Laser radar sensor and underwater robot

Abstract

The invention provides a laser radar sensor and an underwater robot. The laser radar sensor comprises a laser light source and a color modulation component. The laser light source is used for emitting light detection ranging laser with visible light wavelength. The color modulation component is arranged in the light emitting direction of the laser light source and used for generating color modulation light, and the color modulation light and the light detection ranging laser are mixed to form an emergent light beam in a target wavelength interval. According to the laser radar sensor, the color matching component is arranged in the light emitting direction of the laser light source, the color matching component is used for generating the color matching light, and the color matching light and the light detection distance measurement laser are mixed to form the emergent light beam in the target wavelength interval, so that the underwater remote distance measurement and detection functions of the laser radar sensor are realized; meanwhile, the sensory comfort of human eyes is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser detection and ranging, and particularly relates to a laser radar sensor and an underwater robot. BACKGROUND

[0002] The existing laser radar sensor is used for assisting an underwater robot to enter or leave a pool. However, the laser emitted by the laser radar sensor is usually red laser, blue laser or other monochromatic laser. The color of the monochromatic laser is pure and eye-catching, which is easy to attract the attention of users, thereby reducing the sensory comfort of the human eye. SUMMARY

[0003] The present application provides a laser radar sensor and an underwater robot to solve the technical problem that the laser emitted by the existing laser radar sensor is usually red laser, blue laser or other monochromatic laser. The color of the monochromatic laser is pure and eye-catching, which is easy to attract the attention of users, thereby reducing the sensory comfort of the human eye.

[0004] In a first aspect, the present application provides a laser radar sensor, comprising a laser light source and a color adjusting component. The laser light source is used to emit light detection and ranging laser of visible light wavelength. The color adjusting component is arranged on the light emitting direction of the laser light source and is used to generate color adjusting light. The color adjusting light and the light detection and ranging laser are mixed to form an outgoing light beam of a target wavelength interval.

[0005] In combination with the first aspect, in some implementations of the first aspect, the whole or part of the color adjusting component is configured as a color adjusting fluorescent piece. The color adjusting fluorescent piece is used to generate color adjusting fluorescent light under the excitation of the light detection and ranging laser. The color adjusting fluorescent light and the light detection and ranging laser are mixed to form the outgoing light beam of the target wavelength interval.

[0006] In combination with the first aspect, in some implementations of the first aspect, the color adjusting component comprises a color adjusting light source. The color adjusting light source is configured as a non-laser light source. The color adjusting light source is used to emit color adjusting light. The color adjusting light and the light detection and ranging laser are mixed to form the outgoing light beam of the target wavelength interval. The power of the color adjusting light is greater than or equal to the power of the light detection and ranging laser.

[0007] In combination with the first aspect, in some implementations of the first aspect, the color adjusting component further comprises a light source beam combining mirror. The light source beam combining mirror is arranged at the intersection of the light detection and ranging laser emitted by the laser light source and the color adjusting light emitted by the color adjusting light source. The light source beam combining mirror is used to mix the light detection and ranging laser and the color adjusting light to form the outgoing light beam of the target wavelength interval.

[0008] With reference to the first aspect, in some implementations of the first aspect, the light source combiner is configured to transmit the light detection and ranging laser and reflect the color adjusting light; or the light source combiner is configured to reflect the light detection and ranging laser and transmit the color adjusting light; or the light source combiner includes a first light source combiner and a second light source combiner, the first light source combiner is disposed on an optical path of the light detection and ranging laser emitted by the laser light source and is configured to reflect the light detection and ranging laser, the second light source combiner is disposed at an intersection of the light detection and ranging laser emitted by the laser light source and the color adjusting light emitted by the color adjusting light source, and the second light source combiner is configured to reflect the color adjusting light emitted by the color adjusting light source and transmit the light detection and ranging laser emitted by the laser light source and reflected by the first light source combiner, and to mix the light detection and ranging laser and the color adjusting light to form an outgoing light beam in a target wavelength range.

[0009] With reference to the first aspect, in some implementations of the first aspect, the color adjusting component further includes a filter, the filter is disposed on an optical path of the color adjusting light source and is configured to filter out light beams outside a target wavelength range in the color adjusting light, so that a target light beam in the target wavelength range in the color adjusting light is mixed with the light detection and ranging laser to form an outgoing light beam in the target wavelength range.

[0010] With reference to the first aspect, in some implementations of the first aspect, the color adjusting light source is configured as a multi-spectrum light source or an LED light source, and the number of the color adjusting light sources is one; or the number of the color adjusting light sources is multiple, and at least two of the multiple color adjusting light sources form an RGB light emitting unit with the laser light source.

[0011] With reference to the first aspect, in some implementations of the first aspect, the color adjusting light source is configured as a multi-spectrum floodlight or an LED floodlight, and an illumination range of the color adjusting light source covers an illumination range of the laser light source.

[0012] With reference to the first aspect, in some implementations of the first aspect, the laser radar sensor further includes a mounting shell, the mounting shell includes a base and a cover, the cover and the base enclose a receiving cavity, and the laser light source and the color adjusting component are disposed in the receiving cavity.

[0013] In a second aspect, the present application provides an underwater robot, including a robot body and a laser radar sensor as described above, and the laser radar sensor is disposed on the robot body.

[0014] The embodiment of the present application provides a laser radar sensor and an underwater robot, a color adjusting component is arranged on the light emitting direction of a laser light source, the color adjusting component is used for generating color adjusting light, the color adjusting light is mixed with light detection ranging laser to form an outgoing light beam in a target wavelength interval, so that the underwater long distance ranging and detection function of the laser radar sensor is realized, and the sensory comfort of human eyes is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0016] Figure 1 is a use scene schematic diagram of the underwater robot provided by the embodiment of the present application.

[0017] Figure 2 is a structure schematic diagram of the laser radar sensor provided by the first embodiment of the present application.

[0018] Figure 3 is a structure schematic diagram of the laser radar sensor in Figure 2 .

[0019] Figure 4 is a structure schematic diagram of the laser radar sensor provided by the second embodiment of the present application.

[0020] Figure 5 is a structure schematic diagram of the laser radar sensor provided by the third embodiment of the present application.

[0021] Figure 6 is a structure schematic diagram of the laser radar sensor provided by the fourth embodiment of the present application.

[0022] Figure 7 is a structure schematic diagram of the laser radar sensor provided by the fifth embodiment of the present application.

[0023] Figure 8 is a structure schematic diagram of the laser radar sensor provided by the sixth embodiment of the present application.

