Lidar light source and lidar system

Abstract

The application relates to the technical field of laser radars, and discloses a laser radar light source and a laser radar system, wherein the laser radar light source comprises a substrate; a light-emitting module arranged on the substrate, the light-emitting module comprising a plurality of columns of lamp beads, and the lamp beads in different columns being arranged in a staggered manner along the column length direction; and a light path adjusting module comprising a plurality of adjusting lenses, wherein any one of the adjusting lenses is arranged in the light-emitting direction of a corresponding column of lamp beads and is arranged to be inclined to the light-emitting direction so as to reflect the light beams emitted by the lamp beads in different columns to the same target column and emit the light beams from the target column at the same angle. The application can improve the resolution of the laser radar light source, and can avoid the staggered scanning and detection results of the lamp beads in different columns on a target object, so that the detection results are not distorted after the laser returns to the receiving module of the laser radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, in particular to a laser radar light source and a laser radar system. BACKGROUND

[0002] The laser radar is a radar system that detects the position, speed and form of a target through a laser beam emitted by a linear array scanning laser radar light source, and then converts the characteristic quantities into image information through a laser receiving sensor. It is widely used in automatic driving, intelligent robots, surveying and mapping, etc. The current laser radar emission module has three scanning modes: point array, linear array and surface array. Among them, the linear array scanning mode is the most common laser radar emission scanning mode.

[0003] Currently, in order to improve the resolution of laser radar detection scanning, the number of lines in the laser radar light source is 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 number of lines, the number of lamp beads also increases. The size occupied by the lamp beads arranged in a line is extremely large, forming a very long strip-shaped structure, which is not conducive to the structural design of the product. In order to reduce the size occupied by the laser light source, more dense lamp beads need to be set. Based on the fact that the lamp beads of the laser light source themselves occupy a certain size, when more dense lamp beads are set, the distance between adjacent lamp beads is too narrow, and the number of lamp beads in a unit area is too much, which will easily accumulate too much heat in the local area and burn out the lamp beads. Therefore, the resolution of laser radar detection scanning is limited. SUMMARY

[0004] The present application provides a laser radar light source and a laser radar system to solve the technical problem of insufficient resolution of laser radar detection scanning.

[0005] In a first aspect, the present application provides a laser radar light source, comprising:

[0006] a substrate;

[0007] a light emitting module arranged on the substrate, the light emitting module comprising a plurality of columns of lamp beads, the lamp beads in different columns being arranged in a staggered manner along the column length direction;

[0008] a light path adjusting module comprising a plurality of adjusting lenses, each adjusting lens being arranged in the light emitting direction of a corresponding column of lamp beads and being arranged obliquely to the light emitting direction to reflect the light beams emitted by the lamp beads in different columns to the same target column and emit the light beams from the same angle at the position of the target column.

[0009] The laser radar light source of the present application can ensure that the adjacent lamp beads in the same column have sufficient distance, facilitate heat dissipation of the light-emitting module, ensure that excessive heat is not accumulated in the local area, avoid burning the lamp beads, and thus can continue to increase the number of lamp beads on the basis of the existing lamp bead arrangement limit, improve the resolution of the laser radar light source, and can avoid the misalignment of the scanning and detection results of the lamp beads in different columns on the target object, thereby avoiding the distortion of the detection results after the laser returns to the receiving module of the laser radar, and reducing the restoration degree of the real situation of the target object.

[0010] In an optional embodiment, the lamp beads include a first column of lamp beads and a second column of lamp beads with the same light-emitting direction, the adjusting lens includes a first adjusting lens and a second adjusting lens, the inclination angles of the first adjusting lens and the second adjusting lens are the same and are inclined toward the direction of the first adjusting lens, the first adjusting lens is a semi-transparent and semi-reflective lens and is arranged in the light-emitting direction of the first column of lamp beads, the second adjusting lens is a reflective lens and is arranged in the light-emitting direction of the second column of lamp beads, and the position where the light beams emitted by the second column of lamp beads are reflected to the first adjusting lens and the position where the light beams emitted by the first column of lamp beads are transmitted after passing through the first adjusting lens are arranged in the same column.

[0011] In this way, the light beams of the second column of lamp beads can be reflected above the first column of lamp beads and emitted from the position of the first column of lamp beads, improving the consistency of the light path and facilitating the laser radar to more accurately obtain target information.

