Laser radar and mobile device

Abstract

The embodiment of the invention discloses a laser radar and a mobile device, the laser radar comprises a transmitting module and a receiving module, the transmitting module comprises a laser and a transmitting lens, the receiving module comprises a receiving group and a receiving lens, and the receiving group comprises a plurality of detectors distributed along a first direction. And all the detectors in the receiving group are used for receiving echo light formed by reflecting the emergent detection light of the same laser through a target object. Wherein W1 is greater than W2. According to the embodiment of the invention, the first light spot exceeds the detection surfaces of all detectors in the receiving group in the first direction, and the first light spot has an allowable offset margin in the first direction, so that the problem that the first light spot deviates in the first direction due to factors such as thermal expansion is solved; the light intensity difference problem received by the detection surfaces of the detectors in the group is received, the receiving light intensity of each channel is ensured, and the detection precision of each channel is improved.

Description

Technical Field

[0001] This application relates to the field of laser detection equipment technology, and in particular to a lidar and a mobile device. Background Technology

[0002] In fields such as intelligent transportation and autonomous driving, rapid and accurate perception of the surrounding environment of roads and autonomous vehicles is crucial. Typically, information on roads, vehicle positions, and obstacles obtained through LiDAR sensing is used to coordinate road signal control, improving the quality and efficiency of road management; and to control the decision-making of autonomous vehicles, adjusting safe distances between them to ensure safe and reliable operation on roads.

[0003] For LiDAR transceiver architectures with independent devices and short transmit / receive focal lengths, the one-to-one independent device configuration in related technologies can no longer meet the actual production or application requirements if small vertical angular spacing between channels or the realization of more channels are to be achieved. Summary of the Invention

[0004] This application provides a lidar and mobile device to address the problem that one-to-one independent device configurations in related technologies can no longer meet the needs of actual production or application.

[0005] In a first aspect, embodiments of this application provide a lidar, including a transmitting module and a receiving module. The transmitting module includes a laser and a transmitting lens. The laser emits detection light, and the transmitting lens is located on the light-emitting side of the laser. The receiving module includes a receiving group and a receiving lens. The receiving group includes at least two detectors distributed along a first direction. All detectors in the receiving group are used to receive the echo light formed by the reflection of the emitted detection light from the same laser by a target object. The receiving lens is located on the light-incident side of the receiving group. The lidar satisfies the following condition: W1 > W2. Wherein, W1 is the size of the first light spot along the first direction, in mm, and the first light spot is the light spot of the echo light corresponding to the laser incident on the receiving group corresponding to the laser; W2 is the distance between the first edge line and the second edge line along the first direction, in mm, and the first edge line and the second edge line are respectively the edge lines located at the edges along the first direction on the detection surfaces of all detectors in the receiving group.

[0006] Secondly, embodiments of this application provide a mobile device, including a device body and the aforementioned lidar, wherein the lidar is connected to the device body.

[0007] The lidar and mobile device of this application embodiment are configured such that all detectors in the receiving group receive the echo light formed by the reflection of the emitted probe light from the same laser by the target object. That is, one laser corresponds to multiple detectors in the receiving group. Compared to related technologies where one laser corresponds to one detector, this can compress the field-of-view spacing of the detectors in the first direction, increase the number of channels, and improve the resolution of the lidar. Furthermore, in this application embodiment, one laser corresponds to multiple detectors in the receiving group, compared to related technologies where multiple lasers correspond to multiple detectors, allowing for independent device driving, reducing the difficulty of laser hardware driving, and lowering manufacturing costs, etc.

[0008] By setting the above condition W1>W2, the first light spot can be made to extend beyond the detection surface of all detectors in the receiving group in the first direction. The first light spot has an allowable offset margin in the first direction, which improves the problem of light intensity difference received by the detection surfaces of each detector in the receiving group when the first light spot is offset in the first direction due to factors such as thermal expansion. This ensures the received light intensity of each channel and improves the detection accuracy of each channel. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 These are schematic diagrams of the structure of a lidar provided in some embodiments of this application;

[0011] Figure 2 yes Figure 1 A schematic diagram of a partial structure of the transmitting module in a lidar is shown;

[0012] Figure 3 yes Figure 1 A schematic diagram of a partial structure of the receiving module in a lidar is shown.

