303 facing the detector array 304 is the first surface, and the height of the bracket 1100 along the direction of propagation of the homogenized optical signal is L or close to L, then the homogenizing component 303 and the detector array 304 fixed by the bracket 1100 will ensure that the second surface of the detector array 304 coincides with the exit pupil surface, and the surface of the detector array 304 facing the homogenizing component 303 is the second surface.

[0105] To suppress crosstalk between different optical transmission channels and isolate stray light, the bracket 1100 includes multiple bracket slots. Taking a receiver with four detectors as an example, the bracket 1100 includes four bracket slots, such as a first bracket slot 1101, a second bracket slot 1102, a third bracket slot 1103, and a fourth bracket slot 1104. The first detector 421 is located inside the first bracket slot 1101. After homogenization, the first optical signal enters the first bracket slot 1101 through its opening to be transmitted to the first detector 421, ensuring that the homogenized first optical signal can cover the entire photosensitive surface of the first detector 421. The second detector 422 is located inside the second bracket slot 1102. After homogenization, the second optical signal enters the second bracket slot 1102 through its opening to be transmitted to the second detector 422, ensuring that the homogenized second optical signal can cover the entire photosensitive surface of the second detector 422. The third detector 423 is located inside the third bracket slot 1103. After homogenization, the third optical signal enters the third bracket slot 1103 through the slot opening to be transmitted to the third detector 423, ensuring that the homogenized third optical signal can cover the entire photosensitive surface of the third detector 423. The fourth detector 424 is located inside the fourth bracket slot 1104. After homogenization, the fourth optical signal enters the fourth bracket slot 1104 through the slot opening to be transmitted to the fourth detector 424, ensuring that the homogenized fourth optical signal can cover the entire photosensitive surface of the fourth detector 424. In this embodiment, an isolator 1121 may be included between the first support slot 1101 and the second support slot 1102. This isolator 1121 is made of an opaque material, thereby preventing crosstalk between the homogenized first optical signal transmitted through the first support slot 1101 and the homogenized second optical signal transmitted through the second support slot 1102. This embodiment does not limit the specific material of the isolator 1121; for example, it can be made of metal, ceramic, or black plastic. An isolator may also be provided between the second support slot 1102 and the third support slot 1103. For details, please refer to the description of the isolator 1121; further details will not be elaborated here. In addition to suppressing crosstalk between different optical transmission channels, the isolator shown in this embodiment also isolates stray light. Specifically, the isolator employs an extinction structure. For a description of the extinction structure, please refer to the above embodiment; further details will not be elaborated here.