[0012] In an optional embodiment, the inclination angle of the first adjusting lens and the inclination angle of the second adjusting lens relative to the substrate are both 45°, and the height of the reflection point of the light beams emitted by the second column of lamp beads on the second adjusting lens is the same as the height of the transmission point of the light beams emitted by the first column of lamp beads after passing through the first adjusting lens.

[0013] In this way, the inclination angle is set to 45°, which can enable the reflected light beams to be transmitted horizontally, facilitating adjustment of the distance between the lenses.

[0014] In one optional embodiment, the LEDs include a first row of LEDs, a second row of LEDs, and a third row of LEDs with the same light emission direction. The adjustment lens includes a first adjustment lens, a second adjustment lens, and a third adjustment lens. The first, second, and third adjustment lenses have the same tilt angle and are all tilted towards the location of the first adjustment lens. The first adjustment lens is a semi-transparent and semi-reflective lens and is located in the light emission direction of the first row of LEDs. The second adjustment lens is a semi-transparent and semi-reflective lens and is located in the light emission direction of the second row of LEDs. The third adjustment lens is a reflector and is located in the light emission direction of the third row of LEDs. The light beam emitted from the second row of LEDs is reflected to the position of the first adjustment lens, the light beam emitted from the third row of LEDs is reflected to the position of the first adjustment lens, and the position of the transmission point of the light beam emitted from the first row of LEDs after passing through the first adjustment lens is arranged in the same column.

[0015] In this method, the light emitted by the three rows of LEDs can be reflected or transmitted to the first adjustment lens and emitted at the same angle, which further improves the directional consistency and energy concentration of the emitted light, and meets the requirements of lidar for light source performance in more complex application scenarios.

[0016] In one optional embodiment, the tilt angles of the first adjustment lens, the second adjustment lens, and the third adjustment lens relative to the substrate are all 45°. The height of the reflection point of the light beam emitted from the second row of LEDs on the second adjustment lens is the same as the height of the transmission point of the light beam emitted from the first row of LEDs after passing through the first adjustment lens. The height of the third adjustment lens is the same as the height of the second adjustment lens.

[0017] In this method, setting the tilt angle to 45° allows the reflected beam to be transmitted horizontally, making it convenient to adjust the distance between each lens.

[0018] In one alternative implementation, a light-blocking plate is provided above the second adjustment lens.

[0019] In this method, a light-blocking plate is used to prevent the light beam from the second row of LEDs from being transmitted through the second adjustment lens, thus avoiding affecting the accuracy of radar detection.

[0020] In one alternative implementation, after the LEDs in different columns are translated to the same position along the direction perpendicular to the column length, the spacing between adjacent LEDs is equal.

[0021] In this method, the point cloud information obtained by scanning is more uniform and consistent, which helps to improve the accuracy of radar detection.

[0022] In one alternative implementation, the lidar light source further includes a driving module, which is mounted on a substrate, and the LEDs in different columns are connected to the driving module via corresponding leads.

[0023] In this method, each LED is connected to the same driver module through a corresponding lead, which can reduce the number of driver modules and reduce product costs.

[0024] In a second aspect, the present invention provides a lidar system comprising a lidar light source as described in any of the first aspects of the present invention. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a lidar light source in related technologies;

[0027] Figure 2 for Figure 1 The diagram shows a single-line scanning detection method for a lidar light source.

[0028] Figure 3 This is a schematic diagram of the lamp bead arrangement of the lidar light source according to an embodiment of the present invention;

[0029] Figure 4 This is a front view of the lidar light source according to an embodiment of the present invention;

[0030] Figure 5 This is a right view of the lidar light source according to an embodiment of the present invention;

[0031] Figure 6 This is a left view of the lidar light source according to an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of a lidar light source scanning and detecting a target object without an optical path adjustment module.

[0033] Figure 8 This is a schematic diagram of a lidar light source scanning and detecting a target object according to an embodiment of the present invention;

