Transmitting assembly, laser radar, terminal and vehicle

Abstract

The utility model discloses a transmitting assembly, a laser radar, a terminal and a vehicle, which can transmit light beams with different transmitting field angles, support the laser radar to dynamically switch the transmitting field angles, and meet the requirements of traffic control, especially intelligent driving. The transmitting assembly comprises a laser array and a transmitting optical system; the laser array comprises at least two transmitting channels, and the transmitting channels are used for transmitting light beams; the emission optical system is located on the light emitting side of the laser array and used for adjusting light beams emitted by different emission channels in the laser array into light beams with different emission field angles. Since the emission optical system can adjust the light beams emitted by different emission channels in the laser array into the light beams with different emission field angles, the emission assembly can support emission of the light beams with various different emission field angles, and when the emission assembly is applied to the laser radar, the laser radar can switch different emission field angles, and the laser radar can be used in the laser radar. Therefore, the requirements of traffic control, especially intelligent driving, are met.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to transmitting components, laser radars, terminals and vehicles for traffic control. Background Art

[0002] Compared with traditional technologies such as millimeter-wave radar and ultrasonic radar, lidar has a shorter operating band and can greatly improve detection resolution, detection distance and other performance. Applying lidar to vehicles will help improve the intelligent driving experience.

[0003] In the prior art, the laser radar has a fixed emission field of view (for example, generally 120 degrees), and cannot switch between different emission field of view angles for environmental perception, which cannot meet the needs of intelligent driving. Utility Model Content

[0004] The present application provides a transmitting component, a laser radar, a terminal and a vehicle, which can transmit light beams with different transmitting field of view angles and support the laser radar to switch between different transmitting field of view angles to meet the needs of traffic control, especially intelligent driving.

[0005] In a first aspect, an emission component is provided, including a laser array and an emission optical system; the laser array includes at least two emission channels, and the emission channels are used to emit light beams; the emission optical system is located on the light output side of the laser array, and the emission optical system is used to adjust the light beams emitted by different emission channels in the laser array into light beams with different emission field angles.

[0006] In the transmitting assembly provided in the embodiment of the present application, the transmitting optical system can adjust the light beams emitted by different transmitting channels in the laser array into light beams with different transmitting field angles, so that the transmitting assembly can support the transmission of light beams at a variety of different transmitting field angles. When the transmitting assembly is applied to a laser radar, the laser radar can switch between different transmitting field angles to meet the needs of traffic control, especially intelligent driving.

[0007] In one possible design, the emitting optical system may include a first lens module, located on the light-emitting side of the laser array, for deflecting the passing light beam along a first direction; wherein, after the light beams of different channels in the laser array pass through the first lens module, the angle ranges of deflection along the first direction are different, and the first direction is perpendicular to a third direction, which is the light-emitting direction of the first lens module.

[0008] The above design method, based on the first lens module, deflects the light beams emitted from different channels into different angle ranges along the first direction, so that the light beams emitted from different emission channels form different emission field angles in the first direction, which is simple and easy to implement.

[0009] In one possible design, the first lens module may specifically include: a first cylindrical lens array, located on the light-emitting side of the laser array, the first cylindrical lens array including a plurality of cylindrical lenses arranged along a first direction, the cylindrical direction of each of the plurality of cylindrical lenses being parallel to a second direction, each of the plurality of cylindrical lenses being used to expand the divergence angle of a passing light beam along the first direction, the second direction being perpendicular to a third direction and the first direction; and at least one prism, located on the light-emitting side of the first cylindrical lens array, being used to deflect the passing light beam along the first direction.

[0010] In a possible example, at least one prism is a prism; after light beams from different channels in the laser array pass through the first cylindrical lens array, they are projected onto different positions of the prism along the first direction.

[0011] In another possible example, at least one prism is a plurality of prisms, and the plurality of prisms are arranged along a first direction; the plurality of prisms satisfy the following conditions: at least one of shape, posture, and size is different; and after light beams from different channels in the laser array pass through the first cylindrical lens array, they are projected onto different prisms of the plurality of prisms along the first direction.

[0012] In the above design, the light beam is deflected along the first direction based on the prism, which is simple, easy to implement and low-cost; and before the light beam is incident on the prism, it will first pass through the first cylindrical lens array, so that the light beam obtains a smaller divergence angle before entering the prism, which helps the light beam obtain a larger field of view angle after being deflected by the prism.

[0013] In a possible design, the first cylindrical lens array and at least one prism may be separated, for example, the distance between the at least one prism and the light exit surface of the first cylindrical lens array is less than a first threshold.

[0014] In another possible design, the first cylindrical lens array is integrated with at least one prism, for example, at least one prism is close to the light exit surface of the first cylindrical lens array, or the first cylindrical lens array and at least one prism are different parts of the same optical element.

[0015] In one possible design, the emitting optical system may further include a second lens module, located between the laser array and the first lens module, and used to: collimate the passing light beam along a first direction, so that the field angle of the collimated light beam along the first direction is a first angle; and collimate the passing light beam along a second direction, so that the light beams at different positions along the second direction are collimated to form at least one field angle along the second direction; wherein the second direction is perpendicular to the third direction and the first direction.

[0016] This design method uses the second lens module to collimate the light beam emitted by the laser array in the first direction and the second direction, so that the incident light beam on the first lens module can be a collimated light beam, which better ensures the emission effect of the light beam after passing through the first lens module and reduces the requirements for the laser array.

