Laser emission sensor, laser radar system and design method

Abstract

The invention relates to the technical field of laser radars, and discloses a laser emission sensor, a laser radar system and a design method. The driving module is arranged on the substrate; the plurality of light-emitting modules are arranged on the substrate, each light-emitting module comprises a plurality of light sources, the light sources are connected with the driving module through corresponding leads, and the longer the leads are, the wider the average width of the leads is. The projection on the target object does not have detection deviation, the position between the lines of the motion trail of the detection point does not deviate, the color degree of the formed point cloud is accurate, and the reduction degree of the whole detection result to the target object is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, in particular to a laser emission sensor, a laser radar system and a design method. BACKGROUND

[0002] The laser radar is a radar system that emits a laser beam to detect the position, speed and shape of a target, and then receives these characteristic quantities through a laser receiving sensor and converts them into image information, which is widely used in automatic driving, intelligent robots, surveying and mapping, etc.

[0003] In related technologies, the laser emission sensor of the laser radar includes a substrate, a driving module and a plurality of light-emitting modules. The light-emitting module includes a plurality of light sources, each of which is connected to the driving module through a lead. Since the distances between different light sources and the driving module are different, the lengths of the leads electrically connecting the light sources and the driving module are also different. When the driving module simultaneously outputs control signals for driving control of the light-emitting module, the response times of different light sources are different, and the brightnesses are also different. Generally, the response time of the light-emitting module corresponding to the relatively longer lead is longer, and the brightness is also lower. As a result, there is a position shift and a chrominance difference between the detection results of different light-emitting modules, thereby affecting the detection performance of the laser radar. Furthermore, the scanning detection result of the laser radar system is insufficient for restoring the real target object. SUMMARY

[0004] The present application provides a laser emission sensor, a laser radar system and a design method to solve the technical problem of insufficient restoration of the scanning detection result of the laser radar system to the real target object.

[0005] In a first aspect, the present application provides a laser emission sensor applied to a laser radar system, comprising: a substrate; a driving module disposed on the substrate; a plurality of light-emitting modules disposed on the substrate, any light-emitting module including a plurality of light sources, the light sources being connected to the driving module through corresponding leads, wherein the lengths of at least two leads are different, and the longer the length of the lead, the wider the average width of the lead, so as to reduce the difference in response time of different light sources and the difference in light-emitting brightness of different light sources.

[0006] The laser emission sensor of the present application can make the resistance of all the lead lines consistent and the signal transmission time consistent by adjusting the width of the lead lines, the longer the length, the wider the average width, and then, when the driving module drives and controls each light source in the light emitting module, the response time and light emitting brightness of different light sources can be made consistent, the projection on the target object will not have detection deviation, the position between the lines of the movement track of the detection points will not be offset, the color degree of the point cloud composed is accurate, and the overall detection result has high restoration degree to the target object.

[0007] In an alternative embodiment, the width of the same lead line at any position is equal, and the length ratio and width ratio of any two lead lines are equal.

[0008] In this way, the resistance characteristics of the lead lines can be made more uniform, the difference in the influence of different lead lines on the signal during signal transmission is reduced, which helps to improve the synchronization and accuracy of signal transmission and enhance the stability and consistency of the operation of the laser emission sensor.

[0009] In an alternative embodiment, the lead line comprises a light source connection section, a position adjustment section and a driving connection section connected in sequence, any light source is connected to different pins of the driving module through the light source connection section, the position adjustment section and the driving connection section of the corresponding lead line in sequence, any driving connection section is perpendicular to the length direction of the driving module, the width of the driving connection section of any lead line is the same, and the greater the length of the lead line, the wider the width of the light source connection section and the width of the position adjustment section.

[0010] In this way, the different width rules for different sections are adopted, which not only ensures the convenience of connection of the lead line with the driving module and the light source, avoids too small lead line spacing, but also reasonably adjusts the width according to the length of the lead line, effectively controls the resistance of lead lines of different lengths to be equal, improves the signal quality and optimizes the performance of the laser emission sensor.

[0011] In an alternative embodiment, the position adjustment section is perpendicular to the driving connection section, and the light source connection section is parallel to the driving connection section.