[0024] Pool-1a; water surface-101a; underwater robot-100; robot body-1; laser radar sensor-2; mounting shell-20; accommodating cavity-201; base-21; cover-22; laser light source-30; laser transceiver module-301; laser transmitter-31; laser receiver-32; scanning mirror-33; partition-34; driving mechanism-40; first driving motor-41; support lug-411; connecting shaft-42; second driving motor-43; color adjusting component-50; color adjusting fluorescent component-51; color adjusting light source-52; light outlet-5201; first color adjusting light source-521; second color adjusting light source-522; light source beam combining mirror-53; first light source beam combining mirror-531; second light source beam combining mirror-532; optical filter-54; collimating element-55; RGB light emitting unit-60; controller-70; exit angle-a; first center line-L1; second center line-L2.

[0025] The following detailed description will further describe the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0026] The following describes each of the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0027] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, "connection" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative positional relationship after connection does not change. "Rotary connection" can be connected to each other and can rotate relative to each other after connection. The term "integrally formed" means that in the process of forming one of the plurality of components, the component is connected together with other components, without the need to connect two components together by reprocessing (such as bonding, welding, buckling connection, screw connection) method. The orientation language mentioned in the embodiments of the present application, such as "top", "bottom", "inner", "outer", "side" and the like, is only the direction of the drawings, therefore, the orientation language used is to better and more clearly illustrate and understand the embodiments of the present application, and is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the embodiments of the present application.

[0028] The term "laser radar" refers to and includes any of laser radar, laser detection and ranging, and light detection and ranging ("light radar"). Laser radar is a technology that is widely used in conjunction with computer vision. In an example laser radar system, a transmitter including a laser source emits a laser output, such as a laser radar pulse, into a nearby environment. Subsequently, a laser radar receiver receives reflections of the laser output from objects in the nearby environment, and the laser radar receiver processes the received reflections to determine distances (distance information) to such objects. Based on the distance information, a clearer understanding of the geometry of the environment can be obtained by a host processor that wishes to compute items such as path planning, waypoint determination, etc. in an obstacle avoidance context.

[0029] At present, the underwater robot has a higher requirement for the ranging capability of the light detection and ranging laser emitted by the laser radar sensor. Understandably, since the absorption rate of the light detection and ranging laser in the visible light band is relatively low, and the absorption rate of the light detection and ranging laser in the infrared light band is relatively high, the light detection and ranging laser in the visible light band is usually used to realize long-distance detection. The light detection and ranging laser emitted by the laser radar sensor is usually red laser, blue laser or other monochromatic laser, although the safety level of these light detection and ranging lasers meets the industry standards and specifications, and even reaches a class standard, that is, the light detection and ranging laser is harmless, so that the light detection and ranging laser in the visible light band does not cause harm to the living human eye under normal use conditions, and the use safety of the laser radar sensor is improved. However, the color of the monochromatic laser is pure and eye-catching, which easily attracts the attention of users, thereby reducing the sensory comfort of the human eye, and some middle-aged and elderly customers have misunderstanding or worry about the use of laser, and are easy to produce psychological discomfort, worrying that the laser will cause harm to the human eye. Therefore, the embodiment of the present application provides a laser radar sensor to avoid the problem that the red laser, blue laser or other monochromatic laser is relatively conspicuous in the sense of human beings, and causes discomfort to some consumers psychologically.

[0030] Please refer to Figure 1 , Figure 1 is a use scene schematic diagram of the underwater robot 100 provided by the embodiment of the present application. The underwater robot 100 includes a robot body 1 and a laser radar sensor 2. The laser radar sensor 2 is arranged on the robot body 1. The laser radar sensor 2 is used for light detection and ranging. Specifically, the laser radar sensor 2 can be used for underwater long-distance terrain mapping, obstacle avoidance and sunken ship scanning. Therefore, the laser radar sensor 2 can serve as the eyes of the underwater robot 100 to provide high-precision, high-resolution environmental perception and three-dimensional mapping capability, so that the underwater robot 100 can perform fine underwater operation.

[0031] The underwater robot 100 can be, but is not limited to, swimming pool robots, underwater cleaning equipment, or vessels, etc., and this application embodiment does not impose any limitations. The underwater robot 100 can be applied to underwater scenarios such as pool 1a, lakes, and oceans. For example, the underwater robot 100 can be used to perform cleaning, disinfection, and rescue tasks in pool 1a. Pool 1a can include, but is not limited to, swimming pools, oil wells, sewers, etc., and this application embodiment uses a swimming pool as an example for description. It should be noted that the underwater robot 100 can move on at least one of the bottom wall, side wall, water surface 101a, and water in pool 1a.

[0032] Please see Figure 1 and Figure 2 , Figure 2 This is a schematic diagram of the structure of the lidar sensor 2 provided in the first embodiment of this application. The lidar sensor 2 includes a laser source 30 and a color adjustment component 50. The laser source 30 is used to emit a light detection and ranging laser with a visible wavelength. The color adjustment component 50 is disposed in the light output direction of the laser source 30 and is used to generate color-adjusted light. The color-adjusted light and the light detection and ranging laser are mixed to form an output beam in the target wavelength range.

[0033] This application provides a lidar sensor 2, which is based on a color-tuning component 50 arranged in the light-emitting direction of a laser light source 30. The color-tuning component 50 is used to generate color-tuning light, which is mixed with the light detection and ranging laser to form an emitted beam in the target wavelength range. This enables the lidar sensor 2 to perform long-distance ranging and detection functions underwater, while improving the sensory comfort of the human eye.

[0034] Figure 2 The purpose is merely to schematically describe the arrangement between the laser light source 30 and the color adjustment component 50, and is not to specifically limit the connection positions, connection relationships and specific structures of each component. Figure 2 The structure of the lidar sensor 2 illustrated in this embodiment is merely a schematic diagram and does not constitute a specific limitation on the lidar sensor 2. In other embodiments of this application, the lidar sensor 2 may include a... Figure 2 The device may have more or fewer mechanisms, or may combine certain mechanisms, or may have different mechanisms. For example, the lidar sensor 2 may also include, but is not limited to, communication mechanisms.

[0035] Optical ranging lasers include, but are not limited to, red, blue, blue-violet, or green optical ranging lasers. For example, in this embodiment, the optical ranging laser is a blue optical ranging laser. The target wavelength range is the same as or similar to the wavelength range of the optical ranging laser. For instance, the wavelength range of the optical ranging laser is 380nm-750nm. The target wavelength range is 380nm-750nm.