[0106] Figure 12This is an example assembly diagram of the receiver provided in this application. The receiver shown in this embodiment includes a base 1201, and the surface 1202 of the base 1201 is used to mount various detectors. Wiring and wiring are performed on the base 1201 to achieve wire bonding, thereby electrically connecting the various detectors mounted on the surface 1202 of the base 1201 to the processor of the lidar. The base 1201 can be a ceramic base or a printed circuit board (PCB), etc., and is not specifically limited. The base 1201 has a through hole 1203, and a bracket 1100 has a protrusion 1204 on its surface facing the base 1201. Therefore, during the installation of the bracket 1100 and the base 1201, the protrusion 1204 can be inserted into the through hole 1203 to achieve a plug-in connection between the bracket 1100 and the base 1201. In this embodiment, the through holes 1203 can be located at both ends of the base 1201, and the protrusions 1204 are located at both ends of the bracket 1100 facing the surface of the base 1201. It should be noted that this embodiment does not limit the number or specific location of the through holes 1203 and the protrusions 1204, as long as each protrusion 1204 is inserted into one through hole 1203, the bracket 1100 and the base 1201 can be connected. This embodiment does not limit the shape of the cross-section of the through holes 1203 and the cross-section of the protrusions 1204; for example, they can be any shape such as circular, elliptical, square, or triangular. This embodiment takes the connection between the bracket 1100 and the base 1201 as an example, without limitation; for example, the bracket 1100 and the base 1201 can also be connected by bonding, integral molding, welding, magnetic attraction, etc. For an explanation of the connection method between the bracket 1100 and the beam homogenizing component 1100, please refer to the explanation of the connection method between the bracket 1100 and the base 1201; details will not be repeated here. As shown above, taking the first beam homogenizing module included in the beam homogenizing component and the first detector included in the detector array as examples, the first beam homogenizing module needs to be located on the transmission optical path of the focused first optical signal, and the first detector needs to be located on the transmission optical path of the homogenized first optical signal emitted from the first beam homogenizing module, and so on. Therefore, the surface 1211 of the beam homogenizing component 303 facing the bracket 1100 has a first mark 1212, and the surface 1202 of the base 1201 has a second mark 1213. When the first mark 1212 and the second mark 1213 are aligned, the first beam homogenizing module will be located on the transmission optical path of the focused first optical signal, and the first detector needs to be located on the transmission optical path of the homogenized first optical signal emitted from the first beam homogenizing module, and so on. In this embodiment, the specific shape and alignment state of the first mark 1212 and the second mark 1213 are not limited. For example, the first mark 1212 and the second mark 1213 are both L-shaped. When the first mark 1212 and the second mark 1213 are completely overlapped, it means that the first mark 1212 and the second mark 1213 are aligned.The surface of the light-diffusing component 303 facing the light-isolating component 302 has its edge region recessed to form a concave region 1214. This concave region 1214 is used to hold the edge protrusion 1215 of the light-isolating component 302. It should be noted that the description of the connection method between the light-diffusing component 302 and the light-diffusing component 302 in this embodiment is an optional example and is not limited. For example, it can be connected by insertion, bonding, integral molding, welding, magnetic attraction, etc. Using the receiver connection method shown in this embodiment can reduce the complexity of installing the receiver and reduce the difficulty of optical path assembly and adjustment (for example, ensuring that the first light-diffusing module needs to be located on the transmission optical path of the first focused optical signal, and the first detector needs to be located on the transmission optical path of the first optical signal emitted by the first light-diffusing module).

[0107] The receiver includes a PCB, on which the processor and receiver are packaged. For this purpose, the receiver base 1201 can be soldered to the PCB using surface mounted technology (SMT). During the SMT process, the receiver is attached to the PCB by a suction nozzle. When the nozzle is attached to the receiver, the isolation effect of the optical isolation component effectively prevents the nozzle from contaminating the surface of the light homogenizing component, thus improving the reliability of the receiver.

[0108] Figure 13This is a structural example diagram of a second embodiment of the receiver provided in this application. The receiver shown in this embodiment includes a focusing component, an optical isolation component 1301, a light homogenizing component, and a detector array 1305. For a description of the focusing component, the optical isolation component 1301, and the detector array 1305, please refer to the above embodiment; specific details will not be repeated here. The light homogenizing component has a light homogenizing surface 1303 and a light homogenizing substrate 1302. The light homogenizing surface 1303 is located between the light homogenizing substrate 1302 and the optical isolation component 1301, and is used to homogenize the focused optical signal. The light homogenizing substrate 1302 includes a first light-transmitting region 1321, a second light-transmitting region 1322, a third light-transmitting region 1323, and a fourth light-transmitting region 1324. The first light-transmitting region 1321 is used to transmit the first light signal after homogenization, the second light-transmitting region 1322 is used to transmit the second light signal after homogenization, the third light-transmitting region 1323 is used to transmit the third light signal after homogenization, and the fourth light-transmitting region 1324 is used to transmit the fourth light signal after homogenization. For a description of the first, second, third, and fourth light signals after homogenization, please refer to the above embodiment; specific details will not be repeated here. The homogenizing substrate 1302 shown in this embodiment is used to ensure that the surface of the detector array 1305 facing the homogenizing component coincides with the exit pupil surface of the homogenizing component, thereby achieving the purpose of uniformly distributing the energy of the homogenized light signal on the surface of the photodetector. For example, the distance between the exit pupil surface of the light homogenizing component and the third surface of the light homogenizing component is L. The surface of the light homogenizing surface 1303 facing the detector array 304 is the third surface. The height of the light homogenizing substrate 1302 along the transmission direction of the light signal after homogenization is L or close to L. Then, the light homogenizing surface 1303 and the detector array 304 located on both sides of the light homogenizing substrate 1302 will ensure that the second surface of the detector array 304 coincides with the exit pupil surface, and the surface of the detector array 304 facing the light homogenizing component 303 is the second surface.