[0012] In this way, the arrangement of the lead line can be more regular and orderly, the intersection and interference between the lead lines can be reduced, the wiring difficulty can be reduced, the utilization rate of the substrate can be improved, and at the same time, the stable transmission of the signal is also facilitated.

[0013] In an alternative embodiment, the center of any light source is located on the same straight line.

[0014] In this way, by setting the center of the light source on the same straight line, the light source can be used to scan the target object, and the accuracy and resolution of the detection can be improved.

[0015] In an alternative embodiment, the light source is a lamp bead.

[0016] In this way, the lamp bead is used as the light source, which can reduce the production cost while ensuring the performance of the laser emission sensor, and is also convenient for subsequent maintenance and replacement.

[0017] In a second aspect, the present application provides a laser radar system comprising the laser emission sensor according to any one of the first aspect of the present application.

[0018] In an alternative embodiment, the laser radar system further comprises a galvanometer, a laser receiving sensor and an image processor, the galvanometer is arranged at the light beam exit end of the laser emission sensor, and is used to irradiate the exit light beam on the target object after scanning along a single line or a double line, the laser receiving sensor generates an electrical signal based on the light beam reflected by the target object, and sends the electrical signal to the image processor, and the image processor generates image information based on the electrical signal.

[0019] In a third aspect, the present application provides a design method of a laser emission sensor, which is applied to design the laser emission sensor according to any one of the first aspect of the present application, and comprises: generating a plurality of lead lines connected to the light-emitting module and a plurality of light sources based on a preset wiring rule; respectively acquiring the lengths of the lead lines, multiplying the average width of the shortest lead line by the width ratio to obtain the average width of the other lead lines, and adjusting the other lead lines based on the average width. respectively acquiring the lengths of the lead lines, multiplying the average width of the shortest lead line by the width ratio to obtain the average width of the other lead lines, and adjusting the other lead lines based on the average width. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0021] Figure 1 is a structural schematic diagram of the laser emission sensor in the related art; Figure 2 is a structural schematic diagram of the laser emission sensor in the related art; Figure 1 is a single-line scanning detection schematic diagram of the laser emission sensor shown in FIG. 1; Figure 3 is a double-line scanning detection schematic diagram of the laser emission sensor shown in FIG. 1; Figure 1 Figure 4 is a structural schematic diagram of a first laser emission sensor of an embodiment of the present application; ​Figure 5 Structure diagram of a second laser emission sensor according to an embodiment of the present application; Figure 6 Single-line scanning detection diagram of a laser emission sensor according to an embodiment of the present application; Figure 7 Double-line scanning detection diagram of a laser emission sensor according to an embodiment of the present application; Figure 8 Structure diagram of a laser radar system according to an embodiment of the present application; Figure 9 Flow diagram of a design method of a laser emission sensor according to an embodiment of the present application.

[0022] Explanation of reference numerals: 100, substrate; 110, light-emitting module; 1101, light source; 1101', projection; 1102, lead wire; 200, driving module; 10, laser emission sensor; 20, galvanometer; 30, laser receiving sensor; 40, image processor. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0024] It should be noted that the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. The terms "parallel", "vertical", "equal" include the described situation and the approximate situation of the described situation, the approximate situation is within the acceptable deviation range, wherein the acceptable deviation range is determined by the ordinary skilled in the art considering the measurement being discussed and the error related to the measurement of the specific quantity (i.e. the limitation of the measurement system). For example, "parallel" includes absolute parallel and approximate parallel, wherein the acceptable deviation range of approximate parallel can be within 5° deviation, for example; "vertical" includes absolute vertical and approximate vertical, wherein the acceptable deviation range of approximate vertical can also be within 5° deviation, for example. "Equal" includes absolute equality and approximate equality, wherein the acceptable deviation range of approximate equality can be that the difference between the two equalities is less than or equal to 5% of either one, for example. The specific meaning of the above terms in this application can be understood in specific circumstances by the ordinary skilled in the art.

