Laser emission assembly and laser radar device

Abstract

The embodiment of the utility model discloses a laser emission assembly and a laser radar device, the laser emission assembly comprises a laser emitter and a collimation assembly, and the collimation assembly comprises a first curved surface reflector and a second curved surface reflector which are coaxially arranged at an interval. The reflecting surface of the second curved-surface reflecting mirror is opposite to the reflecting surface of the first curved-surface reflecting mirror, the laser beam sequentially passes through the first curved-surface reflecting mirror and the second curved-surface reflecting mirror after being emitted from the laser emitter, and the axis of the laser beam reflected by the first curved-surface reflecting mirror passes through the focus of the second curved-surface reflecting mirror; therefore, the divergence angle of the laser beam reflected by the second curved reflector is smaller than the divergence angle of the laser beam emitted from the laser transmitter, long-focus collimation of the laser beam can be realized, the laser beam collimator can be used in a scene where the output power of the laser transmitter is relatively high, the output laser beam can have relatively high energy density, and the laser beam collimator can be applied to the laser transmitter. The range finding capability and the detection precision of the laser radar device using the laser emission assembly can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar, in particular to a laser emitting component and a laser radar device. Background Art

[0002] LiDAR is a radar system that emits a laser beam to the target to determine the target's distance, direction, motion state and other characteristics. Due to the characteristics of lasers such as short wavelength, good directionality and high brightness, LiDAR has the advantages of high detection sensitivity, high spatial resolution and strong anti-interference ability. LiDAR is widely used in remote sensing detection, robot barrier-free identification, unmanned vehicles, drone reconnaissance and other fields.

[0003] Since the laser beam emitted by the laser transmitter is not absolutely parallel, it has a large divergence angle and irregular spot shape, and the beam quality cannot meet the requirements of use. Therefore, a collimation system needs to be set up in the laser emission system of the laser radar to collimate the laser beam output by the laser transmitter. The collimation system commonly used in laser radars currently consists of two sets of fast and slow axis collimating cylindrical lenses with cylindrical surfaces perpendicular to each other, which can shape the divergent Gaussian beam output by the laser transmitter into collimated parallel light. However, when the output power of the laser transmitter is large, if the collimation of the beam needs to be guaranteed, the focal length of the collimation system needs to be lengthened. However, this type of collimation system using cylindrical lenses cannot use a long focal length type due to volume limitations. Utility Model Content

[0004] The purpose of the embodiments of the utility model is to provide a laser emitting component and a laser radar device, which can achieve long focal length collimation, so that the energy density of the laser beam is greater, which is conducive to improving the laser ranging capability and accuracy.

[0005] In the first aspect, an embodiment of the utility model provides a laser emitting assembly for a laser radar device, the laser emitting assembly comprising a laser emitter and a collimation assembly; the laser emitter is configured to emit a laser beam; the collimation assembly is arranged on the optical path of the laser beam emitted by the laser emitter, the collimation assembly is configured to collimate the laser beam emitted by the laser emitter, the collimation assembly comprises a first curved reflector and a second curved reflector arranged at intervals, the reflecting surface of the second curved reflector is arranged opposite to the reflecting surface of the first curved reflector, and the second curved reflector is arranged coaxially with the first curved reflector; wherein the laser beam passes through the first curved reflector and the second curved reflector in sequence, the axis of the laser beam after being reflected by the first curved reflector passes through the focus of the second curved reflector, so that the divergence angle of the laser beam after being reflected by the second curved reflector is smaller than the divergence angle when it is emitted from the laser emitter.

[0006] In some embodiments, the first curved reflector is a concave reflector, a light-transmitting area is provided on a side of the first curved reflector close to the second curved reflector, and a reflecting surface of the second curved reflector is arranged opposite to the light-transmitting area.

[0007] In some embodiments, the second curved reflector is a convex reflector and has a smaller diameter than the first curved reflector. The laser emitter is arranged on a side of the second curved reflector away from the first curved reflector. The focus of the second curved reflector is located between the emitting end of the laser emitter and the reflecting surface of the second curved reflector. The axis of the laser beam emitted by the laser emitter is coaxial with the first curved reflector.

[0008] In some embodiments, the divergence angle of the laser beam emitted by the laser emitter is greater than 15 degrees, and the diameter of the emission hole at the emitting end of the laser emitter is 0.1 mm-0.5 mm; the radius of curvature of the reflecting surface of the first curved reflector is 40 mm-100 mm, the diameter of the first curved reflector is 20 mm-30 mm, the diameter of the light-transmitting area is 3 mm-7 mm, and the distance between the emission hole of the laser emitter and the first curved reflector is 80 mm-120 mm.