[0017] In one possible design, the second lens module may specifically include: a second cylindrical lens array, located on the light-emitting side of the laser array, the second cylindrical lens array including at least two cylindrical lenses arranged along a first direction, the cylindrical direction of each of the at least two cylindrical lenses being parallel to the second direction, and each of the at least two cylindrical lenses being used to collimate the passing light beam along the first direction; a first cylindrical lens, located on the light-emitting side of the second cylindrical lens array, the cylindrical direction of the first cylindrical lens being parallel to the first direction, and the first cylindrical lens being used to collimate the passing light beam along the second direction.

[0018] This design method, by providing two groups of lenses (i.e., a first cylindrical lens array and a first cylindrical lens) to collimate the light beam in a first direction and a second direction respectively, is simple and easy to implement.

[0019] In one possible design, the cylindrical lenses in the second cylindrical lens array correspond one-to-one to the emission channels of the laser array, and the light beam emitted by each emission channel of the laser array is projected onto the cylindrical lens corresponding to each emission channel.

[0020] This design approach can reduce the size and cost of the second cylindrical lens array as much as possible while ensuring the light beam collimation effect.

[0021] In a second aspect, the present application provides a laser radar comprising a transmitting component as described in the first aspect or any possible design of the first aspect.

[0022] In one possible design, the laser radar also includes a control device, which is used to: control the first emission channel of the laser array to emit a first light beam, and the emission field angle of the first light beam after passing through the emission optical system is a first emission field angle; control the second emission channel of the laser array to emit a second light beam, and the emission field angle of the second light beam after passing through the emission optical system is a second emission field angle; wherein the first emission field angle is different from the second emission field angle.

[0023] In a possible design, the control device may also be used to control the first emission channel of the laser array to stop emitting the light beam when controlling the second emission channel to emit the second light beam.

[0024] In a third aspect, the present application provides a control method that can be applied to a laser radar, wherein the laser radar includes a transmitting assembly as described in the first aspect or any possible design of the first aspect. The method includes: controlling a first transmitting channel of a laser array to transmit a first light beam, wherein the transmitting field of view of the first light beam after passing through a transmitting optical system is a first transmitting field of view angle; controlling a second transmitting channel of the laser array to transmit a second light beam, wherein the transmitting field of view of the second light beam after passing through the transmitting optical system is a second transmitting field of view angle; wherein the first transmitting field of view angle is different from the second transmitting field of view angle.

[0025] In one possible design, when the second emission channel is controlled to emit the second light beam, the first emission channel of the laser array can be controlled to stop emitting the light beam.

[0026] In a fourth aspect, the present application provides a terminal comprising a laser radar as described in the second aspect or any possible design of the second aspect.

[0027] In a fifth aspect, the present application provides a vehicle comprising a laser radar as described in the second aspect or any possible design of the second aspect.

[0028] In a sixth aspect, the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the third aspect or any possible design of the third aspect is implemented.

[0029] In a seventh aspect, the present application provides a computer program product, which, when executed on a computer, enables the method described in the third aspect or any possible design of the third aspect to be implemented.

[0030] The specific designs and beneficial effects of the second to seventh aspects mentioned above can refer to the corresponding specific designs and beneficial effects of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0032] Figure 2 A schematic diagram of a transmitting assembly 1 provided in an embodiment of the present application;

[0033] Figure 3A~Figure 3B A schematic diagram of a laser array 11 provided in an embodiment of the present application;

[0034] Figure 4A to Figure 4F It is a schematic diagram of the emission field angle of the light beam corresponding to different channels;

[0035] Figure 5 A schematic diagram of an emission optical system 12 provided in an embodiment of the present application;

[0036] Figure 6A to Figure 6F is a schematic structural diagram of the first lens module 121;

[0037] Fig. 7A A schematic diagram of another emission optical system 12 provided in an embodiment of the present application;

[0038] Figure 7B to Figure 7C A schematic diagram of another emission optical system 12 provided in an embodiment of the present application;

[0039] Figure 8 is a schematic structural diagram of the second lens module 122;

[0040] Figure 9A~Figure 9B This is an example diagram of the modulation effect of the second lens module 122 on the light beam;

[0041] Fig.10 A schematic diagram of another emission optical system 12 provided in an embodiment of the present application;

[0042] Fig.11 A schematic diagram of another emission optical system 12 provided in an embodiment of the present application;

[0043] Fig.12 A schematic diagram of a laser radar provided in an embodiment of the present application;

[0044] Fig.13 A flow chart of a control method provided in an embodiment of the present application;

[0045] Fig.14A , Fig. 14B Example image of switching the transmit field of view angle for the lidar. DETAILED DESCRIPTION

[0046] The following will describe the embodiments of the present application in detail in conjunction with the accompanying drawings. It is understandable that the shapes and sizes of the components in the drawings of the present application do not reflect the actual proportions, and the purpose is only to illustrate the content of the present application.

[0047] The technical solution provided in the embodiments of the present application can be applied to terminal devices with detection capabilities, and is particularly suitable for terminal devices with laser detection capabilities. Among them, the terminal device can be an intelligent device with laser detection capabilities, including but not limited to: smart home devices, such as televisions, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, vans, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, smart factories, etc. Alternatively, the terminal device can also be a computer device with laser detection capabilities, such as a desktop computer, a personal computer, a server, etc. It should also be understood that the terminal device can also be a portable electronic device with laser detection capabilities, such as a mobile phone, a tablet computer, a PDA, headphones, speakers, wearable devices (such as smart watches), vehicle-mounted devices, virtual reality devices, augmented reality devices, etc. Examples of portable electronic devices include but are not limited to those equipped with Or a portable electronic device with other operating systems. The portable electronic device may also be a laptop computer (laptop) with a touch-sensitive surface (eg, a touch panel).