[0036] In some embodiments, the light detection and ranging laser has a wavelength range of 450nm-550nm, so that the absorption and scattering of the light detection and ranging laser in the visible light band by water is reduced, and the accuracy and reliability of the laser radar sensor 2 in long distance ranging and detection under water is improved. In other embodiments, the light detection and ranging laser has a wavelength range of 650nm-750nm. Thus, the red light detection and ranging laser has a longer wavelength, so that the tolerance to lattice defects and manufacturing processes of semiconductor materials is improved, and the red laser light source structure is relatively simple, without the need for very complex quantum well or epitaxial layer design, thereby improving the production yield of the red light laser light source in the production process, and reducing the production cost of the red laser light source.

[0037] It should be noted that the target wavelength range of the outgoing light beam refers to a light beam similar in chromaticity to natural light. The outgoing light beam of the target wavelength range is mixed light. The mixed light can be, but is not limited to, white light; or a composite light formed by mixing monochromatic light and white light; or a composite light formed by mixing monochromatic light and monochromatic light.

[0038] Exemplarily, in the present embodiment, the light detection and ranging laser is a narrow pulse laser. Understandably, the narrower the pulse, the higher the time resolution, and the present embodiment configures the light detection and ranging laser as a narrow pulse laser, thereby improving the accuracy and resolution of long distance ranging and detection of the laser light source 30.

[0039] Of course, in some embodiments, the light detection and ranging laser can also be configured as a specific pattern laser. It should be noted that the specific pattern laser is not generated by the laser light source 30 itself, but is formed by shaping the single laser light beam emitted by the laser light source 30 through an optical element such as a diffractive optical element. For example, the light detection and ranging laser is shaped into a specific pattern (such as a dot array, a stripe, a grid) and projected onto a target object. Due to the unevenness of the object surface, the patterns will be distorted. By capturing the distorted patterns from different angles through one or more cameras, the three-dimensional topography of the object can be reconstructed at high speed and high accuracy using the principle of triangulation. Thus, based on the fact that the light detection and ranging laser can also be configured as a specific pattern laser, the three-dimensional information of a region can be obtained by a single projection of the specific pattern laser, so that it is suitable for high-speed and high-precision three-dimensional scanning of static or slow objects; on the other hand, since the specific pattern laser is prone to blur as the distance increases, the specific pattern laser is suitable for underwater close range ranging scenarios.

[0040] Please refer to Figure 2 and Figure 3 , Figure 3 are Figure 2A structure diagram of a local structure of the laser radar sensor 2 in the embodiment is shown in FIG. 3. The laser light source 30 includes, but is not limited to, a laser transmitter 31, a laser receiver 32, and a scanning mirror 33. The laser transmitter 31 is configured to emit a light detection and ranging laser for detecting a target object. The scanning mirror 33 is configured to direct the light detection and ranging laser emitted by the laser transmitter 31 to scan the target object, and receive and direct the light detection and ranging laser reflected by the target object. The laser receiver 32 is configured to receive the light detection and ranging laser reflected by the target object and directed by the scanning mirror 33.

[0041] For example, in the embodiment, the laser transmitter 31 and the laser receiver 32 can be integrated into a laser transceiver module 301. The number of the laser transceiver module 301 can be one or more. The number of the scanning mirror 33 can also be one or more. In other words, the laser light source 30 can include at least one laser transceiver module 301 and at least one scanning mirror 33. For example, the number of the laser transceiver module 301 is multiple, the number of the scanning mirror 33 is one, the multiple laser transceiver modules 301 are distributed relative to the scanning mirror 33, and the sub-views corresponding to the multiple laser transceiver modules 301 form at least part of the view of the laser light source 30. Of course, in some embodiments, the number of the laser transceiver module 301 is multiple, the number of the scanning mirror 33 is also multiple, the number of the laser transceiver module 301 corresponds to the number of the scanning mirror 33, and each laser transceiver module 301 is distributed relative to the corresponding scanning mirror 33; or the number of the laser transceiver module 301 is more than the number of the scanning mirror 33, and each scanning mirror 33 is distributed relative to at least one laser transceiver module 301 of the multiple laser transceiver modules 301. In other embodiments, the number of the laser transceiver module 301 is one, and the number of the scanning mirror 33 is also one.

[0042] The scanning mirror 33 is rotatable relative to the laser transceiver module 301, thereby improving the scanning range of the view of the laser light source 30, and improving the scanning effect and efficiency of the laser light source 30. The scanning mirror 33 can be configured as a prism or a mirror. The mirror can be configured as a single-sided mirror or a multi-sided mirror.

[0043] For example, in the embodiment, the laser transmitter 31 is fixed relative to the mounting shell 20. Of course, in some embodiments, the laser transmitter 31 is rotatable relative to the mounting shell 20.

[0044] The toning component 50 is located between the laser transceiver module 301 and the scanning mirror 33. Specifically, the toning component 50 is fixedly arranged relative to the laser emitter 31 and located between the laser emitter 31 and the scanning mirror 33, so that the light detection and ranging laser emitted by the laser light source 30 is modified by the toning component 50 before being irradiated to the scanning mirror 33. For example, the toning component 50 can be fixedly arranged on the light emitting side of the laser emitter 31; or the toning component 50 is fixedly connected with the scanning mirror 33, so that the scanning mirror 33 can rotate following the rotation of the scanning mirror 33.

[0045] In some embodiments, the laser light source 30 further comprises a partition 34. The partition 34 divides the reflecting surface of the scanning mirror 33 into an emission scanning area and a receiving scanning area, thereby improving the scanning effect and scanning efficiency of the laser light source 30.

[0046] Exemplarily, in the present embodiment, the laser radar sensor 2 further comprises a driving mechanism 40. The driving mechanism 40 can be used to drive the laser transceiver module 301 to rotate and / or move, so that the light detection and ranging laser emitted by the laser emitter 31 scans according to a preset trajectory. The driving mechanism 40 can also be used to drive the scanning mirror 33 to rotate and / or move, so that the light detection and ranging laser emitted by the laser emitter 31 scans according to a preset trajectory.

[0047] Specifically, the driving mechanism 40 is used to drive the scanning mirror 33 to rotate around the first center line L1 and / or the second center line L2. The first center line L1 intersects the second center line L2. Exemplarily, in the present embodiment, the first center line L1 is perpendicular to the second center line L2. Specifically, the driving mechanism 40 comprises a first driving motor 41 and a connecting shaft 42. The scanning mirror 33 is fixed to the connecting shaft 42, and the connecting shaft 42 is connected with the rotor of the first driving motor 41. The first driving motor 41 is used to drive the connecting shaft 42 to drive the scanning mirror 33 to rotate around the first center line L1.