[0034] Figure 9 This is a front view of another lidar light source according to an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the lamp bead arrangement of another lidar light source according to an embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure of a lidar system according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 100, Substrate; 110, Light-emitting module; 1101, LED beads; 1101a, First row of LED beads; 1101b, Second row of LED beads; 1101c, Third row of LED beads; 1101', Light spot; 1102, Lead wire; 200, Driving module; 300, Cell; 120, Optical path adjustment module; 1201, First adjustment lens; 1202, Second adjustment lens; 1203, Third adjustment lens; 10, LiDAR light source; 20, Galvanometer; 30, Target object; 40, Laser receiving sensor. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection of two components. The terms "parallel," "perpendicular," and "equal" include the described situation and situations that are similar to the described situation, where the range of similarity is within an acceptable deviation range, which is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, where the acceptable deviation range for approximate parallelism can be, for example, within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable deviation range for approximate perpendicularity can also be, for example, within 5°; "equal" includes absolute equality and approximate equality, where the acceptable deviation range for approximate equality can be, for example, the difference between the two equals being less than or equal to 5% of either one. For a person skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0041] like Figure 1As shown, in related technologies, the lidar light source 10 includes a substrate 100, a driving module 200, and multiple light-emitting modules 110. The light-emitting modules 110 are disposed on the substrate 100 and include several LEDs 1101. The light-emitting modules 110 are electrically connected to the driving module 200 via leads 1102. Each light-emitting module 110 has several LEDs 1101 arranged in a linear fashion, and the LEDs 1101 between multiple light-emitting modules 110 are also arranged in a linear fashion.

[0042] Figure 2 This is a schematic diagram of a linear array scanning lidar source 10 performing a single-line scan to detect a target 30. (Reference) Figure 1 and Figure 2 Several LEDs 1101 are arranged in a linear pattern. This arrangement facilitates scanning of the target object 30 when the lidar system uses a linear array scanning method. The target object 30 can be decomposed into multiple cells 300 arranged in a matrix. Because the LEDs 1101 are arranged in a long strip, the spacing between adjacent LEDs 1101 is too large, and the spacing between adjacent light spots 1101' projected onto the target object 30 is also large, resulting in low resolution when scanning and detecting the target object 30. To improve the accuracy and pixel count of lidar detection and scanning, the number of lines in current lidar systems is constantly increasing, from 16 lines, 32 lines, 64 lines to 128 lines and 192 lines, and may even reach more than 1000 lines in the future. With the increase in the number of lines, the number of LEDs 1101 also increases. Figure 1 The linear arrangement of the light-emitting module 110 results in a very large size for the laser light source, forming a long, elongated structure, which is detrimental to the product's structural design. To reduce the size of the laser light source, a denser arrangement of LEDs 1101 is required. Since the LEDs 1101 themselves occupy a certain size, a dense arrangement of LEDs 1101 presents a physical obstacle. Furthermore, the narrow spacing between adjacent LEDs 1101 and the excessive number of LEDs 1101 per unit area can easily lead to excessive heat accumulation in localized areas, causing the LEDs 1101 to burn out. Therefore, according to the current design approach, to improve resolution, a dense arrangement of LEDs 1101 inevitably leads to poor heat dissipation and LED burnout problems.

[0043] In view of this, embodiments of the present invention provide a lidar light source and a lidar system. To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] According to an embodiment of the present invention, a lidar light source is provided. For example... Figure 3 and Figure 4 As shown, the lidar light source includes:

[0045] substrate 100;

[0046] The light-emitting module 110 is disposed on the substrate 100. The light-emitting module 110 includes several rows of lamp beads 1101, and the lamp beads 1101 in different rows are staggered along the length of the row.

[0047] The optical path adjustment module 120 includes several adjustment lenses. Each optical path adjustment lens is set in the light-emitting direction of a corresponding column of LED beads 1101 and is tilted in the light-emitting direction so as to reflect the light beams emitted by different columns of LED beads 1101 onto the same target column and emit them from the location of the target column at the same angle.

[0048] Specifically, the substrate 100 is a physical support platform that carries the components on the lidar light source 10, and can be a printed circuit board (PCB).

[0049] The light-emitting module 110 includes multiple rows of LED beads 1101. Each row of LED beads 1101 includes multiple LED beads 1101 spaced apart along the Y direction, i.e., the column length direction. The number of rows of LED beads 1101 and the number of LED beads 1101 in each row can be set according to actual conditions. In one example, a total of 2 rows of LED beads 1101 are arranged on the substrate 100, and each light-emitting module 110 includes 8 LED beads 1101.

[0050] The target column is any column of LED beads 1101 at either the left or right end, such as the first column of LED beads or the last column of LED beads.

[0051] The light emission direction of the LED 1101 is perpendicular to the plane of the substrate 100, that is, the light emission direction is parallel to the Z-axis. The adjustment lens, including a reflector and a semi-transparent mirror, reflects the light beam output by the LED 1101 except the target column to obtain the position of the target column, and emits it from the position of the target column at the same angle. In this way, the scanning results of LEDs 1101 in different columns are avoided, and the light beams of LEDs 1101 in different columns are accurately linearly scanned.