[0048] In one possible application scenario, the technical solution provided in the embodiment of the present application can be applied to laser radar. Figure 1 , is a schematic diagram of an application scenario provided by an embodiment of the present application. In this example, the laser radar is installed on a vehicle, so it is also called a vehicle-mounted laser radar. In addition to vehicle-mounted laser radars, laser radars also include ship-mounted laser radars installed on ships, and airborne laser radars installed on machines, etc. In a possible example, Figure 1 As shown, the laser radar can be specifically installed at the front position of the vehicle. During the driving process of the vehicle, the laser radar can send out a detection signal (specifically a laser signal, or called a laser beam, light beam, etc.). After the detection signal is irradiated to the object in front of the vehicle, it will be reflected by the object, and the reflected detection signal (also called an echo signal, a reflection signal or a reflection light beam, etc.) can be received by the laser radar. Then, the laser radar can determine the information of the obstacle in front of the vehicle based on the reflected detection signal, such as the distance, direction, height, speed, posture, size or shape of the obstacle, so as to use the obstacle information to realize the driving functions of the vehicle, such as including but not limited to automatic driving or assisted driving.

[0049] It should be pointed out that in Figure 1 In the example given, the laser radar is installed at the front of the vehicle, but the actual application is not limited to this. The laser radar can also be installed in other locations, such as the rear or roof of the vehicle.

[0050] See also Figure 2, is a schematic diagram of a transmitting assembly 1 provided in an embodiment of the present application, and the transmitting assembly 1 can be applied to a laser radar. The transmitting assembly 1 includes a laser array 11 and a transmitting optical system 12.

[0051] The laser array 11 includes at least two emission channels, and the emission channels are used to emit light beams.

[0052] In a possible design, the laser array 11 is a one-dimensional array. Figure 3A As shown, the laser array 11 includes n lasers, which are L1, L2, ..., Ln in sequence. In a possible example, one laser in the laser array 11 corresponds to one emission channel, for example Figure 3A The laser array 11 shown has a total of n emission channels.

[0053] In another possible design, the laser array 11 is a two-dimensional array. Figure 3B As shown, the laser array 11 includes m×n lasers, and the laser array 11 is a two-dimensional array of m rows and n columns. In one possible example, one laser in the laser array 11 corresponds to one emission channel, and the laser array 11 has a total of m×n emission channels. In another possible example, multiple lasers in the laser array 11 correspond to one emission channel, for example, m lasers in each column correspond to one emission channel, and the laser array 11 has a total of n emission channels. Of course, the above is only an example, and the actual division of the emission channels is not limited to this.

[0054] The emission optical system 12 is located on the light-emitting side of the laser array 11, and the emission optical system 12 is used to adjust the light beams emitted from different emission channels in the laser array 11 into light beams with different emission field angles. Among them, the emission field angle can also be called the emission field of view. The emission field angle of the light beam determines the field of view range reached by the light beam. The larger the emission field angle of the light beam, the larger the field of view reached by the light beam, and the smaller the emission field angle of the light beam, the smaller the field of view reached by the light beam. In a specific implementation, the emission optical system 12 can be a purely solid-state emission optical system, that is, the positions of the optical elements in the emission optical system are fixed, for example, it may not include movable optical elements such as galvanometers and rotating mirrors.

[0055] Different emission field angles may include: different emission field angles in the first direction; and / or different emission field angles in the second direction. The first direction and the second direction are different, and both the first direction and the second direction are different from the third direction, which is the light emitting direction of the emission optical system 12 (or the emission component 1).

[0056] Optionally, the first direction and the second direction may be located on a cross section of the third direction (a plane perpendicular to the third direction), that is, the first direction and the second direction are both perpendicular to the third direction. Of course, the above is only an example and is not limited thereto.

[0057] Further optionally, the first direction and the second direction may be perpendicular to each other. For example, the x direction is the horizontal direction and the y direction is the vertical direction; or, for example, the y direction is the horizontal direction and the x direction is the vertical direction. Of course, the above are only examples and are not limited thereto.

[0058] In a specific example, Figure 2 In the xyz coordinate system shown, the third direction is the z direction (specifically, the positive direction of the z direction), and the first direction and the second direction can be the x direction and the y direction, respectively. Of course, the above is only an example and is not limited thereto. For example, the x direction and the y direction can also be interchanged.

[0059] For ease of description, the following mainly describes the first direction as the x direction, the second direction as the y direction, and the third direction as the z direction as an example. Unless otherwise specified, the x direction may include the positive direction and / or negative direction of the x direction, the y direction may include the positive direction and / or negative direction of the y direction, and the z direction may include the positive direction and / or negative direction of the z direction.

[0060] Taking the emission optical system 12 adjusting the light beams emitted from different emission channels into light beams with different emission field angles in the x direction (i.e., the first direction) as an example, the light beams form different emission field angles in the x direction after passing through the emission optical system 12, including but not limited to the following situations:

[0061] Case 1: After the light beams in different channels of the laser array 11 pass through the emission optical system 12, they form different emission field angles in the x direction, and the emission field angles of the light beams corresponding to different channels do not overlap. Figure 4A As shown, three channels are illustrated. The emission field angles of the light beams in the three channels after passing through the emission optical system 12 are emission field angle 1 (ɑ1, ɑ1'), emission field angle 2 (ɑ2, ɑ2'), and emission field angle 3 (ɑ3, ɑ3'). Assuming that the positive direction of the x direction is 0° and the negative direction of the x direction is 180°, then ɑ1<ɑ1'<ɑ2<ɑ2'<ɑ3<ɑ3'.