[0048] The laser transceiver module 301 is arranged directly below the first driving motor 41. The first driving motor 41 is provided with a light transmission hole, which is used for the light detection and ranging laser and the light detection and ranging laser reflected from the target object to pass through the light transmission hole and reach the laser transceiver module 301. Of course, in some embodiments, the laser transceiver module 301 can also be arranged on the side or top of the first driving motor 41, and the present application does not make specific limitation.

[0049] In some embodiments, the driving mechanism 40 further comprises a second driving motor 43. The connecting shaft 42 is rotatably connected to a rotor of the first driving motor 41. Specifically, the rotor of the first driving motor 41 is provided with a support lug 411, and the connecting shaft 42 is rotatably connected to the support lug 411. The rotor of the second driving motor 43 is fixedly connected to the connecting shaft 42, so as to realize that the second driving motor 43 drives the connecting shaft 42 to drive the scanning mirror 33 to rotate synchronously around the second center line L2.

[0050] In some embodiments, the driving mechanism 40 can omit the second driving motor 43, and further comprises a transmission mechanism. The transmission mechanism is in transmission connection with the scanning mirror 33 and the first driving motor 41. The first driving motor 41 is used to drive the scanning mirror 33 to rotate around the first center line L1, and drive the scanning mirror 33 to rotate synchronously around the second center line L2 through the transmission mechanism.

[0051] The laser radar sensor 2 further comprises a controller 70. The controller 70 is in electrical connection with the laser light source 30 and the driving mechanism 40, and is used to control working parameters of the laser light source 30 and working parameters of the driving mechanism 40. The working parameters include but are not limited to at least one of output power, driving current parameter, temperature control parameter, optical characteristic parameter, working mode and timing control, etc.

[0052] Exemplarily, in the embodiment, the whole configuration of the color adjusting component 50 is a color adjusting fluorescent member 51. The color adjusting fluorescent member 51 is used to generate color adjusting fluorescence under the excitation of the light detection and ranging laser. The color adjusting fluorescence mixes with the light detection and ranging laser to form an outgoing light beam in the target wavelength interval. Thus, on the one hand, the fluorescent material contained in the color adjusting fluorescent member 51 can emit continuous spectrum light after being stimulated by the light detection and ranging laser, so that the outgoing light beam formed after the light detection and ranging laser passes through the color adjusting fluorescent member 51 is more real, full and natural, and is closer to the color under the sunlight familiar to the human eye, thereby improving the visual comfort of the human eye; on the other hand, the energy loss of the outgoing light beam in the target wavelength interval converted by the light detection and ranging laser through the fluorescent material is reduced, and the stability and consistency of the color temperature of the outgoing light beam in the target wavelength interval are improved; on the other hand, the whole configuration of the color adjusting component 50 is the color adjusting fluorescent member 51, thereby improving the color temperature adjustment effect of the light detection and ranging laser.

[0053] Of course, in some embodiments, part of the color adjusting component 50 is configured as the color adjusting fluorescent member 51. For example, at least one surface of the color adjusting component 50 in the light output direction is provided with a color adjusting fluorescent coating, thereby saving the cost of the color adjusting component 50.

[0054] It can be understood that the color-tuning fluorescent member 51 emits color-tuning fluorescence after being excited, that is, the color-tuning fluorescent member 51 can act as a passive light source, and the laser light source 30 acts as an active light source. The first part of the light emitted by the laser light source 30 is absorbed by the color-tuning fluorescent member 51 and excited to form color-tuning fluorescence, and the second part of the light emitted by the laser light source 30 is transmitted through the color-tuning fluorescent member 51 and mixed with the color-tuning fluorescence to form an outgoing light beam in a target wavelength interval. Among them, the second part of the light emitted by the laser light source 30 is used for underwater long-distance terrain mapping, obstacle avoidance, and sunken ship scanning. Thus, the color-tuning fluorescence generated by the light-transmitting color-tuning fluorescent member 51 masks the light detection and ranging laser, so that the outgoing light beam in the target wavelength interval can realize underwater ranging and detection functions, and at the same time, the outgoing light beam in the target wavelength interval stimulates the human eye cone cells mildly and evenly, thereby improving the visual comfort of the human eye.

[0055] The type of the color-tuning fluorescent member 51 can be set according to the type of the laser light source 30, which is not specifically limited in the embodiments of the present application. For example, the laser light source 30 is a blue laser light source and is used to emit blue light detection and ranging laser. The color-tuning fluorescent member 51 can be configured as a yellow color-tuning fluorescent member. The yellow color-tuning fluorescent member is used to generate yellow fluorescence under the stimulation of the blue light detection and ranging laser. The yellow fluorescence and the blue light detection and ranging laser are mixed to form an outgoing light beam in a target wavelength interval. For another example, the laser light source 30 is a red laser light source and is used to emit red light detection and ranging laser. The color-tuning fluorescent member 51 includes a green color-tuning fluorescent member and a blue fluorescent member. The green color-tuning fluorescent member and the blue fluorescent member are arranged in the light path of the laser light source 30. The green color-tuning fluorescent member is used to generate green fluorescence under the stimulation of the red light detection and ranging laser, and the blue fluorescent member is used to generate blue fluorescence under the stimulation of the red light detection and ranging laser. The green fluorescence, the blue fluorescence, and the red light detection and ranging laser are mixed to form an outgoing light beam in a target wavelength interval. Specifically, the green color-tuning fluorescent member is arranged between the red laser light source and the blue fluorescent member in the light path of the laser light source 30. The green color-tuning fluorescent member is used to generate green fluorescence under the stimulation of the red light detection and ranging laser. The green fluorescence and the red light detection and ranging laser are mixed to form a yellow outgoing light beam. The blue fluorescent member is used to generate blue fluorescence under the stimulation of the red light detection and ranging laser. The blue fluorescence is mixed with the yellow outgoing light beam to form an outgoing light beam in a target wavelength interval.