[0013] Figure 4 yes Figure 1 The diagram shown illustrates the structure of the first light spot and the receiving group in the lidar.

[0014] Figure 5 yes Figure 1 The diagram shows a schematic of the structure of a lidar when the first light spot shifts along the first direction on the receiving group;

[0015] Figure 6 yes Figure 1The diagram shows a schematic of the structure of a lidar when the first light spot is offset along the second direction on the receiving group;

[0016] Figure 7 This is a partial structural schematic diagram of a lidar provided in some other embodiments of this application;

[0017] Figure 8 This is a partial structural schematic diagram of a lidar provided in some embodiments of this application;

[0018] Figure 9 This is a partial structural schematic diagram of a lidar provided in some embodiments of this application;

[0019] Figure 10 These are schematic diagrams of the structure of a mobile device provided in some embodiments of this application.

[0020] Explanation of reference numerals in the attached figures:

[0021] 1. LiDAR; 2. Mobile device; 3. Main body of the device;

[0022] 10. Emitting module; 11. Laser; 111. Emitting surface; 12. Emitting lens;

[0023] 20. Receiver module; 20a. Receiver unit; 21. Receiver group; 211. Detector; 212. Receiver plate; 2111. Detector surface; 2112. First edge line; 2113. Second edge line; 22. Receiver lens. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0025] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0026] See Figures 1 to 3This application provides a lidar 1, which includes a transmitting module 10 and a receiving module 20. The transmitting module 10 includes a laser 11 and a transmitting lens 12. The laser 11 emits detection light, and the transmitting lens 12 is located on the light-emitting side of the laser 11. The receiving module 20 includes a receiving group 21 and a receiving lens 22. The receiving group 21 includes at least two detectors 211 distributed along a first direction x. All detectors 211 in the receiving group 21 are used to receive the echo light formed by the reflection of the emitted detection light from the laser 11 by a target object. The receiving lens 22 is located on the light-incident side of the receiving group 21. It is understood that the at least two detectors can be two, three, four, five, etc., and this application does not impose a specific limitation on this.

[0027] In the above-described receiving group 21, all detectors 211 receive the echo light formed by the reflection of the emitted detection light from the same laser 11 by the target object. That is, one laser 11 corresponds to multiple detectors 211 within the receiving group 21. Compared to the related technology where one laser corresponds to one detector, this reduces the field-of-view spacing of the detectors 211 in the first direction x, increases the number of channels, and improves the resolution of the lidar 1. Furthermore, in this embodiment, one laser 11 corresponds to multiple detectors 211 within the receiving group 21. Compared to the related technology where multiple lasers correspond to multiple detectors, this allows for the driving of a single independent device, reducing the difficulty of hardware driving the laser 11 and lowering manufacturing costs, etc.

[0028] Wherein, the first direction x can be a vertical direction. In this case, the receiving group 21 includes multiple detectors 211 distributed along the first direction x, which helps to increase the number of channels of the lidar 1 in the vertical direction and improve the resolution of the lidar 1 in the vertical direction. It is understood that the first direction x can also be a direction other than the vertical direction, for example, the first direction x can be a horizontal direction, etc., and there is no limitation on this.

[0029] See Figure 4 The lidar 1 satisfies the following condition: W1 > W2. Where W1 is the size of the first light spot a along the first direction x, in mm, and the first light spot a is the light spot of the echo light corresponding to the same laser 11 incident on the receiving group 21; W2 is the distance between the first edge line 2112 and the second edge line 2113 along the first direction x, in mm, and the first edge line 2112 and the second edge line 2113 are respectively the edge lines located at the edges along the first direction x of the detection surfaces 2111 of all detectors 211 within the receiving group 21. For example, Figure 4The diagram shows that when the receiving group 21 includes two detectors 211, the first edge line 2112 and the second edge line 2113 are mutually distant edge lines along the first direction x in the detection surfaces 2111 of the two detectors 211. The number of detectors 211 included in the receiving group 21 can be any number, such as two, three, four, five, etc., without limitation.