[0062] Case 2: After the light beams in different channels of the laser array 11 pass through the emission optical system 12, they form different emission field angles in the x direction, and the emission field angles of the light beams corresponding to different channels partially overlap. Figure 4BAs shown, three channels are illustrated. The emission field angles of the light beams in the three channels after passing through the emission optical system 12 are emission field angle 1 (ɑ1, ɑ1'), emission field angle 2 (ɑ2, ɑ2'), and emission field angle 3 (ɑ3, ɑ3'). Assuming that the positive direction of the x direction is 0° and the negative direction of the x direction is 180°, then ɑ1<ɑ2<ɑ1'<ɑ3<ɑ2'<ɑ3'.

[0063] Case 3: After the light beams in different channels of the laser array 11 pass through the emission optical system 12, they form different emission field angles in the x direction, and the boundaries of the emission field angles of the light beams corresponding to adjacent channels just coincide. Figure 4C As shown, three channels are illustrated. The emission field angles of the light beams in the three channels after passing through the emission optical system 12 are emission field angle 1 (ɑ1, ɑ1'), emission field angle 2 (ɑ2, ɑ2'), and emission field angle 3 (ɑ3, ɑ3'). Assuming that the positive direction of the x direction is 0° and the negative direction of the x direction is 180°, then ɑ1<ɑ1'=ɑ2<ɑ2'=ɑ3<ɑ3'.

[0064] It should be understood that in practical applications, at least two of the above three situations may occur simultaneously, for example Figure 4D As shown, emission field of view angle 2 and emission field of view angle 3 partially overlap, emission field of view angle 1 and emission field of view angle 2 do not overlap, or for example Figure 4E As shown, the boundaries of emission field of view angle 2 and emission field of view angle 3 just coincide, emission field of view angle 1 and emission field of view angle 2 partially overlap, and so on.

[0065] In a possible implementation, the arrangement order of the channels is the same as the arrangement order of the emission field angles of the light beams corresponding to the channels, such as Figure 4A to Figure 4E As shown in , channel 1, channel 2, and channel 3 are arranged in sequence along the negative direction of the x-direction, and the emission field angles 1, 2, and 3 of the light beams corresponding to channels 1, 2, and 3 are also arranged in sequence along the negative direction of the x-direction.

[0066] In another possible implementation, the arrangement order of the channels is different from the arrangement order of the emission field angles of the light beams corresponding to the channels, such as Figure 4F As shown in , channel 1, channel 2, and channel 3 are arranged in sequence along the negative direction of the x-direction, and the emission field angles 1, 2, and 3 of the light beams corresponding to channels 1, 2, and 3 are arranged in the order of emission field angles 3, 1, and 2 along the negative direction of the x-direction.

[0067] Understandably, Figure 4A to Figure 4F The example above takes 3 channels as an example, but the actual number of channels is not limited to 3.

[0068] For the specific situation that light beams emitted from different emission channels form different emission field angles in the y direction after passing through the emission optical system 12, you can refer to the specific situation that light beams emitted from different emission channels form different emission field angles in the x direction after passing through the emission optical system 12, and no further introduction will be given.

[0069] In the transmitting component 1 provided in the embodiment of the present application, the transmitting optical system 12 can adjust the light beams emitted from different transmitting channels in the laser array 11 into light beams with different transmitting field of view angles, so that the transmitting component 1 can support the emission of light beams with a variety of different transmitting field of view angles. When the transmitting component 1 is applied to a laser radar, it can help the laser radar switch between different transmitting field of view angles to better meet the needs of traffic control, especially intelligent driving.

[0070] The specific structural design of the emitting optical system 12 is introduced below by taking the example that light beams emitted from different emitting channels form different emitting field angles in the x direction (ie, the first direction) after passing through the emitting optical system 12 .

[0071] For one possible design, see Figure 5 The emission optical system 12 includes a first lens module 121, which is located on the light-emitting side of the laser array 11 and is used to deflect the passing light beam along the x direction; wherein, after the light beams of different channels in the laser array 11 pass through the first lens module 121, the angle ranges of deflection along the x direction are different. It can be understood that the deflection of the light beam along the x direction means that the light beam deviates from the z direction and approaches the x direction. The angle ranges corresponding to the light beams of different channels may partially overlap, or may not overlap, without limitation.

[0072] The above design method, based on the first lens module 121, deflects the light beams emitted from different channels in different angle ranges along the x direction, so that the light beams emitted from different emission channels form different emission field angles in the x direction, which is simple and easy to implement.

[0073] In one possible design, Figure 6A~6D As shown, the first lens module 121 may include a first cylindrical lens array 121A and at least one first prism 121B.

[0074] The first cylindrical lens array 121A is located at the light-emitting side of the laser array 11. The first cylindrical lens array 121A includes a plurality of cylindrical lenses arranged along the x direction, wherein the cylindrical direction of each of the plurality of cylindrical lenses is parallel to the y direction, and each of the plurality of cylindrical lenses is used to expand the divergence angle of the passing light beam along the x direction. It can be understood that the expansion of the divergence angle of the light beam along the x direction means that as the transmission distance of the light beam in the z direction increases, the size of the light beam in the x direction increases.

[0075] At least one first prism 121B is located at the light-emitting side of the first cylindrical lens array 121A, and is used to deflect the passing light beam along the x-direction.

[0076] The cylindrical lens involved in the embodiments of the present application may be a semi-cylindrical lens or other aspherical lens, or may be a combination of multiple lenses. When the cylindrical lens is a semi-cylindrical lens, it may be a cylindrical lens with a curved surface facing the light or a cylindrical lens with a flat surface facing the light, without limitation. For ease of illustration, the cylindrical lenses in the text drawings are all taken as examples of semi-cylindrical lenses, and the curved surface facing the light of the semi-cylindrical lens is taken as an example, but it is not limited to this.