[0009] In some embodiments, the curvature radius of the reflective surface of the second curved reflector is 40 mm-60 mm, and the diameter of the second curved reflector is 1 mm-2 mm larger than the diameter of the light-transmitting area.

[0010] In some embodiments, the second curved reflector is a concave reflector, the distance between the first curved reflector and the second curved reflector along the central axis is greater than the sum of the focal length of the first curved reflector and the focal length of the second curved reflector, the emitting end of the laser emitter is arranged between the focus of the first curved reflector and the focus of the second curved reflector, and the first curved reflector is configured to reflect the laser beam through the focus of the second curved reflector.

[0011] In some embodiments, a curvature radius of a reflective surface of the second curved reflector is greater than a curvature radius of a reflective surface of the first curved reflector.

[0012] In some embodiments, the laser emitting assembly includes a sleeve, and the laser emitter, the first curved reflector, and the second curved reflector are coaxially assembled in the same sleeve.

[0013] In some embodiments, the first curved reflector is a convex reflector, the second curved reflector is a concave reflector, and the diameter of the first curved reflector is smaller than that of the second curved reflector.

[0014] In some embodiments, the first curved reflector is a hyperbolic convex reflector, and the second curved reflector is a parabolic concave reflector.

[0015] In some embodiments, the laser emitter is arranged outside the main axis of the first curved reflector, and the direction of the laser light beam emitted by the laser emitter is inclined with respect to the main axis of the first curved reflector; the collimating assembly includes a convex lens and a right-angle reflector; the convex lens is arranged at the emitting end of the laser emitter; the right-angle reflector is arranged between the first curved reflector and the second curved reflector; wherein, after the laser light beam emitted by the laser emitter passes through the convex lens and converges to the right-angle reflector, the laser light beam is reflected to the first curved reflector by the right-angle reflector.

[0016] In some embodiments, the back surface of the first curved reflector and the back surface of the second curved reflector are flat surfaces, and the reflective surface of the first curved reflector and the reflective surface of the second curved reflector are respectively coated with reflective films.

[0017] In some embodiments, one of the first curved reflector and the second curved reflector is configured to be movably disposed relative to the other along a direction parallel to the axis so as to adjust the distance between the first curved reflector and the second curved reflector.

[0018] In some embodiments, the focus of the first curved reflector is located on a side of the second curved reflector close to the first curved reflector and a predetermined distance is set between the focus of the first curved reflector and the second curved reflector.

[0019] In the second aspect, an embodiment of the utility model also provides a laser radar device, comprising a laser emitting component, a receiving component and a spectroscope as described in the first aspect; the receiving component comprises a receiving focusing system and a receiver; wherein the laser beam emitted by the laser emitting component is emitted toward a detection area after passing through the spectroscope, and the spectroscope is configured to reflect a reflected beam reflected by the detection area according to the laser beam to the receiving focusing system, and the reflected beam is converged by the receiving focusing system and then emitted into the receiver.

[0020] In some embodiments, the laser radar device includes a beam steering device, which is arranged on the side of the spectrometer away from the laser emitting assembly. The beam steering device includes a bracket, a driving mechanism and a steering reflector. The steering reflector is rotatably arranged on the bracket, and the driving mechanism is configured to drive the steering reflector to rotate; the beam steering device is configured to: reflect the laser beam passing through the spectrometer to the detection area; and reflect the reflected beam from the detection area to the spectrometer.

[0021] The embodiment of the utility model provides a laser emitting assembly and a laser radar device, the laser emitting assembly includes a laser emitter and a collimating assembly, the collimating assembly includes a first curved reflector and a second curved reflector arranged coaxially at intervals, and the reflecting surface of the second curved reflector is arranged opposite to the reflecting surface of the first curved reflector, the laser beam passes through the first curved reflector and the second curved reflector in sequence after being emitted from the laser emitter, and the axis of the laser beam after being reflected by the first curved reflector passes through the focus of the second curved reflector, so that the divergence angle of the laser beam after being reflected by the second curved reflector is smaller than the divergence angle when emitted from the laser emitter, thereby realizing the collimation of the laser beam. The laser emitting assembly of the embodiment of the utility model can realize long focal length collimation, and can be used in scenarios where the output power of the laser emitter is large, which is conducive to the output laser beam having a greater energy density, and is conducive to improving the ranging capability and detection accuracy of the laser radar device using the laser emitting assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other purposes, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0023] Figure 1 This is a schematic diagram of the structure of a laser emission assembly according to an embodiment of the utility model;

[0024] Figure 2 It is a structural schematic diagram of a laser emission assembly of another embodiment of the utility model;

[0025] Figure 3 It is a structural schematic diagram of a laser emission assembly of another embodiment of the utility model;

[0026] Figure 4 It is a schematic structural diagram of a laser radar device according to an embodiment of the utility model.