[0030] In the above conditional equation, W1 > W2, which enables the first light spot a to extend beyond the detection surfaces 2111 of all detectors 211 in the receiving group 21 in the first direction x. This ensures that the first light spot a has an allowable offset margin in the first direction x, and improves the problem of light intensity difference received by the detection surfaces 2111 of each detector 211 in the receiving group 21 when the first light spot a is offset in the first direction x due to factors such as thermal expansion. This guarantees the received light intensity of each channel and improves the detection accuracy of each channel.

[0031] Wherein, the size W1 of the first light spot a in the first direction x is equal to the size L of the light-emitting surface 111 of the laser 11 along the first direction x. Tx1 The effective focal length f of the transmitting lens 12 Tx And so on, by adjusting the dimension L of the emitting surface 111 of the laser 11 along the first direction x Tx1 The effective focal length f of the transmitting lens 12 Tx With proper design, the first light spot a can cover the detection surface 2111 of all detectors 211 in the receiving group 21 in the first direction x. This application embodiment does not limit this.

[0032] In some embodiments, the lidar 1 satisfies the following conditional equation two: L Tx1 =n*f Tx *θ1+Δθ1*f Tx Among them, L Tx1 f is the dimension of the emitting surface 111 of the laser 11 along the first direction x, in mm; n is the number of detectors 211 included in the receiving group 21, n≥2 and n is a positive integer; Tx θ1 is the effective focal length of the transmitting lens 12, in mm; θ1 is the field of view angular interval of the detection surface 2111 of the detector 211 along the first direction x, in radians; Δθ1 is the field of view angular tolerance between the laser 11 and the corresponding receiving group 21 along the first direction x, in radians.

[0033] In the above conditional formula two, based on the number n of detectors 211 included in the receiving group 21 and the effective focal length f of the transmitting lens 12... TxThe dimensions L of the emitting surface 111 of the laser 11 along the first direction x are designed based on the field-of-view angular spacing θ1 of the detector surface 2111 along the first direction x and the field-of-view angular tolerance Δθ1 between the laser 11 and the corresponding receiving group 21 along the first direction x. Tx1 This allows the first light spot a to extend beyond the detection surfaces 2111 of all detectors 211 within the receiving group 21 in the first direction x, thus ensuring that the first light spot a has an allowable offset margin in the first direction x. This improves the problem of light intensity differences received by the detection surfaces 2111 of each detector 211 within the receiving group 21 when the first light spot a shifts in the first direction x due to factors such as thermal expansion, ensuring the received light intensity of each channel and improving the detection accuracy of each channel.

[0034] Furthermore, see Figure 5 The above condition Equation 2 can satisfy the following: when the first light spot a shifts in the first direction x due to factors such as thermal expansion, the first light spot a still covers the detection surface 2111 of all detectors 211 in the receiving group 21 in the first direction x. That is, the first light spot a will not shift out of or into any detection surface 2111 in the first direction x, thus ensuring the received light intensity of each channel and improving the detection accuracy of each channel.

[0035] Combining the above conditional equation two, given n and f Tx When θ1 and Δθ1 are given, the dimension L of the emitting surface 111 of the laser 11 along the first direction x can be obtained. Tx1 To achieve the dimension L of the emitting surface 111 of the laser 11 along the first direction x Tx1 The design.

[0036] The field-view angle tolerance Δθ1 of the laser 11 and the corresponding receiving group 21 along the first direction x can be related to factors such as the manufacturing tolerance of the transmitting lens 12 and the receiving lens 22, the assembly tolerance of the transmitting module 10 and the receiving module 20, and the optical pointing offset under extremely high and low temperature conditions. During the design process, it can be flexibly selected based on actual needs. For example, the lidar 1 satisfies the following condition (Equation 3): Δθ1 ≥ π / 2250, where π / 2250 corresponds to 0.08° in the angle system. By reasonably limiting the field-view angle tolerance Δθ1 of the laser 11 and the corresponding receiving group 21 along the first direction x, sufficient allowable offset margin for the first light spot a in the first direction x can be achieved. This better addresses the issue of light intensity differences received by the detection surfaces 2111 of each detector 211 within the receiving group 21 when the first light spot a shifts in the first direction x due to factors such as thermal expansion. Optionally, the value of Δθ1 can correspond to angles such as 0.08°, 0.09°, 0.10°, 0.11°, 0.12°, etc., and there is no limitation on this.