[0077] In some possible examples, at least one first prism 121B is a plurality of prisms. The plurality of prisms are arranged in this way along the x direction, and the cylindrical direction of the prisms is parallel to the y direction; the plurality of prisms meet the condition that at least one of the shapes, postures, and sizes is different. After passing through the first cylindrical lens array 121A, the light beams of different channels in the laser array 11 are projected onto different prisms of the plurality of prisms along the x direction.

[0078] It can be understood that the light beams of different channels are projected onto different prisms of the plurality of prisms along the x-direction, which means that the positions where the light beams of different channels are projected are located at different positions in the x-direction. The prism positions to which the light beams of different channels are projected may partially overlap (for example, the light beam of channel 1 is projected onto prisms 1 and 2, and the light beam of channel 2 is projected onto prisms 2 and 3), or may not overlap (for example, the light beam of channel 1 is projected onto prisms 1 and 2, and the light beam of channel 2 is projected onto prisms 3 and 4). Based on the fact that the plurality of prisms satisfy the conditions that at least one of the shapes, postures, and sizes is different, the angle ranges of the light beams passing through different prisms deflecting along the x-direction may be different.

[0079] In a specific implementation, the light beams of all channels in the laser array 11 are projected onto the prism along the x direction after passing through the first cylindrical lens array 121A. Fig. 6A Alternatively, the light beams of some channels in the laser array 11 are projected onto the prism along the x direction after passing through the first cylindrical lens array 121A, while the light beams of another channel may be directly emitted from the first cylindrical lens array 121A without passing through the prism, as shown in FIG. Figure 6B shown.

[0080] In some other possible examples, at least one first prism 121B is a prism.

[0081] In a specific implementation, after the light beams of all channels in the laser array 11 pass through the first cylindrical lens array 121A, they are projected onto the prism along the x direction. Figure 6CAs shown. After passing through the first cylindrical lens array 121A, the light beams of different channels in the laser array 11 are projected onto different positions of the prism along the x direction. The light beams projected onto different positions of the prism deflect at different angles along the x direction after passing through the prism, thereby achieving different angle ranges of deflection of light beams of different channels along the x direction after passing through the first lens module 121.

[0082] Alternatively, only light beams of some channels in the laser array 11 may be projected onto the prism along the x direction after passing through the first cylindrical lens array 121A, such as Fig.6D As shown; and the other part is emitted directly from the first cylindrical lens array 121A. After the light beam projected on the prism passes through the prism, its emission angle is deflected along the x-direction, while the light beam directly emitted from the first cylindrical lens array 121A does not pass through the prism, so its emission angle can remain unchanged. The two parts of the light beam have different angle ranges of deflection along the x-direction after passing through the first lens module 121. Furthermore, for the part of the light beam projected on the prism, the light projected at different positions of the prism can have different angles of deflection along the x-direction after passing through the prism, such as Fig.6D shown.

[0083] In one possible example, Fig. 6E As shown, at least one first prism 121B and the first cylindrical lens array 121A can be separately arranged. For example, the distance between the at least one first prism 121B and the light-emitting surface of the first cylindrical lens array 121A is less than a first threshold. The threshold can be set according to actual conditions, as long as it is ensured that the light beam can be projected onto the at least one first prism 121B after being emitted from the light-emitting surface of the first cylindrical lens array 121A. For example, the threshold can be any value between 0 and 10 mm.

[0084] Another possible example is Fig. 6F As shown, the first cylindrical lens array 121A is integrated with at least one first prism 121B. For example, the first cylindrical lens array 121A is closely arranged with at least one first prism 121B, or the first cylindrical lens array 121A and at least one first prism 121B are different parts of the same optical element.

[0085] Understandably, Figure 6A to Figure 6FIn the examples given, the prism is a triangular prism, but the actual implementation is not limited thereto, and may be a quadrangular prism, a pentaprism or other prism, or may be replaced by any other optical element that can achieve beam deflection, such as a combination of multiple lenses. In the above design, the beam is deflected along the x direction based on the prism, which is simple, easy to implement and low in cost; and before the beam is incident on the prism, it will first pass through the first cylindrical lens array 121A, so that the beam obtains a smaller divergence angle before entering the prism, which helps the beam obtain a larger field of view after being deflected by the prism.

[0086] In the embodiment of the present application, there may be no other optical elements between the laser array 11 and the first lens module 121, that is, the light beam is directly incident on the first lens module 121 after being emitted from the laser array 11; or, there may be other optical elements between the laser array 11 and the first lens module 121, that is, the light beam is incident on the first lens module 121 after passing through other optical elements after being emitted from the laser array 11.

[0087] In a possible design, the light beam emitted from the laser array 11 is a collimated light beam, such as Fig. 7A As shown, there are no other optical elements between the laser array 11 and the first lens module 121. After the light beam is emitted from the laser array 11, it is directly incident on the first lens module 121. In the above design, the laser array 11 directly emits a collimated light beam, which can simplify the structure of the emitting optical system 12 and reduce the size of the emitting optical system 12.

[0088] In another possible design, the light beam emitted from the laser array 11 is a divergent light beam, and a second lens module 122 is further included between the laser array 11 and the first lens module 121, such as Figure 7B As shown, the second lens module 122 is used to collimate the light beam emitted by the laser array 11 to adjust the divergent light beam into a collimated light beam.

[0089] Exemplarily, the second lens module 122 is used to collimate the light beam emitted by the laser array 11, and may include:

[0090] 1) Collimate the passing light beam along the x direction. It can be understood that collimating the passing light beam along the x direction means adjusting each light in the light beam to be parallel (or approximately parallel) to the plane where the x direction and the z direction are located (for ease of description, recorded as the xz plane), such as Figure 7C As shown in the upper right picture.