[0052] like Figure 7As shown, if the optical path adjustment module 120 is not provided, when the lidar light source 10 system scans the target object 30, the laser spots 1101a' and 1101b' emitted by different columns of LEDs 1101, such as the first column of LEDs 1101a and the second column of LEDs 1101b, are not located in the same column cell 300 when projected onto the target object 30. The projected spot of the first column of LEDs 1101a on the target object 30 is 1101a', and the spot of the second column of LEDs 1101a is 1101a'. The projected light spot 1b on the target object 30 is 1101b'. Both of them scan back and forth horizontally on a row of cells 300 of the target object 30, causing the scanning detection results of the first column of LED beads 1101a and the second column of LED beads 1101b to be misaligned. After the laser returns to the receiving module of the lidar, the detection result is distorted, the restoration of the true situation of the target object 30 decreases, and it will add more difficulties to the processing of the lidar receiving module and the image processing module.

[0053] The lidar light source 10 of this embodiment of the invention has the following beneficial effects:

[0054] By staggering the arrangement of LED beads 1101 in different columns on the substrate 100, and by adjusting the lens to reflect the light beams emitted by the LED beads 1101 in different columns to the same target column and then emit them at the same angle, it can be ensured that there is sufficient distance between adjacent LED beads 1101 in the same column. This is beneficial for the heat dissipation of the light-emitting module 110, and ensures that too much heat will not accumulate in local areas, thus avoiding burning out the LED beads 1101. Therefore, the number of LED beads 1101 can be increased on the basis of the existing upper limit of LED bead arrangement, thereby improving the resolution of the lidar light source 10.

[0055] This invention uses an optical path adjustment module 120 to arrange the projected light spots of different columns of LED beads 1101 in a staggered manner along the Y direction on the cell 300 of the target object 30. This beam shaping process not only improves the scanning resolution of the lidar system but also avoids misalignment of the scanning detection results of different columns of LED beads 1101 on the target object 30, which would lead to distortion of the detection results after the laser returns to the lidar receiving module, resulting in a decrease in the accuracy of the representation of the target object 30.

[0056] The lidar light source in this embodiment of the invention does not need to be made into an extra-long strip shape, which can reduce the size of the device.

[0057] like Figure 4 , Figure 5 and Figure 6As shown, in some embodiments, the lamp beads 1101 include a first row of lamp beads 1101a and a second row of lamp beads 1101b with the same light emission direction. The adjustment lens includes a first adjustment lens 1201 and a second adjustment lens 1202. The first adjustment lens 1201 and the second adjustment lens 1202 have the same tilt angle and are both tilted toward the position of the first adjustment lens 1201. The first adjustment lens 1201 is a semi-transparent and semi-reflective lens and is disposed in the light emission direction of the first row of lamp beads 1101a. The second adjustment lens 1202 is a reflector and is disposed in the light emission direction of the second row of lamp beads 1101b. The position of the light beam emitted from the second row of lamp beads 1101b reflected to the first adjustment lens 1201 and the position of the transmission point of the light beam emitted from the first row of lamp beads 1101a after passing through the first adjustment lens 1201 are arranged in the same column along the Y direction.

[0058] Specifically, according to the principle of optical reflection, when the tilt angles of the first adjustment lens 1201 and the second adjustment lens 1202 are the same, the beam of the second row of lamp beads 1101b remains unchanged after being reflected by the first adjustment lens 1201 and the second adjustment lens 1202 in sequence. Therefore, the beam of the second row of lamp beads 1101b after being reflected by the first adjustment lens 1201 has the same beam angle as the beam of the first row of lamp beads 1101a after being transmitted through the first adjustment lens 1201.