[0056] Exemplarily, in the embodiment, the laser radar sensor 2 further comprises a mounting shell 20. The mounting shell 20 comprises a base 21 and a cover 22. The cover 22 and the base 21 enclose a receiving cavity 201. The laser light source 30 and the color adjusting component 50 are both arranged in the receiving cavity 201. Thus, based on encapsulating the laser light source 30 and the color adjusting component 50 in the same mounting shell 20, on the one hand, the problem that the poses between the laser light source 30 and the color adjusting component 50 are prone to slight deviation due to vibration, temperature change or physical impact is avoided because the laser light source 30 and the color adjusting component 50 are physically separated, so that the relative relationship between the laser light source 30 and the color adjusting component 50 is fixed, thereby improving the accuracy and reliability of the beam mixing; on the other hand, the volume and occupied space of the laser light source 30 and the color adjusting component 50 are reduced, the structural compactness of the laser radar sensor 2 is improved, and miniaturization design is realized.

[0057] Of course, in some embodiments, the laser light source 30 is arranged in the receiving cavity 201, and the color adjusting component 50 is arranged outside the receiving cavity 201, so as not to change the structure of the existing laser light source 30, thereby enriching the use scenarios of the laser light source 30.

[0058] The laser radar sensor 2 further comprises a collimating element 55. The collimating element 55 is arranged on the light path of the laser light source 30. Exemplarily, in the embodiment, the collimating element 55 is located on the side of the color adjusting component 50 close to the laser light source 30. The collimating element 55 is used for converting the light detection ranging laser emitted by the laser light source 30 into a collimated light beam, and converting the light detection ranging laser reflected from the target object into a focused light beam. Thus, on the one hand, the energy of the collimated light beam is more concentrated. After the collimated light beam propagates for a long distance, the light spot is still very small, and the energy density is high. The collimated light beam concentrates energy for detecting the target object in the target direction, so that objects farther away can be detected, and the spatial resolution of the laser radar sensor 2 is improved. On the other hand, the weakly scattered light detection ranging laser reflected from the target object is converged to the laser receiver 32 of the laser transceiver module 301, thereby improving the accuracy of the light detection and ranging energy of the laser radar sensor 2. The collimating element 55 can be configured as a convex lens or a lens group. The collimated light beam is a nearly parallel light beam.

[0059] Of course, in some embodiments, the collimating element 55 is located on the side of the color adjusting component 50 away from the laser light source 30. The collimating element 55 is used for converting the outgoing light beam in the target wavelength interval into a collimated light beam, and converting the light detection ranging laser reflected from the target object into a focused light beam.

[0060] Please refer to Figure 1 and Figure 4 , Figure 4is a structural schematic diagram of the laser radar sensor 2 provided by the second embodiment of the present application. In the second embodiment, the structure of the laser radar sensor 2 is similar to that of the laser radar sensor 2 of the first embodiment. The laser radar sensor 2 comprises a laser light source 30 and a color adjusting component 50. The difference lies in that, in the second embodiment, the structure of the color adjusting component 50 is different from that of the color adjusting component 50 of the first embodiment. The collimating element 55 is located on the side of the color adjusting component 50 facing away from the laser light source 30.

[0061] The color adjusting component 50 comprises a color adjusting light source 52. The color adjusting light source 52 is configured as a non-laser light source. The color adjusting light source 52 is used to emit color adjusting light. The color adjusting light is mixed with the light detection ranging laser to form an outgoing light beam of a target wavelength interval. The power of the color adjusting light is greater than or equal to the power of the light detection ranging laser. Thus, on the one hand, based on using the high-power, spectrally continuous color adjusting light to “drown” or “dilute” the low-power, highly monochromatic light detection ranging laser, the color temperature and visual perception of the final synthetic light (i.e., the outgoing light beam of the target wavelength interval) seen by the human eye are closer to natural light, thereby reducing the glare and discomfort caused by the monochromatic light detection ranging laser, thereby improving visual comfort, and the color adjusting light is only used to adjust the visual appearance of the light detection ranging laser emitted by the laser light source 30, so that the light detection ranging laser in the mixed outgoing light beam of the target wavelength interval can still be used for underwater long-distance terrain mapping, obstacle avoidance, sunken ship scanning, etc. On the other hand, the direct mixing of the color adjusting light and the light detection ranging laser can improve the overall uniformity of the outgoing light, avoiding the problem of affecting the sensory comfort of the human eye caused by the residual color in the final output outgoing light being too saturated or the color temperature of the light detection ranging laser deviating from the range comfortable for the human eye. On the other hand, since the power of the color adjusting light source 52 is higher than that of the laser light source 30, the spectral characteristics of the mixed light are mainly determined by the color adjusting light, thereby “hiding” the monochromatic peak of the light detection ranging laser in the broad spectral background of the color adjusting light, so that the spectral distribution of the final mixed light is closer to a continuous spectrum, thereby successfully adjusting the visual perception to the target color temperature.

[0062] It should be noted that the color adjusting light emitted by the color adjusting light source 52 in the embodiments of the present application is only used to adjust the visual appearance of the light detection ranging laser emitted by the laser light source 30, without changing the light detection ranging laser generated by the laser light source 30 itself, so that the light detection ranging laser in the mixed outgoing light beam of the target wavelength interval can still be used for underwater long-distance terrain mapping, obstacle avoidance, sunken ship scanning, etc., while the modified light detection ranging laser is closer to natural light, thereby improving the visual comfort of consumers.

[0063] In some embodiments, the color-tuning light source 52 can be configured as an LED light source or a multi-spectrum light source. The LED light source can be configured as at least one of a white light source, a blue light source, a yellow light source, and a green light source. The product type of the LED light source can be set according to the type of the laser light source 30, which is not specifically limited in the embodiments of the present application.

[0064] Exemplarily, in the present embodiment, the color-tuning light source 52 can be configured as a multi-spectrum light source. Thus, based on the color-tuning light source 52 being configured as a multi-spectrum light source, on the one hand, the multi-spectrum light source can accurately control the intensity of the color-tuning light channel to compensate and mix the monochromatic light detection ranging laser, thereby avoiding spectral waste; on the other hand, the multi-spectrum light source can dynamically adjust the power of each channel of the color-tuning light, thereby improving the matching degree of the color temperature of the mixed white light beam with the ambient light, realizing seamless fusion in vision, and improving the comfort of the human eye.

[0065] It should be noted that the multi-spectrum light source refers to a light source composed of multiple independently controllable light sources with specific wavelengths. For example, the multi-spectrum light source can be multiple narrow-band LEDs of different colors. The spectrum of the light beam emitted by the multi-spectrum light source is composed of several discrete and sharp peaks.