[0091] After the light beams at different positions in the x-direction are collimated along the x-direction, the viewing angles along the x-direction may be the same, for example, all being the first angle. It can be understood that the viewing angle of the collimated light beam along the x-direction refers to the angle formed by the component of the collimated light beam on the xz plane and the z-direction, for example, the first angle is close to or equal to 0°.

[0092] 2) Collimate the passing light beam along the y direction. It can be understood that collimating the passing light beam along the y direction means adjusting each light in the light beam to be parallel (or approximately parallel) to the plane where the y direction and the z direction are located (for ease of description, recorded as the yz plane), such as Figure 7C As shown in the lower right figure.

[0093] After the light beams at different positions in the y direction are collimated along the y direction, at least one field of view angle is formed along the y direction. In other words, after the light beams at different positions in the y direction are collimated along the y direction, the field of view angles along the y direction may be the same or different. It can be understood that the field of view angle of the collimated light beam along the y direction refers to the angle formed by the component of the collimated light beam on the yz plane and the z direction. For example, Figure 7C The lower right figure in FIG. 4 shows three different field angles a, b, and c formed along the y direction.

[0094] The above design, by collimating the light beam emitted by the laser array 11 through the second lens module 122, can make the incident light beam on the first lens module 121 a collimated light beam, better ensure the emission effect of the light beam after passing through the first lens module 121, and at the same time reduce the requirements for the laser array 11.

[0095] In one possible design, Figure 8 As shown, the second lens module 122 may include: a second cylindrical lens array 122A and a first cylindrical lens 122B.

[0096] The second cylindrical lens array 122A is located at the light-emitting side of the laser array 11. The second cylindrical lens array 122A includes at least two cylindrical lenses arranged along the x direction. The cylindrical direction of each of the at least two cylindrical lenses is parallel to the y direction. Each of the at least two cylindrical lenses is used to collimate the passing light beam along the x direction. Fig.9A or Fig. 9B As shown in the upper right figure in , after the light beam passes through the second cylindrical lens array 122A, the angle formed by the component of the light beam on the xz plane and the z direction is 0°.

[0097] Since the function of the second cylindrical lens array 122A is to collimate the light beam, and the function of the first cylindrical lens array 121A is to expand the divergence angle of the collimated light beam, the number of cylindrical lenses in the second cylindrical lens array 122A can be less than the number of cylindrical lenses in the first cylindrical lens array 121A, or the arrangement of the cylindrical lenses in the first cylindrical lens array 121A can be denser than the arrangement of the cylindrical lenses in the second cylindrical lens array 122A.

[0098] The first cylindrical lens 122B is located at the light-emitting side of the second cylindrical lens array 122A. The cylindrical direction of the first cylindrical lens 122B is parallel to the x-direction. The first cylindrical lens 122B is used to collimate the passing light beam along the y-direction.

[0099] In a specific implementation, after the light beams at different positions in the y direction are collimated along the y direction, the field of view angle along the y direction may depend on the cylindrical size of the second cylindrical lens array 122A. When the cylindrical size of the second cylindrical lens array 122A is larger, the difference in the field of view angle along the y direction after the light beams at different positions in the y direction are collimated along the y direction is smaller. Fig.9A As shown in the lower right figure in FIG. 1 , after the light beam emitted by the laser array 11 passes through the second cylindrical lens array 122A, the component of the light beam on the yz plane forms a plurality of different angles with the z direction; Fig. 9B As shown in the lower right figure, after the cylindrical size of the second cylindrical lens array 122A increases to a certain size, the angles formed by the components of the light beams on the yz plane and the z direction after the light beams pass through the second cylindrical lens array 122A can all be close to or equal to 0°.

[0100] It can be understood that the implementation method of each cylindrical lens in the second lens module 122 can refer to the relevant introduction of the cylindrical lenses in the first cylindrical lens array 121A above, and will not be further described here.

[0101] This design method is simple and easy to implement, by providing two groups of lenses (i.e., the second cylindrical lens array 122A and the first cylindrical lens 122B) to collimate the light beam in the x direction and the y direction respectively.

[0102] In a possible design, the cylindrical lenses in the second cylindrical lens array 122A correspond one-to-one to the emission channels of the laser array 11, and the light beam emitted by each emission channel of the laser array 11 is projected onto the cylindrical lens corresponding to each emission channel. Fig.9A and Fig. 9B The number of emission channels of the laser array 11 shown is 3, and the number of cylindrical lenses in the corresponding second cylindrical lens array 122A is 3.

[0103] This design approach can reduce the size and cost of the second cylindrical lens array 122A as much as possible while ensuring the light beam collimation effect.

[0104] It can be understood that in the emission optical system 12 described in the embodiment of the present application, the position of the optical element can be adjusted according to actual conditions. Figure 8 The positions of the second cylindrical lens array 122A and the first cylindrical lens 122B in the given example can also be interchanged, that is, the light beam emitted by the laser array 11 is first collimated in the y direction by the first cylindrical lens 122B, and then collimated in the x direction by the second cylindrical lens array 122A, for example Fig.10 Of course, Fig.10 This is just one possible example and is not limited to this.

[0105] The above describes the specific structure of the emission optical system 12 that can realize that the light beams emitted from different emission channels form different emission field angles in the x direction (i.e., the first direction) after passing through the emission optical system 12. In specific applications, the structure in the x direction (i.e., the first direction) and the structure in the y direction (i.e., the second direction) can also be interchanged to realize that the light beams emitted from different emission channels form different emission field angles in the y direction after passing through the emission optical system 12.