[0059] like Figure 5As shown, the first adjustment lens 1201 is a semi-transparent and semi-reflective lens. The working principle of this semi-transparent and semi-reflective effect is explained as follows: the semi-transparent and semi-reflective lens transmits the laser emitted by the first row of LED beads 1101a and reflects the laser emitted by the second row of LED beads 1101b. Specifically, if the wavelengths of the lasers emitted by the first row of LED beads 1101a and the second row of LED beads 1101b are different, the semi-transparent and semi-reflective lens can be made so that its entire surface transmits the laser emitted by the first row of LED beads 1101a and reflects the laser emitted by the second row of LED beads 1101b. This can be achieved by attaching and sputtering corresponding optical films onto the first adjustment lens 1201, resulting in lower manufacturing costs and lower implementation difficulty. However, the lasers emitted by the first row of LED beads 1101a and the second row of LED beads 1101b usually have the same wavelength. Since the first row of LED beads 1101a and the second row of LED beads 1101b are arranged in the same column along the Y direction after the optical path is adjusted, they are not in the same specific coordinate position along the Y direction. Therefore, by precise calculation, the position through which the laser emitted by the first row of LED beads 1101a on the first adjustment lens 1201 passes can be designed to transmit the laser. Similarly, the position reached by the laser emitted by the second row of LED beads 1101b on the first adjustment lens 1201 can be designed to reflect the laser. Specifically, the semi-transparent and semi-reflective effect can be achieved by setting a transmissive film layer and a reflective film layer arranged in a strip-shaped, staggered pattern on the surface of the first adjustment lens 1201, or by setting a transmissive film layer and a reflective film layer arranged in a matrix-like, staggered pattern on the surface of the first adjustment lens 1201. The position of the transmissive film layer corresponds to the optical path position of the laser emitted by the first row of LED beads 1101a, and the position of the reflective film layer corresponds to the optical path position of the laser emitted by the second row of LED beads 1101b.

[0060] Both the first adjusting lens 1201 and the second adjusting lens 1202 are tilted toward the position of the first adjusting lens 1201. Therefore, the light beam of the second row of LED beads 1101b can be reflected back onto the first adjusting lens 1201.

[0061] The beam emitted by the second row of LED beads 1101b is reflected to the position of the first adjustment lens 1201, and the beam emitted by the first row of LED beads 1101a is transmitted through the first adjustment lens 1201. The transmission point of the beam is arranged in the same column along the Y direction. This allows the beams emitted by the two rows of LED beads 1101 to be emitted from the same column position. When scanning the target object 30, the laser spots 1101' emitted by the two rows of LED beads 1101 are located in the same column cell 300 on the target object 30. The scanning detection results will not be misaligned, which is beneficial for the lidar to obtain target information more accurately.

[0062] Furthermore, the tilt angle of the first adjustment lens 1201 and the tilt angle of the second adjustment lens 1202 relative to the substrate 100 are both 45°. The height of the reflection point of the light beam emitted from the second row of lamp beads 1101b on the second adjustment lens 1202 is the same as the height of the transmission point of the light beam emitted from the first row of lamp beads 1101a after passing through the first adjustment lens 1201.

[0063] When the tilt angles of the first adjusting lens 1201 and the second adjusting lens 1202 are both set to 45°, the second adjusting lens 1202 enables the reflected beam of the second row of LED beads 1101b to be transmitted in the horizontal direction. At this time, as long as the height of the reflection point of the beam emitted by the second row of LED beads 1101b on the second adjusting lens 1202 and the height of the transmission point of the beam emitted by the first row of LED beads 1101a after passing through the first adjusting lens 1201 are set to the same height, the position of the beam emitted by the second row of LED beads 1101b reflected to the first adjusting lens 1201 and the position of the transmission point of the beam emitted by the first row of LED beads 1101a after passing through the first adjusting lens 1201 will be arranged in the same column along the Y direction. This makes it convenient to set the first adjusting lens 1201 and the second adjusting lens 1202 on the substrate 100, and the reflected beam will not deviate from the original height. The distance of each lens can be freely adjusted.

[0064] In this embodiment of the invention, the first adjustment lens 1201 and the second adjustment lens 1202 are respectively disposed above the first row of LED beads 1101a and the second row of LED beads 1101b. Through the double reflection of the second row of LED beads 1101b by the second adjustment lens 1202 and the first adjustment lens 1201, and through the transmission effect of the first adjustment lens 1201 on the first row of LED beads 1101a, the light beams of the first row of LED beads 1101a and the second row of LED beads 1101b are arranged in a staggered pattern in the Y direction.

[0065] like Figure 8 As shown, Figure 8 This is a schematic diagram of the lidar light source 10 of this application scanning and detecting the target object 30. The projected light spots 1101a' and 1101b' of the first column of LED beads 1101a and the second column of LED beads 1101b are arranged alternately along the Y direction on the cell 300 of the target object 30. After such beam shaping processing, not only can the scanning resolution of the lidar system be improved, but it can also avoid the problem that the scanning detection results of different columns of LED beads 1101 on the target object 30 are misaligned, which would lead to the distortion of the detection results after the laser returns to the lidar receiving module, and the decrease in the restoration of the true situation of the target object 30.