[0025] As shown in the related art, the laser emitting sensor includes a substrate 100, a driving module 200 and a plurality of light emitting modules 110, the light emitting modules 110 are arranged on the substrate 100 and include a plurality of light sources 1101, and the light emitting modules 110 are electrically connected with the driving module 200 through lead wires 1102. Figure 1 Due to the different distances between different light sources 1101 and the driving module 200, the lengths of the lead wires 1102 used for electrically connecting the light sources 1101 and the driving module 200 are also different, for example Figure 1 The lead wire 1102a is obviously longer than the lead wire 1102b, resulting in that the response times of different light sources 1101 are different when the driving module 200 drives and controls the light emitting modules 110, and the brightnesses are also different. Generally, the response time of the light source 1101 corresponding to the relatively longer lead wire 1102 is longer, and the brightness is also lower.

[0026] Figure 2 And Figure 3The laser radar system is a laser emitting sensor and a target object is detected by a single line scanning detection schematic diagram and a double line scanning detection schematic diagram. The projection 1101' of the target object on the target object is detected by the projection 1101' of the target object on the target object by the light source 1101 of the light emitting module 110. The light source 1101a and the light source 1101b correspond to the projection 1101a' and the projection 1101b', respectively, and the scanning detection result is fed back to the laser receiving sensor 30 (not shown in the figure) of the laser radar system. Because in the prior art, the response time of different light sources 1101 has a first and a second, and the brightness also has a difference. The position offset and the chrominance difference between the detection results of different light sources 1101 are caused, thereby affecting the detection performance of the laser radar. Further, the scanning detection result of the current laser radar system is insufficient for the restoration of the real target object.

[0027] In order to improve the accuracy and the pixel of the laser radar detection scanning, the line number of the current laser radar is also increasing, from 16 lines, 32 lines, 64 lines to 128 lines and 192 lines, and in the future, it may even develop to more than 1000 lines. With the increase of the line number, the number of the light source 1101 and the lead 1102 is also increased, which causes the length difference of the lead 1102 at different positions to be larger, and the scanning detection result offset and the restoration difference between different light sources 1101 to be larger.

[0028] Therefore, the embodiment of the present application provides a laser emitting sensor, a laser radar system and a design method. In order to enable the person skilled in the art to better understand the present application scheme, the present application will be further described in detail below in combination with the drawings and the specific embodiments.

[0029] According to the embodiment of the present application, a laser emitting sensor is provided, which is applied to a laser radar system. As shown in the figure, the laser emitting sensor comprises: Figure 4 a substrate 100; a driving module 200 arranged on the substrate 100; a plurality of light emitting modules 110 arranged on the substrate 100, any light emitting module 110 comprising a plurality of light sources 1101, the light source 1101 being connected to the driving module 200 through a corresponding lead 1102, wherein the lengths of at least two leads 1102 are different, the longer the length of the lead 1102, the wider the average width of the lead 1102, so as to reduce the difference in response time of different light sources 1101 and the difference in light emitting brightness of different light sources 1101.

[0030] ​Specifically, the substrate 100 is a physical support platform for carrying the elements of the laser emission sensor, which can be a printed circuit board (PCB) in particular.

[0031] The driving module 200 includes a single-chip microcomputer and a corresponding driving circuit. The single-chip microcomputer outputs a driving signal to the driving circuit, which controls the opening and closing of each light source 1101.

[0032] The light-emitting module 110 is provided in multiple numbers, and each light-emitting module 110 is provided with multiple light sources 1101. The light source 1101 is a signal emitter of the laser radar system, which can be a 905nm semiconductor laser, a 1550nm optical fiber laser, a lamp bead, etc.

[0033] The number of light-emitting modules 110 and light sources 1101 can be set according to actual conditions. In an example, four light-emitting modules 110 are provided on the substrate 100, and each light-emitting module 110 includes eight light sources 1101.

[0034] Since the distribution positions of different light sources 1101 are different, the distances between the light sources 1101 and the driving module 200 are different, and thus the lengths of the lead wires 1102 are also not completely the same. For example, when the light-emitting module 110 is located at the lower middle part of the substrate 100, and the light sources 1101 are distributed above the substrate 100 and arranged in the horizontal direction, the length of the lead wire 1102 between the middle light source 1101 and the driving module 200 is shorter, and the lengths of the lead wires 1102 between the light sources 1101 on both sides and the driving module 200 are longer.