[0109] To suppress crosstalk between different optical transmission channels and isolate stray light, the homogenizing substrate 1302 has an isolator 1311. The isolator 1311 is located between the first light-transmitting region 1321 and the second light-transmitting region 1322 included in the homogenizing substrate 1302, and is used for optical isolation between the first light-transmitting region 1321 and the second light-transmitting region 1322. For example, the homogenizing substrate 1302 is perforated from the surface facing the detector array, and an opaque material is injected into the hole to isolate the channels, thereby forming the isolator 1311. This embodiment does not limit the formation method of the isolator 1311, as long as the isolator 1311 is located between the first light-transmitting region 1321 and the second light-transmitting region 1322, so that the homogenized first optical signal transmitted in the first light-transmitting region 1321 will not crosstalk to the second light-transmitting region 1322, and the homogenized second optical signal transmitted in the second light-transmitting region 1322 will not crosstalk to the first light-transmitting region 1321. Similarly, an isolator is provided between the second light-transmitting area 1322 and the third light-transmitting area 1323. For a detailed description of this isolator, please refer to the description of isolator 1311; further details are omitted here. It can be understood that, to ensure that the surface of the detector array 1305 facing the light-uniforming component coincides with the exit pupil surface, this embodiment eliminates the need for a support bracket. Instead, a light-uniforming substrate 1302 of a certain height directly ensures that the surface of the detector array 1305 facing the light-uniforming component coincides with the exit pupil surface, thus guaranteeing that the energy of the light signal after light uniformization can be evenly distributed on the surface of the detector array. Using the receiver shown in this embodiment, the light-uniforming substrate 1302 of the light-uniforming module simultaneously serves as a support bracket and a support member for the light-uniforming surface 1303, simplifying the receiver structure and further reducing packaging complexity and assembly difficulty. Optionally, the receiver shown in this embodiment may simultaneously have a light-uniforming substrate and a support bracket, both of which ensure that the surface of the detector array facing the light-uniforming component coincides with the exit pupil surface. For example, the distance between the exit pupil surface of the homogenizing component and the third surface of the homogenizing component is L. The surface of the homogenizing surface 1303 facing the detector array 304 is the third surface. The height of the homogenizing substrate 1302 along the direction of light signal transmission after homogenization is L1, and the height of the support along the direction of light signal transmission after homogenization is L2. The sum of L1 and L2 is equal to or approximately equal to L. Therefore, the homogenizing surface and detector array fixed by the homogenizing substrate and support ensure that the second surface of the detector array coincides with the exit pupil surface, and the surface of the detector array facing the homogenizing component is the second surface.