[0066] Furthermore, the staggered array of LED beads 1101 can be arranged not only in two columns, but also in three, four, or even more columns. The light path of each column of LED beads 1101 can be controlled by adding corresponding lenses, so that the projections of each column of LED beads 1101 can be staggered into a single column on the target object 30.

[0067] Please see Figure 9 , Figure 9 This is a front view of the lidar light source when there are three rows of LED beads 1101. The LED beads 1101 include a first row of LED beads 1101a, a second row of LED beads 1101b, and a third row of LED beads 1101c with the same light emission direction. The adjustment lenses include a first adjustment lens 1201, a second adjustment lens 1202, and a third adjustment lens 1203. The first adjustment lens 1201, the second adjustment lens 1202, and the third adjustment lens 1203 have the same tilt angle and are all tilted towards the location of the first adjustment lens 1201. The first adjustment lens 1201 is a semi-transparent, semi-reflective lens and is positioned in the light emission direction of the first row of LED beads 1101a. The second adjustment lens 1201... The first adjustment lens 1202 is a semi-transparent and semi-reflective lens and is positioned in the light-emitting direction of the second row of LED beads 1101b. The third adjustment lens 1203 is a reflector and is positioned in the light-emitting direction of the third row of LED beads 1101c. The light beam emitted from the second row of LED beads 1101b is reflected to the position of the first adjustment lens 1201, the light beam emitted from the third row of LED beads 1101c is reflected to the position of the first adjustment lens 1201, and the position of the transmission point of the light beam emitted from the first row of LED beads 1101a after passing through the first adjustment lens 1201 will all be arranged in the same column along the Y direction.

[0068] In this method, the second adjustment lens 1202, located in the middle, is a semi-transparent and semi-reflective lens, which reflects the light beam emitted from the second row of LED beads 1101b and transmits the light beam reflected from the third adjustment lens 1203. The working principle of this semi-transparent and semi-reflective effect is explained as follows: the semi-transparent and semi-reflective lens transmits the laser emitted from the third row of LED beads 1101c and reflects the laser emitted from the second row of LED beads 1101b. Specifically, if the wavelengths of the lasers emitted by the second row of LED beads 1101b and the third row of LED beads 1101c are different, the semi-transparent and semi-reflective lens can be made so that its entire surface transmits the laser emitted from the third row of LED beads 1101c and reflects the laser emitted from the second row of LED beads 1101b. This can be achieved by attaching and sputtering corresponding optical films onto the second adjustment lens 1202, resulting in lower manufacturing costs and lower implementation difficulty. However, the lasers emitted by the second row of LED beads 1101b and the third row of LED beads 1101c usually have the same wavelength. Since the second row of LED beads 1101b and the third row of LED beads 1101c are arranged in the same column along the Y direction after the optical path is adjusted, they are not in the same specific coordinate position along the Y direction. Therefore, through precise calculation, the position through which the laser emitted by the third row of LED beads 1101c on the second adjustment lens 1202 passes can be designed to transmit the laser. Similarly, the position reached by the laser emitted by the second row of LED beads 1101b on the second adjustment lens 1202 can be designed to reflect the laser. Specifically, the semi-transparent and semi-reflective effect can be achieved by providing a transmissive film and a reflective film layer arranged in a strip-like, staggered pattern on the surface of the second adjustment lens 1202, or by providing a transmissive film layer and a reflective film layer arranged in a matrix of small cells arranged in a staggered pattern on the surface of the second adjustment lens 1202. The position of the transmissive film layer corresponds to the optical path position of the laser emitted by the third row of LED beads 1101c, and the position of the reflective film layer corresponds to the optical path position of the laser emitted by the second row of LED beads 1101b. For the first adjustment lens 1201, a reflective film layer for the laser emitted by the third row of LED beads 1101c can be added based on the above two-row LED bead embodiment.

[0069] In addition, to prevent the light beam from exiting above the second adjustment lens 1202, a light-blocking plate is provided above the second adjustment lens 1202. The light-blocking plate prevents the light beam of the second row of LED beads 1101b from being transmitted through the second adjustment lens 1202 and affecting the accuracy of radar detection.