[0106] Furthermore, the embodiment of the present application can also be designed according to needs so that the light beams emitted from different emission channels form different emission field angles in the x direction (i.e., the first direction) and different emission field angles in the y direction (i.e., the second direction) after passing through the emission optical system 12.

[0107] As a possible example, Fig.11 As shown, in the emission optical system 12, a third lens module 123 may also be provided, and its specific structure may refer to the first lens module 121. For example, the third lens module 123 includes a third cylindrical lens array 123A and at least one second prism 123B. However, the position direction of the third cylindrical lens array 123A is different from that of the first lens module 121:

[0108] The third cylindrical lens array 123A is located at the light exit side of the first lens module 121. The third cylindrical lens array 123A includes a plurality of cylindrical lenses arranged along the y direction. The cylindrical direction of each of the plurality of cylindrical lenses is parallel to the x direction. Each of the plurality of cylindrical lenses is used to expand the divergence angle of the passing light beam along the y direction.

[0109] At least one second prism 123B is located on the light-emitting side of the third cylindrical lens array 123A, and is used to deflect the passing light beam along the y direction.

[0110] Regarding the third cylindrical lens array 123A expanding the divergence angle of the passing light beam and at least one second prism 123B deflecting the passing light beam along the y direction, you can refer to the above-mentioned first cylindrical lens array 121A expanding the divergence angle of the passing light beam and at least one first prism 121B deflecting the passing light beam along the x direction, which will not be elaborated here.

[0111] Based on the above method, the emitting optical system 12 can adjust the light beams emitted from different emitting channels in the laser array 11 into light beams with different emitting field angles along the x direction and the y direction, which can help the laser radar switch between different emitting field angles in the x direction and the y direction respectively, and can better meet the needs of traffic control, especially intelligent driving.

[0112] Based on the same technical concept, the embodiment of the present application also provides a laser radar, including the above-mentioned transmitting component 1. Based on the transmitting component 1, the laser radar has the ability to switch different transmitting field of view angles, which can better meet the needs of traffic control, especially intelligent driving.

[0113] In one possible implementation, Fig.12 As shown, the laser radar may also include a control device 2 for controlling the opening and closing of each emission channel in the laser array 11, thereby enabling the laser radar to switch different emission field angles. For example, the control device 2 may be connected to the laser array 11 in the emission component 1 via a controller area network (CAN) bus or other means, and control any emission channel of the laser array 11 to emit a light beam or stop emitting a light beam.

[0114] See also Fig.13 , is a flow chart of a possible control method provided in an embodiment of the present application. The method can be executed by the control device 2, and the method includes:

[0115] S101, controlling a first emission channel of a laser array 11 to emit a first light beam, wherein an emission field angle of the first light beam after passing through an emission optical system 12 is a first emission field angle;

[0116] S102, controlling the second emission channel of the laser array 11 to emit a second light beam, wherein the emission field angle of the second light beam after passing through the emission optical system 12 is a second emission field angle;

[0117] The first emission field of view angle is different from the second emission field of view angle.

[0118] In a specific implementation, the control device 2 can control different emission channels to emit light beams at different times, thereby achieving the effect of dynamically switching the emission field of view of the laser radar.

[0119] For example Fig.14A As shown, in the T1 time period, the first emission channel of the laser array 11 is controlled to emit the first light beam, and in the T2 time period, the second emission channel of the laser array 11 is continued to be controlled to emit the second light beam. Then, the emission field of view of the laser radar in the T1 time period is the first emission field of view angle (i.e., ɑ1~ɑ1'), and the emission field of view angle in the T2 time period is the first emission field of view angle + the second emission field of view angle (i.e., ɑ1~ɑ2').

[0120] For example Fig. 14B As shown, in the T1 time period, the first emission channel of the laser array 11 is controlled to emit a first light beam, in the T2 time period, the second emission channel of the laser array 11 is controlled to emit a second light beam and the first emission channel of the laser array 11 is controlled to stop emitting the light beam. Then, the emission field of view of the laser radar in the T1 time period is the first emission field of view angle (i.e., ɑ1~ɑ1'), and the emission field of view angle in the T2 time period is the second emission field of view angle (i.e., ɑ2~ɑ2').

[0121] Understandably, Fig.14A and Fig. 14B These are just some possible examples, and the actual way in which the laser radar switches the transmission field of view is not limited to this.

[0122] Based on the above method, the laser radar can dynamically switch between different emission field of view angles, which can better meet the needs of traffic control, especially intelligent driving.

[0123] Optional, such as Fig.12 As shown, the laser radar may also include a receiving component 3 for receiving a reflected light beam of the first light beam and a reflected light beam of the second light beam.

[0124] Further optionally, the laser radar also includes a processing device 4 for determining at least one of the distance, direction, height, speed, posture, size or shape of at least one target based on the reflected beam of the first light beam and the reflected beam of the second light beam.

[0125] In a specific implementation, the control device 2 and the processing device 4 may be integrated into one device or may be dispersed in multiple devices and implemented separately.

[0126] Exemplarily, it can be integrated into a device, which can be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components and other integrated chips. The device may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may also include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitation.

[0127] Based on the same technical concept, the embodiment of the present application also provides a terminal, including the laser radar described above. The terminal can be applied to intelligent transportation equipment (such as cars, ships, drones, trains, vans, trucks, etc.), smart home equipment (such as TVs, sweeping robots, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, intelligent logistics, etc.), etc.

[0128] Based on the same technical concept, an embodiment of the present application also provides a control device, including at least one processor and an interface circuit, the interface circuit is used to provide data or code instructions to at least one processor, and at least one processor is used to implement the method executed by the control device 2 through a logic circuit or executing code instructions.

[0129] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method executed by the control device 2 is implemented.