[0110] The above embodiments take the example of each light-homing module in the light-homing component being implemented by a microlens or a microlens array. Figure 14 The diagram shows an example where each light-homing module in the light-homing assembly is a metalens. Figure 14This is a structural example diagram of a third embodiment of the receiver provided in this application. The receiver shown in this embodiment includes a focusing component, an optical isolation component 1401, a light homogenizing component 1402, a support 1403, and a detector array 1404. For descriptions of the focusing component, optical isolation component 1401, support 1403, and detector array 1404, please refer to the above embodiments; specific details will not be repeated here. The light homogenizing component 1402 shown in this embodiment includes multiple light homogenizing modules, each light homogenizing module 1411 being a metalense. A metalense, also known as a metalens, is an optical element that achieves light homogenization based on a metasurface (a planar two-dimensional metamaterial with subwavelength thickness). Implementing a light homogenizing component based on a metalense, since the metasurface is a two-dimensional planar form, makes it easier to integrate, helping to improve the integration level of lidar. Furthermore, by adjusting the structural parameters of the metalense, flexible control of various light properties can be achieved, thereby meeting the needs of various complex optical applications. Specifically, the metalens includes a substrate 1421 located on the surface of the support 1403. The substrate 1421 is transparent to a specific wavelength; for example, the substrate 1421 may be glass. An antireflective coating 1422 is located on the surface of the substrate 1421, which is understood to be situated between the substrate 1421 and the optical isolation component 1401. The main function of the antireflective coating 1422 is to enhance the transmission of light signals and reduce reflection, thereby increasing the transmittance of the metalens, which in turn increases the intensity of the light signal after homogenization and extends the detection distance. The surface of the antireflective coating 1422 includes a metasurface structure 1423 and a filling structure 1424. The metasurface structure 1423 consists of highly free, non-periodic, densely packed subwavelength unit structures (also known as micro / nano structures) arranged in a two-dimensional plane for homogenizing light signals. The filling structure 1424 refers to a specific material or structure filled in the metasurface structure 1423. The main function of the filling structure 1424 is to cover the micro / nano structure, ensure isolation from the environment, and improve the reliability and stability of the optical structure. In this embodiment, the receiver includes a support to ensure that the surface of the detector array 1404 facing the light-diffusing component coincides with the exit pupil surface of the light-diffusing component. In other examples, the receiver may not include a support; instead, the substrate of the light-diffusing component 1402 is used to ensure that the surface of the detector array 1404 facing the light-diffusing component coincides with the exit pupil surface of the light-diffusing component. For details, please refer to [link to relevant documentation]. Figure 13 The corresponding explanations will not be elaborated upon here.

[0111] The receiver includes a filter. The transmitter of the lidar emits a detection light signal towards the target object. The target object reflects an echo light signal back to the receiver based on the detection light signal. It can be understood that the wavelength of the detection light signal is the same as the wavelength of the echo light signal. The filter allows the echo light signal reflected by the target object to enter the receiver for photoelectric conversion, thereby achieving target object detection. The filter also blocks non-target light signals from entering the receiver. The wavelength of the detection light signal is different from the wavelength of the non-target light signal. It can be understood that this non-target light signal can be stray light from the environment. Therefore, the filter effectively suppresses non-target light signals from entering the receiver, thereby improving detection accuracy and detection range. The location of the filter can be found in [reference needed]. Figure 15 As shown, where, Figure 15 This is a structural example diagram of one embodiment of the optical isolation component provided in this application. The receiver includes a focusing component, an optical isolation component 1501, a beam homogenizing component, and a detector array. For descriptions of the focusing component, beam homogenizing component, and detector array, please refer to the above embodiment; specific details will not be repeated here. For a description of the structure and function of the optical isolation component 1501, please refer to the above embodiment; specific details will not be repeated here. In this embodiment, the surface of the optical isolation component 1501 facing the focusing component has a filter 1502. This filter 1502 covers the first channel opening of each channel of the optical isolation component 1501. For a description of the first channel opening of each channel, please refer to [link to relevant documentation]. Figures 4 to 6 As shown, details will not be elaborated further. And / or, the surface of the optical isolation assembly 1501 facing the light homogenizing assembly has a second channel opening covering each channel of the optical isolation assembly 1501. For a description of the second channel opening for each channel, please refer to [link to relevant documentation]. Figures 4 to 6 As shown, the specifics will not be elaborated further.

[0112] Figure 16 This is a structural example diagram of one embodiment of the bracket provided in this application. The receiver includes a focusing component, an optical isolation component, a beam homogenizing component, a bracket 1601, and a detector array. For descriptions of the focusing component, optical isolation component, beam homogenizing component, and detector array, please refer to the above embodiment; specific details will not be repeated here. For a description of the structure and function of the bracket 1601, please refer to the above... Figure 11 The corresponding embodiments are shown below, and specific details will not be repeated. In this embodiment, the surface of the bracket 1601 facing the light-diffusing assembly 1602 has a filter 1602, which covers each light-diffusing module. For a description of each light-diffusing module, please refer to the embodiments described above; specific details will not be repeated. And / or, the surface of the bracket 1601 facing the detector array has a filter. The description of the filter position in this embodiment is an optional example and is not limited. For example, the surface of the light-diffusing assembly facing the detector array includes a filter.