[0037] In some embodiments, see again Figure 4 The lidar 1 satisfies the following condition (Equation 4): L1 < L Rx2 Where L1 is the size of the first light spot a along the second direction y, in mm; L Rx2 Let be the dimension of the detection surface 2111 of detector 211 along the second direction y, in mm. The above conditional equation four allows the first light spot a to not completely cover the detection surfaces 2111 of each detector 211 within the receiving group 21 in the second direction y. This ensures that the first light spot a has an allowable offset margin in the second direction y, mitigating the problem of reduced light intensity received by the detection surfaces 2111 of each detector 211 when the first light spot a shifts in the second direction y due to factors such as thermal expansion. This guarantees the received light intensity of each channel and improves the detection accuracy of each channel.

[0038] Wherein, the first direction x can be either a vertical or horizontal direction, and the second direction y can be either a vertical or horizontal direction. If the first direction x is vertical, then the second direction y is horizontal. If the first direction x is horizontal, then the second direction y is vertical. In the embodiments of this application, if the first direction x is vertical, then the second direction y is horizontal.

[0039] In some embodiments, the lidar 1 satisfies the following condition: L Rx2 =L Tx2 *f Rx / f Tx +walkoff2+Δθ2*f Rx Among them, L Rx2 L represents the dimension of the detection surface 2111 of detector 211 along the second direction y, in mm. Tx2 f is the dimension of the emitting surface 111 of the laser 11 along the second direction y, in mm; Rx The effective focal length of the receiving lens 22, in mm; f Tx Δθ2 is the effective focal length of the transmitting lens 12, in mm; walkoff2 is the offset of the first spot a along the second direction y, in mm; Δθ2 is the field of view angular tolerance of the laser 11 and the corresponding receiving group 21 along the second direction y, in radians.

[0040] In the above conditional equation five, based on the dimension L of the detection surface 2111 of the detector 211 along the second direction y... Rx2 The effective focal length f of the receiving lens 22 Rx The effective focal length f of the transmitting lens 12 Tx The dimensions L of the detector surface 2111 along the second direction y are designed based on the offset of the first light spot a along the second direction y (walkoff2) and the field-of-view angular tolerance Δθ2 between the laser 11 and the corresponding receiver group 21 along the second direction y.Rx2 This allows the first light spot a to not completely cover the detection surfaces 2111 of each detector 211 in the receiving group 21 in the second direction y, thus ensuring that the first light spot a has an allowable offset margin in the second direction y. This improves the problem of reduced light intensity received by the detection surfaces 2111 of each detector 211 in the receiving group 21 when the first light spot a is offset in the second direction y due to factors such as thermal expansion, ensuring the received light intensity of each channel and improving the detection accuracy of each channel.

[0041] Furthermore, see Figure 6 The above condition Equation 5 can satisfy the following: when the first light spot a shifts in the second direction y due to factors such as thermal expansion, the first light spot a is still within the detection surface 2111 of each detector 211 in the receiving group 21 in the second direction y. That is, the first light spot a will not shift out of any detection surface 2111 in the second direction y, thus ensuring the received light intensity of each channel and improving the detection accuracy of each channel.

[0042] Combining the above conditional equation five, given L Rx2 f Rx f Tx When walkoff2 and Δθ2 are reached, the dimension L of the detector surface 2111 along the second direction y can be obtained. Rx2 This achieves the measurement of the detection surface 2111 of detector 211 along the second direction y by the dimension L. Rx2 The design.