[0070] Furthermore, the tilt angles of the first adjustment lens 1201, the second adjustment lens 1202, and the third adjustment lens 1203 relative to the substrate 100 are all 45°. The height of the reflection point of the light beam emitted from the second row of lamp beads 1101b on the second adjustment lens 1202 is the same as the height of the transmission point of the light beam emitted from the first row of lamp beads 1101a after passing through the first adjustment lens 1201. The height of the third adjustment lens 1203 is the same as the height of the second adjustment lens 1202.

[0071] The beam path adjustment for the first row of LED beads 1101a and the second row of LED beads 1101b is the same as in the previous embodiment, and will not be repeated here. The third row of LED beads 1101c is reflected, transmitted, and reflected by the third adjustment lens 1203, the second adjustment lens 1202, and the first adjustment lens 1201, respectively, so that the beams of the first row of LED beads 1101a, the second row of LED beads 1101b, and the third row of LED beads 1101c are arranged in a staggered beam pattern in the Y direction and emitted at the same angle.

[0072] In this embodiment of the invention, the light emitted by the three rows of LED beads 1101 can be reflected or transmitted to the first adjustment lens 1201 and emitted at the same angle, which further improves the directional consistency and energy concentration of the emitted light from the light source, and meets the requirements of lidar for light source performance in more complex application scenarios.

[0073] Furthermore, for a larger number of LED beads 1101, a similar approach to that described in the above embodiments can be used to adjust the optical path by adding lenses accordingly.

[0074] like Figure 10 As shown, for a larger number of LED beads 1101, multiple rows of light-emitting modules 110 can be configured. The LED beads 1101 on a single light-emitting module 110 can also be arranged in a staggered pattern. That is, the staggered rows of LED beads 1101 can be on different light-emitting modules 110 or on the same light-emitting module 110. The optical path control processing for this staggered arrangement of LED beads 1101 is the same as the optical path control processing between the light-emitting modules 110 described above, and will not be repeated here.

[0075] In some embodiments, after the LED beads 1101 from different columns are projected onto the same column along the X direction (i.e., perpendicular to the column length), the LED beads 1101 are staggered along the column length, and the spacing between adjacent LED beads 1101 may be equal or unequal. Correspondingly, the spacing between the light spots projected by different LED beads 1101 onto the target object 30 may be equal or unequal.

[0076] In the preferred embodiment, after the LED beads 1101 in different columns are translated to the same position along the direction perpendicular to the column length, the spacing between adjacent LED beads 1101 is equal. At this time, the spacing between adjacent light spots is equal, and under normal circumstances, the point cloud information obtained by scanning will be more uniform and consistent, which helps to improve the accuracy of radar detection.

[0077] In some embodiments, the lidar light source further includes a driving module 200, which is disposed on the substrate 100, and the LEDs 1101 in different columns are connected to the driving module 200 through corresponding leads 1102.

[0078] Specifically, the driving module 200 includes a control chip and a corresponding control circuit, which controls the light-emitting state of each LED bead 1101.

[0079] Each light-emitting module 110 can be connected to a driver module 200 independently, which can reduce the line length of the lead wire 1102 and save the space occupied by the lead wire 1102.

[0080] Multiple light-emitting modules 110 can also share a single driver module 200, which can reduce the overall production cost of the product.

[0081] According to an embodiment of the present invention, a lidar system is also provided, including a lidar light source 10 as described in the above embodiment.

[0082] like Figure 11 As shown, the lidar system also includes a galvanometer 20, a laser receiving sensor 40, and an image processor. The galvanometer 20 is located at the beam emission end of the lidar light source 10 and is used to scan the emitted beam along a single or dual line and then illuminate the target object 30. The laser receiving sensor 40 generates an electrical signal based on the beam reflected back from the target object 30 and sends the electrical signal to the image processor. The image processor generates image information based on the electrical signal.

[0083] Among them, lidar systems can be used in scenarios such as autonomous driving, intelligent robots, and surveying.

[0084] The galvanometer 20 is a rapidly oscillating mirror, typically manufactured using microelectromechanical systems (MEMS) technology. It alters the propagation direction of the emitted light beam by applying an alternating voltage to the mirror surface, causing it to oscillate periodically. In a lidar system, the galvanometer 20 is positioned at the beam emission end of the lidar light source 10, scanning the emitted beam along a single or dual-path path before illuminating the target object 30. By rapidly changing the beam's propagation direction, the galvanometer 20 enables the lidar system to scan a large target area in a short time, thereby acquiring rich environmental information.