[0066] Of course, in some embodiments, the color-tuning light source 52 can also be an LED light source, which is used to emit a white light beam of a continuous broadband spectrum. The wide spectrum of the LED light source can "drown" the monochromatic light detection ranging laser of the laser light source 30, thereby improving the sensory comfort of the human eye and reducing the production cost of the laser radar sensor 2. For example, when the laser light source 30 is configured as a blue laser light source, the color-tuning light source 52 can be configured as a yellow LED light source.

[0067] In some embodiments, the color-tuning component 50 further includes a light source beam combining mirror 53. The light source beam combining mirror 53 is arranged at the intersection of the light detection ranging laser emitted by the laser light source 30 and the color-tuning light emitted by the color-tuning light source 52, and is used to mix the light detection ranging laser and the color-tuning light to form an outgoing light beam of a target wavelength interval. Thus, on the one hand, the light source beam combining mirror 53 can guide the two light beams to the same outgoing direction, thereby improving the mixing effect of the color-tuning light and the light detection ranging laser; on the other hand, the system complexity, the difficulty of assembly and adjustment, and the bulkiness problem caused by using multiple mirrors are avoided, thereby improving the compactness and simplicity of the entire optical system of the laser radar sensor 2.

[0068] The color mixing light source 52 has an outlight port 5201. The outlight port 5201 of the color mixing light source 52 is directed towards the light source beam combiner 53. Exemplarily, in the present embodiment, the light source beam combiner 53 is configured to transmit the light detection ranging laser and to reflect the color mixing light. Thus, the light detection ranging laser has low power, high power density and good collimation, while the color mixing light is Lambertian, light rays diverge, and has a wide spectrum. On the one hand, based on the configuration of the light source beam combiner 53 to transmit the light detection ranging laser and to reflect the color mixing light, the light detection ranging laser can still maintain high collimation after transmitting through the light source beam combiner 53, thereby improving the ranging effect and detection effect of the lidar sensor 2. Specifically, the color mixing light source 52 and the laser light source 30 are placed at an angle of 90 degrees, i.e., the color mixing light emitted by the color mixing light source 52 is perpendicular to the light detection ranging laser of the laser light source 30, and forms an included angle of 45 degrees with the plane on which the light source beam combiner 53 is located, thereby realizing the coaxial emission of the color mixing light and the light detection ranging laser, improving the light mixing effect of the color mixing light and the light detection ranging laser, and improving the sensory comfort of the human eye.

[0069] Of course, in some embodiments, the light source beam combiner 53 is configured to reflect the light detection ranging laser and to transmit the color mixing light. Thus, based on the configuration of the light source beam combiner 53 to reflect the light detection ranging laser and to transmit the color mixing light, the absorption of the light detection ranging laser energy and the heat generation of the light source beam combiner 53 are reduced, thereby improving the mixing effect of the color mixing light and the light detection ranging laser and prolonging the service life of the light source beam combiner 53.

[0070] In the present embodiment, the color mixing light source 52 and the laser light source 30 are electrically connected to the controller 70. The controller 70 is further configured to control the working parameters of the color mixing light source 52. Thus, since the color mixing light is continuous light and the light detection ranging laser is pulsed light, the controller 70 controls the working parameters such as optical filtering and timing control of the color mixing light source 52 and the laser light source 30 to reduce the noise interference of the color mixing light on the light detection ranging laser, thereby improving the ranging effect and detection effect of the lidar sensor 2.

[0071] Please refer to Figure 1 and Figure 5 , Figure 5 is a structural schematic diagram of a lidar sensor 2 provided in a third embodiment of the present application. In the third embodiment, the structure of the lidar sensor 2 is similar to that of the lidar sensor 2 of the second embodiment. The lidar sensor 2 comprises a laser light source 30 and a color mixing component 50. The difference lies in that, in the third embodiment, the structure of the color mixing component 50 is different from that of the color mixing component 50 of the second embodiment.

[0072] In the third embodiment, the color adjusting component 50 further comprises a filter 54. The filter 54 is disposed in the light path of the color adjusting light source 52 and is configured to filter out the light beams outside the target wavelength range in the color adjusting light, so that the target light beams in the target wavelength range in the color adjusting light can be mixed with the light detection ranging laser to form the outgoing light beams in the target wavelength interval. In this way, the filter 54 can suppress the noise interference of the color adjusting light source 52 on the laser light source 30, so as not to affect the ranging accuracy, reliability and maximum detection distance of the laser radar sensor 2, while not affecting the color temperature adjustment of the light detection ranging laser of the laser light source 30 by the color adjusting light source 52, thereby improving the eye comfort. On the other hand, the filter 54 can filter out the light beams outside the target wavelength range in the color adjusting light, so that the target light beams in the target wavelength range in the color adjusting light can be more naturally mixed with the light detection ranging laser, thereby realizing that the target light beams in the color adjusting light and the light detection ranging laser can be mixed to form the outgoing light in the target wavelength interval which is softer, more natural and more in line with the target. For example, in the present embodiment, the filter 54 is disposed in the light path of the color adjusting light source 52 between the color adjusting light source 52 and the light source beam combiner 53, thereby improving the filtering effect of the preset light beams in the color adjusting light. Of course, in some embodiments, the filter 54 can also be disposed downstream of the light source beam combiner 53 in the light path of the color adjusting light source 52.

[0073] It should be noted that the light beams outside the target wavelength range in the color adjusting light at least include the light beams in the color adjusting light which are spectrally coincident with the light detection ranging laser, and the light beams outside the target wavelength range in the color adjusting light can include but are not limited to the light beams in the color adjusting light which are outside the spectrum of the light detection ranging laser.

[0074] The filter 54 is configured as a band-pass filter or a notch filter. For example, when the filter 54 is configured as a band-pass filter, the filter 54 is configured to block the light beams outside the target wavelength range from transmitting through the filter 54, and allow the light beams in the target wavelength range to pass through. Specifically, the light detection ranging laser emitted by the laser light source 30 is red laser, and the color adjusting light source 52 is configured as a white light source which is configured to emit white light. The band-pass filter is configured to allow the green light and the blue light in the white light to pass through, and filter out the light of the remaining colors in the white light, so that the color adjusting light forms cyan light after passing through the band-pass filter. The cyan light is mixed with the red laser to form white light. For another example, when the filter 54 is configured as a notch filter. The notch filter blocks the light in a very narrow wavelength range, so as to allow the light on both sides of the range to pass through. Specifically, the light detection ranging laser emitted by the laser light source 30 is red laser. The color adjusting light source 52 is configured as a white light source which is configured to emit white light. The notch filter is configured to filter out the red light in the white light, so that the color adjusting light forms cyan light after passing through the notch filter. The cyan light is mixed with the red laser to form white light.