[0043] The field-view angle tolerance Δθ2 of the laser 11 and the corresponding receiving group 21 along the second direction y can be related to factors such as the manufacturing tolerance of the transmitting lens 12 and the receiving lens 22, the assembly tolerance of the transmitting module 10 and the receiving module 20, and the optical pointing offset under extremely high and low temperature conditions. During the design process, it can be flexibly selected based on actual needs. For example, the lidar 1 satisfies the following condition: Δθ2 ≥ π / 2250, where π / 2250 corresponds to 0.08° in the angle system. By reasonably limiting the field-view angle tolerance Δθ2 of the laser 11 and the corresponding receiving group 21 along the second direction y, sufficient allowable offset margin can be achieved for the detection surface 2111 in the second direction y. This better addresses the problem of reduced light intensity received by the detection surfaces 2111 of each detector 211 within the receiving group 21 when the first light spot a shifts in the second direction y due to factors such as thermal expansion. Optionally, the value of Δθ2 can correspond to angles such as 0.08°, 0.09°, 0.10°, 0.11°, 0.12°, etc., and there is no limitation on this.

[0044] Here, walkoff2 is caused by the walk-off effect. Specifically, if the lidar 1 includes a scanning module (not shown in the figure), and the scanning module is located downstream of the transmitting module 10 along the transmission direction of the probe light and upstream of the receiving module 20 along the transmission direction of the echo light, during the operation of the lidar 1, the scanning module will move (e.g., rotate), causing the transmission paths of the probe light and the echo light to no longer be consistent before and after passing through the scanning module. The echo light is deflected, that is, a walk-off effect occurs. If there is no walk-off effect in the lidar 1, the value of walkoff2 in the above conditional equation 5 can be 0.

[0045] In some embodiments, the lidar 1 satisfies the following conditional equation seven: L Rx1 =f Rx *θ1. Where, L Rx1 f is the dimension of the detection surface 2111 of detector 211 along the first direction x, in mm; Rx The effective focal length of the receiving lens 22 is in mm; θ1 is the field-of-view angular spacing of the detection surface 2111 of the detector 211 along the first direction x, θ1 is in radians. In the above conditional equation seven, the dimension L of the detection surface 2111 of the detector 211 along the first direction x is... Rx1 Design according to the period of the required field of view interval along the first direction x.

[0046] In some embodiments, the lidar 1 satisfies the following conditional equation: f Tx / f Rx ≥0.4. Where, f Tx f is the effective focal length of the transmitting lens 12, in mm; Rx The effective focal length of the receiving lens 22 is in mm. Equation seven above allows us to achieve the effective focal length f of the transmitting lens 12. Tx Compared to the effective focal length f of the receiving lens 22 Rx It won't be too small, which facilitates the cabling of the independent laser 11 and improves product manufacturability. Optionally, f Tx / f Rx The value can be 0.4, 0.6, 0.7, 1.0, 1.2, etc., and there is no limitation on it.

[0047] In some embodiments, the receiving group 21 further includes a receiving board 212, on which all detectors 211 are mounted and electrically connected. Since all detectors 211 in the receiving group 21 receive the echo light formed by the reflection of the emitted probe light from the same laser 11 by the target object, the receiving board 212 can control all detectors 211 in the receiving group 21 to receive the echo light when the laser 11 is lit, reducing hardware driving difficulties, reducing manufacturing costs, etc.

[0048] The aforementioned receiving module 20 may include one receiving group 21 or multiple receiving groups 21. The number of lasers 11 included in the transmitting module 10 may be equal to the number of receiving groups 21 included in the receiving module 20, and the two are configured in a one-to-one correspondence. The receiving module 20 including multiple receiving groups 21 is beneficial for improving the detection field of view of the lidar 1.

[0049] In some embodiments, the receiver module 20 includes a plurality of receiver groups 21 arranged along a first direction x and / or a second direction y. For example, see [reference needed]. Figure 7 The receiving module 20 includes multiple receiving groups 21 arranged along a first direction x to improve the detection field of view of the lidar 1 along the first direction x. Alternatively, the receiving module 20 may include multiple receiving groups 21 arranged along a second direction y to improve the detection field of view of the lidar 1 along the second direction y. Furthermore, the receiving module 20 may include multiple receiving groups 21 arranged along both the first direction x and the second direction y to improve the detection field of view of the lidar 1 along both directions.