[0035] For lead wires 1102 of different lengths, the longer the length, the greater the resistance, which will cause the brightness of different light sources 1101 to be different, resulting in errors such as color difference or light intensity difference in the detected light signal, and the longer the time for the signal to travel from the driving module 200 to the light source 1101, which will cause the time for the light source 1101 to output the light beam to be inconsistent, resulting in the inability to achieve time synchronization when scanning the target object, causing the position of the scanning result to deviate, and both factors will affect the degree of restoration of the scanning detection result to the real target object.

[0036] Based on the resistance and transmission characteristics of the lead wire 1102, the greater the average width of the lead wire 1102, the smaller the resistance, and the smaller the unit transmission delay. Therefore, the average width of the longer lead wire 1102 is adjusted in the embodiment of the present application, and the width of the longer lead wire 1102 is set wider to make the resistance of any two lead wires 1102 equal, and the signal transmission time, i.e., the response time, is also equal. In this way, the light-emitting brightness and light-emitting time of different light sources 1101 can be made consistent. The average width of the lead wire 1102 represents the average value of the widths at different positions.

[0037] like Figure 6 and Figure 7 As shown, in this embodiment of the invention, by setting the width of the longer lead 1102 to be wider so that the resistance of any two leads 1102 is equal and the signal transmission time is also equal, when the target object is detected by single-line scanning or dual-line scanning, the response time and luminous brightness of different light sources 1101 tend to be consistent, and the projection 1101' on the target object can accurately represent the position and shape of the target object without detection deviation, and the detection result has a high degree of reproduction of the target object.

[0038] In this embodiment of the laser emission sensor, by adjusting the width of the lead wire 1102, the width of the lead wire 1102 changes with the length. The longer the length, the wider the average width, making the resistance of all the lead wires 1102 tend to be consistent, and the signal transmission time also tends to be consistent. Therefore, when the driving module 200 drives and controls each light source 1101 in the light emission module 110, the response time and brightness of different light sources 1101 tend to be consistent. The projection on the target object will not have detection deviation, the position between the lines of the motion trajectory of the detection point will not be offset, the color of the point cloud formed is accurate, and the overall detection result has a high degree of reproduction of the target object.

[0039] In one embodiment, the width of the same lead 1102 is equal at any position, and the length ratio and width ratio of any two leads 1102 are equal.

[0040] Specifically, in this embodiment of the invention, the width of the same lead 1102 is fixed, which facilitates the arrangement of the leads 1102. Generally, the resistance of a lead 1102 is directly proportional to its length and inversely proportional to its width. Therefore, when the length ratio and width ratio of any two leads 1102 are equal, their resistance values ​​are also equal. Furthermore, the unit transmission delay of a signal by a lead 1102 is directly proportional to its width; that is, the wider the lead, the faster the signal transmission. Therefore, by making the length ratio and width ratio of any two leads 1102 equal, the response time of each light source 1101 can be made the same.

[0041] In this embodiment of the invention, the resistance characteristics of the lead 1102 can be made more uniform and consistent. During signal transmission, the difference in the influence of different leads 1102 on the signal is reduced, which helps to improve the synchronization and accuracy of signal transmission and enhance the stability and consistency of the laser emission sensor.

[0042] In one embodiment, such as Figure 5As shown, the lead wire 1102 includes a light source connection segment, a position adjustment segment and a driving connection segment connected in sequence, any light source 1101 is connected in sequence through the light source connection segment, the position adjustment segment and the driving connection segment of the corresponding lead wire 1102 and different pins of the driving module 200, any driving connection segment is perpendicular to the length direction of the driving module 200, the width of the driving connection segment of any lead wire 1102 is the same, and the greater the length of the lead wire 1102, the wider the width of the light source connection segment and the width of the position adjustment segment.

[0043] Specifically, for the substrate 100 of the laser emission sensor, the length of the driving module 200 in the X direction is smaller than the distribution length of the light source 1101, so when the number of light sources 1101 is large, the arrangement space of the lead wire 1102 close to the driving module 200, that is, the driving connection segment part, is small, and if the width of the lead wire 1102 and the light source connection segment and the position adjustment segment are kept the same, it will result in fewer lead wires 1102 that can be arranged, and the number of corresponding light sources 1101 is also small, which is not conducive to improving the detection accuracy of the laser radar system.