[0085] The laser receiving sensor 40 generates an electrical signal based on the light beam reflected back from the target object 30. For example, in an autonomous driving scenario, when the laser beam emitted by the lidar light source 10 illuminates the target object 30 such as a vehicle or pedestrian in front and reflects back, the laser receiving sensor 40 receives these reflected beams and converts them into electrical signals, providing raw data for subsequent image processing and target recognition.

[0086] The image processor is the core processing component of the LiDAR system. It receives electrical signals from the laser receiving sensor 40 and converts these electrical signals into image information through a series of algorithms and calculations.

[0087] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A lidar light source, characterized by, The application relates to a light-emitting module, comprising: a substrate; a light-emitting module arranged on the substrate, the light-emitting module comprising a plurality of columns of light-emitting beads, the light-emitting beads in different columns being arranged in a staggered manner along the column length direction; a light path adjusting module comprising a plurality of adjusting lenses, any one of the adjusting lenses being arranged in the light-emitting direction of a corresponding column of light-emitting beads and being arranged in a tilted manner relative to the light-emitting direction to reflect the light beams emitted by the light-emitting beads in different columns onto the same target column and being emitted from the position of the target column at the same angle; wherein, if the light-emitting beads comprise a first column of light-emitting beads and a second column of light-emitting beads having the same light-emitting direction, the adjusting lenses comprise a first adjusting lens and a second adjusting lens, the first adjusting lens and the second adjusting lens have the same tilt angle and are both tilted towards the position of the first adjusting lens, the first adjusting lens is a semi-transparent and semi-reflective lens and is arranged in the light-emitting direction of the first column of light-emitting beads, the second adjusting lens is a reflective mirror and is arranged in the light-emitting direction of the second column of light-emitting beads, the position where the light beams emitted by the second column of light-emitting beads are reflected and the position where the light beams emitted by the first column of light-emitting beads are transmitted after being transmitted through the first adjusting lens are arranged on the same column.

2. The lidar light source of claim 1, wherein, The tilt angle of the first adjusting lens and the tilt angle of the second adjusting lens relative to the substrate are both 45 degrees, and the height of the reflection point of the light beams emitted by the second column of light-emitting beads on the second adjusting lens and the height of the transmission point of the light beams emitted by the first column of light-emitting beads after being transmitted through the first adjusting lens are the same.

3. The lidar light source of claim 1, wherein, If the light-emitting beads comprise a first column of light-emitting beads, a second column of light-emitting beads and a third column of light-emitting beads having the same light-emitting direction, the adjusting lenses correspondingly comprise a first adjusting lens, a second adjusting lens and a third adjusting lens, the first adjusting lens, the second adjusting lens and the third adjusting lens have the same tilt angle and are all tilted towards the position of the first adjusting lens, the first adjusting lens is a semi-transparent and semi-reflective lens and is arranged in the light-emitting direction of the first column of light-emitting beads, the second adjusting lens is a semi-transparent and semi-reflective lens and is arranged in the light-emitting direction of the second column of light-emitting beads, the third adjusting lens is a reflective mirror and is arranged in the light-emitting direction of the third column of light-emitting beads, the position where the light beams emitted by the second column of light-emitting beads are reflected, the position where the light beams emitted by the third column of light-emitting beads are reflected and the position where the light beams emitted by the first column of light-emitting beads are transmitted after being transmitted through the first adjusting lens are arranged on the same column.

4. The lidar light source of claim 3, wherein, The tilt angle of the first adjusting lens, the tilt angle of the second adjusting lens and the tilt angle of the third adjusting lens relative to the substrate are all 45 degrees, the height of the reflection point of the light beams emitted by the second column of light-emitting beads on the second adjusting lens and the height of the transmission point of the light beams emitted by the first column of light-emitting beads after being transmitted through the first adjusting lens are the same, and the height of the third adjusting lens and the height of the second adjusting lens are the same.

5. The lidar light source of claim 3, wherein, A light-blocking plate is arranged above the second adjusting lens.

6. The lidar light source of claim 1, wherein, The lamp beads of different columns are moved to the same position along the direction of the vertical column length, and the intervals of adjacent lamp beads are equal.

7. The lidar light source of claim 1, wherein, The driving module is arranged on the substrate, and the lamp beads of different columns are connected through corresponding lead wires and the driving module.

8. A lidar system, comprising: The laser radar light source comprises the laser radar light source according to any one of claims 1 to 7.

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