[0050] In other embodiments, see Figure 8 and Figure 9 The receiving module 20 includes multiple receiving groups 21, which can be divided into multiple receiving units 20a arranged along the second direction y. Each receiving unit 20a includes multiple receiving groups 21 arranged along the first direction x. In two adjacent receiving units 20a, the receiving groups 21 in one receiving unit 20a are alternately arranged with the receiving groups 21 in the other receiving unit 20a along the first direction x. By staggering the multiple receiving groups 21 in the first direction x, the field of view interval of the detector 211 along the first direction x can be further compressed, so that more channels can be set in the first direction x under the same size, thereby improving the resolution of the lidar 1 in the first direction x.

[0051] See Figures 7 to 9 Within the receiving module 20, the spacing between the detection surfaces 2111 of every two adjacent detectors 211 along the first direction x is equal. For example, Figure 7In the same receiving group 21, the distance between the detection surfaces 2111 of two adjacent detectors 211 along the first direction x is h1, and the distance between the detection surfaces 2111 of two adjacent detectors 211 that are close to each other along the first direction x is h2, where h1 = h2. For example, Figure 9 In this context, the distance between the detection surfaces 2111 of two adjacent detectors 211 along the first direction x within the same receiving group 21 is h1. Two adjacent receiving groups 21 along the first direction x are two receiving groups 21 that are close to each other within two adjacent receiving units 20a along the second direction y. The distance between the detection surfaces 2111 of two detectors 211 that are close to each other within these two receiving groups 21 is h2, where h1 = h2. For example, Figure 9 The detection surface 2111 of the second detector 211 of the first receiving group 21 in the receiving unit 20a on the left and the detection surface 2111 of the first detector 211 of the first receiving group 21 in the receiving unit 20a on the right are the detection surfaces 2111 of two adjacent detectors 211 along the first direction x, and the distance between the two detection surfaces 2111 is h2.

[0052] Based on the above analysis, the lidar 1 of this application embodiment can achieve more channels and smaller vertical field of view spacing by fixing a small transmit and receive focal length and using independent driving devices, thereby improving the problems of actual optomechanical device tolerance, optical assembly tolerance, and transmit and receive spot pointing offset caused by thermal expansion at extreme high and low temperatures.

[0053] It should be noted that the lidar 1 in this application embodiment is applicable to both coaxial and non-coaxial transceiver systems, and is not limited thereto.

[0054] See Figure 10 This application also provides a mobile device 2, which includes a device body 3 and the aforementioned lidar 1, with the lidar 1 connected to the device body 3. In this application embodiment, the mobile device 2 is a car; of course, in other embodiments of this application, the mobile device 2 can also be any mobile tool equipped with the aforementioned lidar 1, such as an electric vehicle, a drone, a robot, etc.

[0055] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" means at least two, for example, two, three, four, etc. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0056] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A laser radar (1), characterized in that Comprise: a transmitting module (10) comprising a laser (11) for emitting probe light and a transmitting lens (12) located on the light-emitting side of the laser (11); a receiving module (20) comprising a receiving group (21) comprising at least two detectors (211) distributed along a first direction (x) and a receiving lens (22) located on the light-incident side of the receiving group (21), wherein all the detectors (211) in the receiving group (21) are used to receive echo light formed by reflection of the emitted probe light of the same laser (11) on a target object, and the receiving lens (22) is located on the light-incident side of the receiving group (21); wherein the laser radar (1) satisfies the following conditional expression: W1>W2 wherein W1 is the size of a first light spot (a) along the first direction (x), with the unit of mm, the first light spot (a) being the light spot of the echo light corresponding to the laser (11) incident on the receiving group (21) corresponding to the laser (11); W2 is the distance between a first edge line (2112) and a second edge line (2113) along the first direction (x), with the unit of mm, the first edge line (2112) and the second edge line (2113) being the edge lines of the detection surface (2111) of all the detectors (211) in the receiving group (21) located on the edge along the first direction (x).