[0044] Therefore, in the embodiment of the application, only the width of the light source connection segment and the position adjustment segment of the lead wire 1102 with a longer length is increased, and the width of the driving connection segment of each lead wire 1102 is kept the same, so that the number of lead wires 1102 can be increased while ensuring that the luminous intensity and the response time tend to be consistent, and the detection accuracy of the laser radar system is improved.

[0045] In the embodiment of the application, the different width rules for different segments are adopted, which not only ensures the convenience of connection of the lead wire 1102 with the driving module 200 and the light source 1101, avoids too small spacing between the lead wires 1102, but also reasonably adjusts the width according to the length of the lead wire 1102, effectively controls the equal resistance of the lead wires 1102 with different lengths, improves the signal quality, and optimizes the performance of the laser emission sensor.

[0046] Further, the position adjustment segment is perpendicular to the driving connection segment, and the light source connection segment is parallel to the driving connection segment. By arranging the lead wire 1102 as parallel as possible at different positions, the arrangement of the lead wire 1102 can be more regular and orderly, the crossing and interference between the lead wires 1102 can be reduced, the wiring difficulty can be reduced, the utilization rate of the substrate 100 can be improved, and the stable transmission of signals is also conducive.

[0047] In some embodiments, the centers of any light sources 1101 are located on the same straight line.

[0048] Specifically, the centers of the light sources 1101 are arranged on the same straight line, which can perform single-line scanning detection on the target object by a row of light sources 1101, facilitates scanning of the target object by the light sources 1101, and improves the accuracy and resolution of detection.

[0049] Further, the light source 1101 adopts a lamp bead, such as various types of LED lamp beads, and adopting the lamp bead as the light source 1101 can reduce the production cost on the premise of ensuring the performance of the laser emission sensor, and is also convenient for subsequent maintenance and replacement.

[0050] According to the embodiment of the present application, a laser radar system is also provided, which comprises the laser emission sensor 10 of the above-mentioned embodiment.

[0051] Specifically, as shown in Figure 8 The laser radar system further comprises a galvanometer 20, a laser receiving sensor 30, and an image processor 40. The galvanometer 20 is arranged at the light beam exit end of the laser emission sensor 10 and is used to irradiate the exit light beam onto a target object after scanning along a single line or a double line. The laser receiving sensor 30 generates an electric signal based on the light beam reflected by the target object and sends the electric signal to the image processor 40. The image processor 40 generates image information based on the electric signal.

[0052] The laser radar system can be used in automatic driving, intelligent robots, surveying and mapping, and the like.

[0053] The galvanometer 20 is a kind of reflecting mirror that can vibrate quickly and is usually manufactured by micro-electro-mechanical system technology. It changes the propagation direction of the exit light beam by applying an alternating voltage on the mirror surface to make the mirror surface vibrate periodically. In the laser radar system, the galvanometer 20 is arranged at the light beam exit end of the laser emission sensor 10 and irradiates the exit light beam onto a target object after scanning along a single line or a double line. By quickly changing the propagation direction of the light beam, the galvanometer 20 can make the laser radar system scan a large area of target region in a short time, so as to obtain rich environmental information.

[0054] The laser receiving sensor 30 generates an electric signal based on the light beam reflected by the target object. For example, in the automatic driving scenario, when the laser beam emitted by the laser emission sensor 10 irradiates onto the target object such as a vehicle or a pedestrian in front and is reflected back, the laser receiving sensor 30 receives these reflected light beams and converts them into electric signals to provide raw data for subsequent image processing and target recognition.

[0055] The image processor 40 is the core processing component of the laser radar system, which receives the electric signal from the laser receiving sensor 30 and converts these electric signals into image information through a series of algorithms and calculations.

[0056] The embodiment of the present application also provides a design method of the laser emission sensor 10, which is applied to design the laser emission sensor 10 in the above-mentioned embodiment, as shown in Figure 9 which comprises: In step S101, the preset wiring rule is used to generate the lead wires 1102 connecting the light-emitting module 110 and the light sources 1101. In step S102, the length of each lead wire 1102 is obtained, and the width ratio of the lead wire 1102 with the shortest length is obtained according to the ratio of the length of the other lead wires 1102 to the length of the lead wire 1102 with the shortest length. In step S103, the average width of the other lead wires 1102 is obtained by multiplying the width ratio by the average width of the lead wire 1102 with the shortest length, and the other lead wires 1102 are adjusted based on the average width.