[0075] Please refer to Figure 1 andFigure 6 , Figure 6 is a structural schematic diagram of the laser radar sensor 2 provided by the fourth embodiment of the present application. In the fourth embodiment, the structure of the laser radar sensor 2 is similar to that of the laser radar sensor 2 of the second embodiment. The laser radar sensor 2 comprises the laser light source 30 and the color adjusting component 50. The difference lies in that, in the fourth embodiment, the structure of the color adjusting component 50 is different from that of the color adjusting component 50 of the second embodiment.

[0076] In the fourth embodiment, the number of the color adjusting light sources 52 is set to be multiple, and at least two of the multiple color adjusting light sources 52 form the RGB light emitting unit 60 with the laser light source 30. In this way, the light rays of different color temperatures are simulated by adjusting the chromaticity of RGB, thereby improving the flexibility and accuracy of the adjustment of the color temperature of the outgoing light, and realizing that the laser radar sensor 2 can be applicable to different types of laser light sources 30.

[0077] The multiple color adjusting light sources 52 comprise a first color adjusting light source 521 and a second color adjusting light source 522. The first color adjusting light source 521 is used to emit first color adjusting light, and the second color adjusting light source 522 is used to emit second color adjusting light. The color adjusting component 50 comprises multiple light source beam combining mirrors 53. The multiple light source beam combining mirrors 53 comprise a first light source beam combining mirror 531 and a second light source beam combining mirror 532. The first light source beam combining mirror 531 is arranged at the intersection of the light detection ranging laser emitted by the laser light source 30 and the first color adjusting light emitted by the first color adjusting light source 521, and is used to mix the light detection ranging laser and the first color adjusting light to form a pre-mixed light beam. The second light source beam combining mirror 532 is arranged at the intersection of the light detection ranging laser emitted by the laser light source 30 and the second color adjusting light emitted by the second color adjusting light source 522, and is used to mix the light detection ranging laser, the color adjusting light and the pre-mixed light beam to form an outgoing light beam of a target wavelength interval. In this way, on the one hand, the first light source beam combining mirror 531 can guide the two light rays of the light detection ranging laser and the first color adjusting light to the same outgoing direction, and the first light source beam combining mirror 531 can also guide the two light rays of the light detection ranging laser and the second color adjusting light to the same outgoing direction, thereby improving the mixing effect of the first color adjusting light, the second color adjusting light and the light detection ranging laser; on the other hand, the use of multiple mirrors is avoided, thereby improving the compactness and simplicity of the entire optical system of the laser radar sensor 2; and on the other hand, the light rays of different color temperatures are simulated by adjusting the chromaticity of RGB, thereby improving the flexibility and accuracy of the adjustment of the color temperature of the outgoing light, and realizing that the laser radar sensor 2 can be applicable to different types of laser light sources 30.

[0078] Exemplarily, in the present embodiment, the first light source beam combiner 531 and the second light source beam combiner 532 are arranged along the light path of the laser light source 30 in sequence and are each used for transmitting the light detection ranging laser and are each used for reflecting the first color adjusting light and the second color adjusting light. The first color adjusting light source 521 and the second color adjusting light source 522 are arranged along the light path of the laser light source 30 in sequence, so that the light detection ranging laser can still maintain high collimation after being transmitted through the first light source beam combiner 531 and the second light source beam combiner 532, thereby improving the ranging effect and the detection effect of the laser radar sensor 2 and improving the compactness and simplicity of the entire optical system of the laser radar sensor 2. Specifically, the first color adjusting light source 521 and the second color adjusting light source 522 are each placed at 90 degrees to the laser light source 30, that is, the first color adjusting light and the second color adjusting light are each perpendicular to the light detection ranging laser of the laser light source 30 and form an included angle of 45 degrees with the plane on which the light source beam combiner 53 is located.

[0079] Please refer to Figure 1 and Figure 7 , Figure 7 is a structural schematic diagram of a laser radar sensor 2 provided by the fifth embodiment of the present application. In the fifth embodiment, the structure of the laser radar sensor 2 is similar to that of the laser radar sensor 2 of the second embodiment. The laser radar sensor 2 comprises a laser light source 30 and a color adjusting component 50. The difference lies in that, in the fifth embodiment, the structure of the color adjusting component 50 is different from that of the color adjusting component 50 of the second embodiment.

[0080] The color adjusting light source 52 is configured as a multi-spectral flood light source or an LED flood light source, and the illumination range of the color adjusting light source 52 covers the illumination range of the laser light source 30. In this way, the flood light source acts as a surface light source, and the light is softer and more diffuse, thereby being able to reduce the discomfort caused by the light detection ranging laser directly from a color that is too saturated or a color temperature that deviates from the comfortable range of the human eye, and thereby improving the visual comfort.

[0081] It should be noted that the flood light source refers to a light source that disperses the light emitted by the flood light source in a very large angular range through specific optical design (such as the flood light source cooperating with optical elements such as lenses, reflectors, etc.), thereby illuminating a scene or a target in a large area and uniformly.

[0082] In some embodiments, the color adjusting light source 52 is rotatably arranged relative to the mounting shell 20, thereby improving the coverage range of the color adjusting light emitted by the color adjusting light source 52 on the light detection ranging laser, and thereby improving the light mixing effect of the color adjusting light on the light detection ranging laser. Of course, in some embodiments, the color adjusting light source 52 is fixedly arranged relative to the mounting shell 20.

[0083] It should be noted that the number of color mixing light sources 52 can be set to one or more. Exemplarily, in the present embodiment, the number of color mixing light sources 52 is set to one. The color mixing light source 52 has an outlet 5201. The outlet 5201 of the color mixing light source 52 is directed towards the light path of the laser light source 30. In other words, the light path of the color mixing light source 52 forms an exit angle a with the light path of the laser light source 30, the maximum angle of the exit angle a is an acute angle, thereby improving the coverage of the color mixing light emitted by the color mixing light source 52 on the light detection ranging laser, and further improving the light mixing effect of the color mixing light on the light detection ranging laser.

[0084] Of course, in some embodiments, the number of color mixing light sources 52 can be set to multiple, and multiple color mixing light sources 52 are arranged around the four sides of the laser light source 30, thereby improving the coverage of the color mixing light emitted by the color mixing light source 52 on the light detection ranging laser, and further improving the light mixing effect of the color mixing light on the light detection ranging laser.