2. The lidar (1) as claimed in claim 1, characterized in that The laser radar (1) satisfies the following conditional expression: L Tx1 = n * f Tx * θ1+ Δθ1* f Tx wherein, L Tx1 is a size of a light emitting surface (111) of the laser (11) along the first direction (x) in mm; n is a number of the detectors (211) included in the receiving group (21), n≥2 and n is a positive integer; f Tx is an effective focal length of the transmitting lens (12) in mm; θ1 is a field angle interval of a detection surface (2111) of the detector (211) along the first direction (x), θ1 is in radian; Δθ1 is a field angle tolerance of the laser (11) and the corresponding receiving group (21) along the first direction (x), Δθ1 is in radian.

3. The lidar (1) as claimed in claim 2, characterized in that The laser radar (1) satisfies the following conditional expression: Δθ1≥π / 2250.

4. The lidar (1) as claimed in claim 1, characterized in that The laser radar (1) satisfies the following conditional expression: L1 < L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L Rx2 L1 is a size of the first light spot (a) along a second direction (y) in mm; L < 5. The lidar (1) as claimed in claim 1, characterized in that The laser radar (1) satisfies the following conditional expression: L Rx2 = L Tx2 * f Rx / f Tx + walkoff2 + Δθ2 * f Rx wherein L Rx2 is a size of a detection surface (2111) of the detector (211) along a second direction (y), unit: mm, the first direction (x) is one of a vertical direction or a horizontal direction, and the second direction (y) is the other of the vertical direction or the horizontal direction; L Tx2 is a size of a light emitting surface (111) of the laser (11) along the second direction (y), unit: mm; f Rx is an effective focal length of the receiving lens (22), unit: mm; f Tx is an effective focal length of the transmitting lens (12), unit: mm; walkoff2 is an offset of the first light spot (a) along the second direction (y), unit: mm; Δθ2 is a field angle tolerance of the laser (11) and the corresponding receiving group (21) along the second direction (y), Δθ2 is in radian.

6. The lidar (1) as claimed in claim 1, characterized in that The laser radar (1) satisfies the following conditional expression: L Rx1 = f Rx *θ1 wherein L Rx1 is a size of a detection surface (2111) of the detector (211) along the first direction (x) in mm; f Rx is an effective focal length of the receiving lens (22) in mm; and θ1 is an angle interval of a field of view of the detection surface (2111) of the detector (211) along the first direction (x) in radian.

7. The lidar (1) as claimed in claim 1, characterized in that The laser radar (1) satisfies the following conditional expression: f Tx / f Rx ≥0.4 wherein f Tx is the effective focal length of the transmitting lens (12) in mm; f Rx is the effective focal length of the receiving lens (22) in mm.

8. The lidar (1) as claimed in claim 1, characterized in that The first direction (x) is a vertical direction; And / or, the receiving group (21) further comprises a receiving board (212), and all the detectors (211) in the receiving group (21) are mounted on and electrically connected to the receiving board (212).

9. The laser radar (1) according to claim 1, wherein: the receiving module (20) comprises a plurality of receiving groups (21) arranged along the first direction (x) and / or a second direction (y), the first direction (x) being one of a vertical direction or a horizontal direction, and the second direction (y) being the other of a vertical direction or a horizontal direction; the transmitting module (10) comprises a plurality of lasers (11), and the lasers (11) are one-to-one correspondingly arranged with the receiving groups (21).

10. The lidar (1) as claimed in claim 1, characterized in that the receiving module (20) comprises a plurality of receiving units (20a) arranged along a second direction (y), each receiving unit (20a) comprising a plurality of receiving groups (21) arranged along the first direction (x), the first direction (x) being one of a vertical direction or a horizontal direction, and the second direction (y) being the other of a vertical direction or a horizontal direction; The receiving groups (21) in one of the two adjacent groups of the receiving units (20a) and the receiving groups (21) in the other group of the receiving units (20a) are arranged alternately along the first direction (x).

11. The lidar (1) according to one of the claims claim 1 to 10, characterized in that In the receiving module (20), the distance between the detection surfaces (2111) of every two adjacent detectors (211) along the first direction (x) is equal.

12. A mobile device (2), characterized by The device main body (3) and the laser radar (1) according to any one of claims 1 to 11 are connected.

Images