[0057] Specifically, the preset wiring rule can be the default rule in the circuit design software such as Cadence, Altium Designer, etc., or a self-defined rule, which is used to generate the initial lead wires 1102.

[0058] The length of each lead wire 1102 is obtained by the circuit design software. The longer lead wire 1102 has a larger resistance and a longer signal propagation delay, that is, the response time of the light source 1101 connected by the longer lead wire 1102 is longer, and the luminous brightness is lower. The width ratio is determined according to the ratio of the length of the lead wire 1102 to the length of the shortest lead wire 1102, and the average width of the other lead wires 1102 is obtained by multiplying the width ratio by the average width of the lead wire 1102 with the shortest length. For example, if the length of a lead wire 1102 is twice the length of the shortest lead wire 1102, the width ratio of the lead wire 1102 can be set to 2, that is, the average width of the lead wire 1102 is twice the average width of the shortest lead wire 1102. The longer lead wire 1102 can have a wider width, thereby reducing the resistance and making the luminous brightness of each light source 1101 consistent. Meanwhile, the wider lead wire 1102 has a shorter delay, thereby making the response time of each light source 1101 consistent.

[0059] Therefore, the laser emission sensor 10 designed by the method of the embodiment of the present application will not have detection deviation in the projection on the target object, that is, each light source 1101 irradiates the target object to form a detection point, and then the detection point scans to form a line of the detection point motion track, and the lines of the point motion of all the light sources 1101 are combined to form a point cloud. The lines of the detection point motion track between the light sources 1101 of the embodiment of the present application do not have a position offset, the color degree of the point cloud formed is accurate, and the overall detection result has a high restoration degree to the target object.

[0060] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A laser emission sensor, applied in a lidar system, characterized in that, include: substrate; The driving module is mounted on the substrate; A plurality of light-emitting modules are disposed on the substrate. Each of the light-emitting modules includes a plurality of light sources. The light sources are connected to the driving module through corresponding leads. At least two of the leads have different lengths. The longer the lead is, the wider its average width is, so as to reduce the difference in response time and the difference in luminous intensity between the different light sources.

2. The laser emission sensor according to claim 1, characterized in that, The width of the same lead wire is equal at any position, and the length ratio and width ratio of any two leads wires are equal.

3. The laser emission sensor according to claim 1, characterized in that, The lead wire includes a light source connection segment, a position adjustment segment, and a drive connection segment connected in sequence. Each light source is connected to different pins of the drive module through the corresponding light source connection segment, position adjustment segment, and drive connection segment of the lead wire. Each drive connection segment is perpendicular to the length direction of the drive module. The width of the drive connection segments of each lead wire is the same, and the greater the length of the lead wire, the wider the width of the light source connection segment and the width of the position adjustment segment.

4. The laser emission sensor according to claim 3, characterized in that, The position adjustment section is perpendicular to the drive connection section, and the light source connection section is parallel to the drive connection section.

5. The laser emission sensor according to any one of claims 1 to 4, characterized in that, The centers of all the light sources are located on the same straight line.

6. The laser emission sensor according to claim 1, characterized in that, The light source is an LED chip.

7. A lidar system, characterized in that, Including the laser emission sensor as described in any one of claims 1 to 6.

8. The lidar system according to claim 7, characterized in that, It also includes a galvanometer, a laser receiving sensor, and an image processor. The galvanometer is disposed at the beam emission end of the laser emitting sensor and is used to scan the emitted beam along a single or dual line and then illuminate the target object. The laser receiving sensor generates an electrical signal based on the beam reflected back from the target object and sends the electrical signal to the image processor. The image processor generates image information based on the electrical signal.

9. A design method for a laser emission sensor, characterized in that, Applications in designing a laser emitting sensor as described in any one of claims 1 to 6, comprising: Generate several leads to connect the light-emitting module and several light sources based on preset wiring rules; The length of each lead is obtained, and the width ratio is obtained by taking the base length of the shortest lead and the ratio of the length of the other leads to the base length. The average width of the other leads is obtained by multiplying the width ratio by the average width of the shortest lead, and the other leads are adjusted based on the average width.

Images