[0085] Please refer to Figure 8 , Figure 8 is a structural schematic diagram of the laser radar sensor 2 provided by the sixth embodiment of the present application. In the sixth embodiment, the structure of the laser radar sensor 2 is similar to that of the laser radar sensor 2 of the second embodiment. The laser radar sensor 2 comprises a laser light source 30 and a color mixing component 50. The difference is that in the fifth embodiment, the setting position of the color mixing component 50 is different from that of the color mixing component 50 of the second embodiment. The collimating element 55 is located on the side of the color mixing component 50 away from the laser light source 30.

[0086] The toning component 50 includes a plurality of light source combining mirrors 53. The plurality of light source combining mirrors 53 includes a first light source combining mirror 531 and a second light source combining mirror 532. The first light source combining mirror 531 is arranged in parallel with the second light source combining mirror 532. The laser light source 30 and the toning light source 52 are arranged in parallel. The first light source combining mirror 531 is arranged on the light path of the light detection ranging laser emitted by the laser light source 30 and is used to reflect the light detection ranging laser. The second light source combining mirror 532 is arranged at the intersection of the light detection ranging laser emitted by the laser light source 30 and the toning light emitted by the toning light source 52, and the second light source combining mirror 532 is used to reflect the toning light emitted by the toning light source 52 and transmit the light detection ranging laser emitted by the laser light source 30 after being reflected by the first light source combining mirror 531, and is used to mix the light detection ranging laser and the toning light to form an outgoing light beam of a target wavelength interval. Thus, based on the parallel arrangement of the first light source combining mirror 531 and the second light source combining mirror 532, and the parallel arrangement of the laser light source 30 and the toning light source 52, on the one hand, the accurate synthesis and efficient use of the light detection ranging laser emitted by the laser light source 30 and the toning light emitted by the toning light source 52; on the other hand, flexibility is provided for the internal structure layout of the laser radar sensor 2, the compactness of the laser radar sensor 2 is improved, miniaturization design is realized, and accurate alignment and assembly of the laser light source 30 and the toning light source 52 are facilitated, the light detection ranging laser and the toning light are completely overlapped in space, and a coaxial common-path light beam is formed, thereby ensuring that the modified light spot can accurately indicate the position of the ranging laser spot.

[0087] It should be noted that the number and arrangement position of the toning light source 52 can be arranged according to actual conditions, and the present application does not make specific limitations. The laser radar sensor 2 in the first embodiment and the laser radar sensor 2 in the second to fifth embodiments have the same structure, which can be applied to the laser radar sensor 2 in the second to fifth embodiments, and will not be described here. The toning light source 52 in the laser radar sensor 2 in the second to fifth embodiments can be used in cooperation with the toning light source 52 in the laser radar sensor 2 in the first embodiment. The structure of the filter 54 in the third embodiment is applicable to the laser radar sensor 2 in the fifth and sixth embodiments. The arrangement of the laser light source 30, the toning light source 52 and the plurality of light source combining mirrors in the laser radar sensor 2 in the sixth embodiment is applicable to the laser radar sensor 2 in the third and fourth embodiments.

[0088] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A lidar sensor, characterized in that, include: A laser source, wherein the laser source is used to emit light of visible wavelength for optical detection and ranging. A color-tuning component is disposed in the light-emitting direction of the laser light source and is used to generate color-tuning light, which is mixed with the photodetector ranging laser to form an emitted beam in the target wavelength range.

2. The lidar sensor according to claim 1, characterized in that, The color-tuning component is configured in whole or in part as a color-tuning fluorescent element, which is used to generate color-tuning fluorescence under the excitation of the optical detection and ranging laser. The color-tuning fluorescence is mixed with the optical detection and ranging laser to form an emitted beam in the target wavelength range.

3. The lidar sensor according to claim 1, characterized in that, The color-tuning component includes a color-tuning light source, which is configured as a non-laser light source. The color-tuning light source is used to emit color-tuning light, which is mixed with the optical detection and ranging laser to form an output beam in the target wavelength range. The power of the color-tuning light is greater than or equal to the power of the optical detection and ranging laser.

4. The lidar sensor according to claim 3, characterized in that, The color-tuning component also includes a light source beam combiner, which is disposed at the intersection of the photodetector and ranging laser emitted by the laser source and the color-tuning light emitted by the color-tuning light source, and is used to mix the photodetector and ranging laser and the color-tuning light to form an output beam in the target wavelength range.

5. The lidar sensor according to claim 4, characterized in that, The light source beam combiner is used to transmit the optical detection and ranging laser and to reflect the color-tuning light; or, the light source beam combiner is used to reflect the optical detection and ranging laser and to transmit the color-tuning light; or, the light source beam combiner includes a first light source beam combiner and a second light source beam combiner, the first light source beam combiner is disposed in the optical path of the optical detection and ranging laser emitted by the laser source and is used to reflect the optical detection and ranging laser, the second light source beam combiner is disposed at the intersection of the optical detection and ranging laser emitted by the laser source and the color-tuning light emitted by the color-tuning light, the second light source beam combiner is used to reflect the color-tuning light emitted by the color-tuning light and to transmit the optical detection and ranging laser emitted by the laser source and reflected by the first light source beam combiner, and to mix the optical detection and ranging laser and the color-tuning light to form an output beam in the target wavelength range.

6. The lidar sensor according to claim 4, characterized in that, The color-tuning component also includes a filter, which is disposed in the optical path of the color-tuning light source and is used to filter out light beams outside the target wavelength range in the color-tuning light, so that the target light beams within the target wavelength range in the color-tuning light are mixed with the photodetector ranging laser to form the output light beam of the target wavelength range.

7. The lidar sensor according to claim 4, characterized in that, The color-tuning light source is configured as a multispectral light source or an LED light source, and the number of the color-tuning light source is set to one; or, the number of the color-tuning light sources is set to multiple, and at least two of the multiple color-tuning light sources form an RGB light-emitting unit with the laser light source.

8. The lidar sensor according to claim 3, characterized in that, The color-tuning light source is configured as a multispectral floodlight source or an LED floodlight source, and the illumination range of the color-tuning light source covers the illumination range of the laser light source.

9. The lidar sensor according to any one of claims 1-8, characterized in that, The lidar sensor also includes a mounting housing, which includes a base and a cover. The cover and the base enclose a cavity, and the laser light source and the color adjustment component are both disposed within the cavity.

10. An underwater robot, characterized in that, It includes a robot body and a lidar sensor as described in any one of claims 1-9, wherein the lidar sensor is disposed on the robot body.

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