[0113] This application provides a vehicle design; for a detailed structural description, please refer to [link / reference]. Figure 17 As shown, where, Figure 17 This is a structural example diagram of one embodiment of the vehicle provided in this application. The vehicle shown in this example may be a car, truck, motorcycle, public vehicle, lawnmower, recreational vehicle, amusement park vehicle, tram, golf cart, train, handcart, or drone, etc. This embodiment configures the vehicle 1700 in a fully or partially automated driving mode. The vehicle shown in this embodiment includes a vehicle body for mounting a sensor system 1720, an advanced driving assistance system (ADAS) 1710, peripheral devices 1730, and a computer system 1740.

[0114] Sensor system 1720 includes one or more sensors that sense environmental information about the vicinity of vehicle 1700. For example, sensor system 1720 may include a positioning system, such as a Global Positioning System (GPS) or BeiDou Navigation Satellite System. Sensor system 1720 also includes an inertial measurement unit (IMU), lidar, and cameras. For a description of lidar, please refer to the embodiments described above; specific details will not be repeated here. Sensor system 1720 may also include sensors for monitoring internal systems of vehicle 1700 (e.g., in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). The positioning system can be used to estimate the geographical location of vehicle 1700. The IMU is used to sense changes in the position and orientation of vehicle 1700 based on inertial acceleration. The IMU may be a combination of an accelerometer and a gyroscope.

[0115] The ADAS1710 continuously senses the surrounding environment during vehicle operation, collects data, identifies, detects, and tracks static and dynamic objects, and combines this data with navigation map data for system calculations and analysis. This allows the driver to anticipate potential hazards, effectively increasing driving comfort and safety. For example, the ADAS1710 can control the vehicle using data acquired by the sensor system 120. Furthermore, the ADAS1710 can control the vehicle using vehicle driving-related information, such as key data displayed on the vehicle's dashboard (fuel consumption, engine speed, temperature, etc.), vehicle speed, steering wheel angle information, or vehicle attitude data.

[0116] Vehicle 1700 interacts with external sensors, other vehicles, other computer systems, or users via peripheral device 1730. Peripheral device 1730 may include a wireless communication system, an onboard computer, a microphone, and / or a speaker. For example, the onboard computer may provide information to the user of vehicle 1700. The user interface may also operate the onboard computer to receive user input. The onboard computer may be operated via a touchscreen. In other cases, peripheral device 1730 may provide a means for vehicle 1700 to communicate with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from the user of vehicle 1700. A speaker may output audio to the user of vehicle 1700. The wireless communication system may communicate wirelessly with one or more devices directly or via a communication network.

[0117] Some or all of the functions of the vehicle 1700 are controlled by the computer system 1740. The computer system 1740 can control the functions of the vehicle 1700 based on input received from various systems (e.g., sensor system 120, ADAS 1710, peripheral device 1730) and from a user interface. The computer system 1740 may include at least one processor that executes instructions stored in memory.

[0118] This application provides a device including a processor and a lidar as shown in any of the above embodiments. For a description of the processor type, please refer to [link to relevant documentation]. Figure 2 The corresponding explanations are not detailed here. The lidar acquires point cloud data, which may include information such as the target object's three-dimensional spatial coordinates, shape, size, and velocity. The processor acquires the point cloud data from the lidar and responds to it. For example, the processor's response to the point cloud data may include, but is not limited to, at least one of the following:

[0119] Point cloud data is used for autonomous driving, obstacle avoidance, route planning, automated function control, and environmental perception and detection, thereby enabling safety warnings.