[0130] Based on the same technical concept, an embodiment of the present application also provides a computer program product, which, when executed on a processor, implements the method executed by the control device 2 .

[0131] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0132] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0133] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0135] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of protection of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A launching assembly, characterized in that: including a laser array and a launch optical system; The laser array comprises at least two emission channels, and the emission channels are used to emit light beams; The emission optical system is located at the light-emitting side of the laser array, and is used to adjust the light beams emitted by different emission channels in the laser array into light beams with different emission field angles; The emitting optical system includes a first lens module, which is used to deflect the passing light beam along a first direction; wherein, after the light beams of different channels in the laser array pass through the first lens module, the angle ranges of deflection along the first direction are different, and the first direction is perpendicular to a third direction, and the third direction is the light emitting direction of the first lens module.

2. The launch assembly according to claim 1, characterized in that: The first lens module comprises: a first cylindrical lens array, located at the light-emitting side of the laser array, the first cylindrical lens array comprising a plurality of cylindrical lenses arranged along the first direction, the cylindrical direction of each of the plurality of cylindrical lenses being parallel to a second direction, each of the plurality of cylindrical lenses being used to expand the divergence angle of the light beam passing through along the first direction, the second direction being perpendicular to the third direction and the first direction; At least one prism is located on the light-emitting side of the first cylindrical lens array, and is used to deflect the passing light beam along the first direction.

3. The launch assembly according to claim 2, characterized in that: The at least one prism is a prism; After passing through the first cylindrical lens array, the light beams of different channels in the laser array are projected onto different positions of the prism along the first direction.

4. The launch assembly according to claim 2, characterized in that: The at least one prism is a plurality of prisms, and the plurality of prisms are arranged along the first direction; the plurality of prisms satisfy the condition that at least one of shape, posture, and size is different; After passing through the first cylindrical lens array, the light beams of different channels in the laser array are projected onto different prisms of the plurality of prisms along the first direction.

5. The transmitting assembly according to any one of claims 2 to 4, characterized in that: The distance between the at least one prism and the light exiting surface of the first cylindrical lens array is smaller than a first threshold; or, The first cylindrical lens array is integrated with the at least one prism.

6. The transmitting assembly according to any one of claims 1 to 4, characterized in that: The transmitting optical system further comprises a second lens module, located between the laser array and the first lens module, for: collimating the passing light beam along the first direction, wherein the viewing angle of the collimated light beam along the first direction is a first angle; and The passing light beam is collimated along a second direction, and light beams at different positions along the second direction are collimated to form at least one field of view angle along the second direction; wherein the second direction is perpendicular to the third direction and the first direction.

7. The launch assembly according to claim 6, characterized in that: The second lens module comprises: a second cylindrical lens array, located at the light-emitting side of the laser array, the second cylindrical lens array comprising at least two cylindrical lenses arranged along the first direction, the cylindrical direction of each of the at least two cylindrical lenses being parallel to the second direction, and each of the at least two cylindrical lenses being used to collimate the passing light beam along the first direction; A first cylindrical lens is located at the light-emitting side of the second cylindrical lens array, the cylindrical direction of the first cylindrical lens is parallel to the first direction, and the first cylindrical lens is used to collimate the passing light beam along the second direction.

8. The launch assembly according to claim 7, characterized in that: The cylindrical lenses in the second cylindrical lens array correspond one-to-one to the emission channels of the laser array, and the light beam emitted by each emission channel of the laser array is projected onto the cylindrical lens corresponding to each emission channel.

9. The launch assembly according to claim 5, characterized in that: The transmitting optical system further comprises a second lens module, located between the laser array and the first lens module, for: collimating the passing light beam along the first direction, wherein the viewing angle of the collimated light beam along the first direction is a first angle; and The passing light beam is collimated along a second direction, and light beams at different positions along the second direction are collimated to form at least one field of view angle along the second direction; wherein the second direction is perpendicular to the third direction and the first direction.

10. The launch assembly according to claim 9, characterized in that: The second lens module comprises: a second cylindrical lens array, located at the light-emitting side of the laser array, the second cylindrical lens array comprising at least two cylindrical lenses arranged along the first direction, the cylindrical direction of each of the at least two cylindrical lenses being parallel to the second direction, and each of the at least two cylindrical lenses being used to collimate the passing light beam along the first direction; A first cylindrical lens is located at the light-emitting side of the second cylindrical lens array, the cylindrical direction of the first cylindrical lens is parallel to the first direction, and the first cylindrical lens is used to collimate the passing light beam along the second direction.

11. The launch assembly according to claim 10, characterized in that: The cylindrical lenses in the second cylindrical lens array correspond one-to-one to the emission channels of the laser array, and the light beam emitted by each emission channel of the laser array is projected onto the cylindrical lens corresponding to each emission channel.

12. A laser radar, characterized in that: Comprising a launching assembly as described in any one of claims 1-11.

13. The laser radar according to claim 12, characterized in that: The laser radar further includes a control device for: Controlling the first emission channel of the laser array to emit a first light beam, wherein the emission field angle of the first light beam after passing through the emission optical system is a first emission field angle; Controlling the second emission channel of the laser array to emit a second light beam, wherein the emission field angle of the second light beam after passing through the emission optical system is a second emission field angle; The first emission field of view angle is different from the second emission field of view angle.

14. The laser radar according to claim 13, characterized in that: The control device is also used for: When the second emission channel is controlled to emit the second light beam, the first emission channel of the laser array is controlled to stop emitting the light beam.

15. A terminal, characterized in that: Comprising a laser radar as described in any one of claims 12-14.

16. A vehicle, characterized in that: Comprising a laser radar as described in any one of claims 12-14.

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