[0120] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0121] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lidar, characterized in that, The receiver includes a focusing component, an optical isolation component, a beam homogenizing component, and a detector array arranged in sequence. The optical isolation component includes at least a first channel and a second channel, and the detector array includes at least a first detector and a second detector. The focusing component is used to focus the optical signal to obtain the focused optical signal, and transmit the focused optical signal to the optical isolation component. The focused optical signal includes a first optical signal and a second optical signal. The first optical signal passes through the first channel to be transmitted to the light-uniforming component, and the second optical signal passes through the second channel to be transmitted to the light-uniforming component; The light homogenizing component is used to homogenize the first optical signal to obtain a homogenized first optical signal, and to transmit the homogenized first optical signal to the first detector. The light homogenizing component is also used to homogenize the second optical signal to obtain a homogenized second optical signal, and to transmit the homogenized second optical signal to the second detector. The first detector is used to perform photoelectric conversion on the first light signal after homogenization to obtain a first electrical signal, and the second detector is used to perform photoelectric conversion on the second light signal after homogenization to obtain a second electrical signal.

2. The lidar according to claim 1, characterized in that, The lidar also includes a transmitter, which includes a laser array. The laser array includes at least a first laser and a second laser. The first laser and the second laser are respectively used to emit a first detection light signal and a second detection light signal to a target object. The target object is used to reflect a first echo light signal and a second echo light signal to the receiver based on the first detection light signal and the second detection light signal. The light signal includes the first echo light signal and the second echo light signal. The focusing component is used to focus the first echo light signal to obtain the first light signal, and is also used to focus the second echo light signal to obtain the second light signal.

3. The lidar according to claim 1 or 2, characterized in that, The first light signal passing through the first channel has a first light spot, and the second light signal passing through the second channel has a second light spot. After homogenization, the first light signal forms a third light spot on the surface of the detector array, and the second light signal forms a fourth light spot on the surface of the detector array. The third light spot is larger than the first light spot, and the fourth light spot is larger than the second light spot.

4. The lidar according to claim 3, characterized in that, The first channel and the second channel are two adjacent channels among the multiple channels included in the optical isolation component. There is a first gap between the photosensitive surfaces of the first detector and the second detector, and a second gap between the third light spot and the fourth light spot. The first gap and the second gap at least partially overlap.

5. The lidar according to any one of claims 1 to 4, characterized in that, The optical signal includes a first echo optical signal and a second echo optical signal. The focusing component is used to focus the first echo optical signal and the second echo optical signal to obtain the first optical signal and the second optical signal. The absolute value of the angle between the transmission direction of the first echo optical signal and the normal of the homogenizing component is within a preset angle, so that the photosensitive surface of the first detector at least partially coincides with the third light spot, which is the light spot formed by the first optical signal on the detector array surface after homogenization. The absolute value of the angle between the transmission direction of the second echo optical signal and the normal of the homogenizing component is within the preset angle, so that the photosensitive surface of the second detector at least partially coincides with the fourth light spot, which is the light spot formed by the second optical signal on the detector array surface after homogenization.

6. The lidar according to claim 5, characterized in that, The preset angle is not less than 0 degrees and not greater than 0.8 degrees.

7. The lidar according to any one of claims 1 to 6, characterized in that, Both a focal plane of the focusing component and a focal plane of the light-diffusing component are located between the focusing component and the light-diffusing component.

8. The lidar according to claim 7, characterized in that, One focal plane of the focusing component coincides with one focal plane of the uniform light component.

9. The lidar according to any one of claims 1 to 8, characterized in that, The optical signal is incident from the focusing component and focused by the focusing component. The first optical signal and the second optical signal after homogenization are transmitted to the detector array via the exit pupil surface of the homogenizing component and are photoelectrically converted by the detector array. The surface of the detector array facing the homogenizing component coincides with the exit pupil surface.

10. The lidar according to any one of claims 1 to 9, characterized in that, The ratio between the first aperture and the second aperture is greater than or equal to the ratio of the focal length of the focusing component to the focal length of the light-uniforming module included in the light-uniforming component, wherein the first aperture is the longest diameter of the incident light spot, the incident light spot is the light spot formed on the entrance pupil surface of the focusing component, the focusing component is used to focus the first echo light signal to obtain the first light signal, and the second aperture is the longest diameter of the light spot formed on the exit pupil surface of the first light signal after light uniformation.

11. The lidar according to any one of claims 1 to 10, characterized in that, The surface of the detector array facing the homogenizing component coincides with the exit pupil surface.

12. The lidar according to claim 11, characterized in that, The receiver also includes a bracket, with a first end for fixing the light-diffusing component and the other end for fixing the detector array.

13. The lidar according to claim 12, characterized in that, The support includes a first support slot and a second support slot. The first detector is located inside the first support slot, and the second detector is located inside the second support slot. After homogenization, the first optical signal enters the first support slot through the slot opening of the first support slot to be transmitted to the first detector. After homogenization, the second optical signal enters the second support slot through the slot opening of the second support slot to be transmitted to the second detector.

14. The lidar according to claim 11, characterized in that, The light homogenizing component includes a light homogenizing substrate and a light homogenizing surface located on the surface of the light homogenizing substrate. The light homogenizing surface is located between the light homogenizing substrate and the optical isolation component. The light homogenizing surface is used to homogenize the first optical signal and the second optical signal, respectively.

15. The lidar according to claim 14, characterized in that, The light-uniforming substrate includes a first light-transmitting region and a second light-transmitting region. The light-uniforming substrate also includes an isolation member located between the first light-transmitting region and the second light-transmitting region. After light uniformization, a first light signal passes through the first light-transmitting region and is transmitted to the first detector. After light uniformization, a second light signal passes through the second light-transmitting region and is transmitted to the second detector.

16. The lidar according to any one of claims 1 to 15, characterized in that, The sidewalls of the first channel and the second channel each include an extinction structure, which is used to suppress stray light from entering the homogenizing component.

17. The lidar according to any one of claims 1 to 16, characterized in that, The light homogenizing component includes at least a first light homogenizing module and a second light homogenizing module. The first light homogenizing module is used to homogenize the first optical signal, and the second light homogenizing module is used to homogenize the second optical signal. The first light homogenizing module includes a microlens, a microlens array, or a metalens, and the second light homogenizing module includes a microlens, a microlens array, or a metalens.

18. The lidar according to any one of claims 1 to 17, characterized in that, The first detector and the second detector are silicon photomultiplier tubes (SiPMs).

19. The lidar according to any one of claims 1 to 18, characterized in that, The transmitter of the lidar is used to emit a detection light signal, and the receiver includes a filter. The filter is used to allow the detection light signal to enter the receiver and to block non-target light signals from entering the receiver. The wavelength of the detection light signal is different from the wavelength of the non-target light signal. The filter is located at at least one of the following positions. The optical isolation component faces the surface of the focusing component, the optical isolation component faces the surface of the light homogenizing component, the bracket faces the surface of the light homogenizing component, and the bracket faces the surface of the detector array, wherein the bracket is located between the detector array and the light homogenizing component.

20. The lidar according to any one of claims 1 to 19, characterized in that, The laser radar transmitter emits a detection light signal, and the laser radar also includes a scanner, which is used to adjust the transmission direction of the detection light signal so as to transmit it to the target object; The light signal reflected by the target object is transmitted to the receiver after the scanner adjusts the transmission direction.

21. The lidar according to claim 20, characterized in that, The lidar also includes a reflector, and the detection light signal emitted by the transmitter is transmitted to the reflector, which is used to reflect the detection light signal back to the scanner; After the optical signal is adjusted in transmission direction by the scanner, it is transmitted to the reflector, which is used to reflect the optical signal to the receiver.

22. A device, characterized in that, The system includes a processor and a lidar as described in any one of claims 1 to 21, the lidar being configured to obtain point cloud data based on the first electrical signal and the second electrical signal, the processor being configured to respond to the point cloud data.

23. The device according to claim 22, characterized in that, The equipment is a means of transportation.

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