[0027] Description of reference numerals:

[0028] 10-laser emitting assembly; 11-laser emitter; 12-collimation assembly; 121-first curved reflector; 1211-light-transmitting area; 122-second curved reflector; 123-convex lens; 124-right-angle reflector; 20-receiving assembly; 21-receiving focusing system; 22-receiver; 30-beam splitter; 40-beam steering device; 41-steering reflector; 50-detection area; 61-laser beam; 62-reflected beam; F1-focus of the first curved reflector; F2-focus of the second curved reflector. DETAILED DESCRIPTION

[0029] The present invention is described below based on embodiments, but the present invention is not limited to these embodiments. In the detailed description of the present invention below, some specific details are described in detail. For those skilled in the art, the present invention can be fully understood without the description of these details. In order to avoid confusing the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0030] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0031] Unless the context clearly requires otherwise, the words "include", "comprising" and the like throughout this application should be interpreted as including rather than exclusive or exhaustive; that is, as meaning "including but not limited to".

[0032] In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0033] When an element or layer is referred to as being "on," "engaged to," "connected to," or "coupled to" another element or layer, it may be directly on, directly engaged to, connected to, or coupled to the other element or layer, or intervening elements or layers may be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0034] Figure 1 , Figure 2 and Figure 3 They are schematic diagrams of the structures of the laser emission components of several embodiments of the utility model, wherein Figures 1 to 3 In FIG. 1 , a dashed line with an arrow indicates a laser beam 61 emitted from the laser emitter 11 and emitted toward the first curved reflector 121, a solid line with an arrow indicates a laser beam 61 reflected from the first curved reflector 121 and emitted toward the second curved reflector 122, and a double-dotted dashed line with an arrow indicates a laser beam 61 reflected from the second curved reflector 122. Figures 1 to 3The laser emitting assembly 10 provided in the embodiment of the utility model includes a laser emitter 11 and a collimating assembly 12. The laser emitter 11 is used to emit a laser beam 61. The laser beam 61 emitted by the laser emitter 11 has a large divergence angle and cannot be directly used for the detection work of the laser radar. The collimating assembly 12 is arranged on the optical path of the laser beam 61 emitted by the laser emitter 11, and is used to collimate and shape the laser beam 61 emitted by the laser emitter 11. The quality of the output laser beam 61 can be improved by changing at least one of the divergence angle, beam width and cross-sectional area of ​​the laser beam 61.

[0035] In an embodiment of the utility model, the collimating assembly 12 includes a first curved reflector 121 and a second curved reflector 122 which are arranged at intervals, the reflective surface of the second curved reflector 122 is arranged opposite to the reflective surface of the first curved reflector 121, and the second curved reflector 122 is arranged substantially coaxially with the first curved reflector 121. The laser beam 61 emitted from the laser emitter 11 passes through the first curved reflector 121 and the second curved reflector 122 in sequence in the collimating assembly 12, the first curved reflector 121 reflects the laser beam 61 to the reflective surface of the second curved reflector 122, and the first curved reflector 121 is arranged so that the axis of the laser beam 61 after being reflected by the first curved reflector 121 passes through the focus F2 of the second curved reflector 122, thereby adjusting the divergence angle of the laser beam 61 after being reflected by the second curved reflector 122 to be smaller than the divergence angle when emitted from the laser emitter 11. Preferably, the divergence angle of the laser beam 61 after being reflected by the second curved reflector 122 is close to 0°. Figure 2 , the focus F1 of the first curved reflector 121 is located on the side of the second curved reflector 122 close to the first curved reflector 121, and a predetermined distance is set between the second curved reflector 122. The laser emitting assembly 10 of the embodiment of the utility model realizes the collimation of the laser beam 61 by using two curved reflectors with opposite reflective surfaces, which has lower cost than the solution using a cylindrical lens as a collimation system and can be more effectively applied to the scene of high-power laser beam 61 and long focal length collimation.

[0036] Optionally, the back surface of the first curved reflector 121 and the back surface of the second curved reflector 122 are planes, which is conducive to reducing the thickness of the first curved reflector 121 and the second curved reflector 122. The back surface of the first curved reflector 121 is the side opposite to the reflection surface of the first curved reflector 121 along the axis direction, and the back surface of the second curved reflector 122 is the side opposite to the reflection surface of the second curved reflector 122 along the axis direction. The reflection surface of the first curved reflector 121 and the reflection surface of the second curved reflector 122 are respectively coated with a reflective film to increase the mirror reflectivity and reduce the energy loss of the laser beam 61. The specific material and thickness of the reflective film can be selected according to the requirements for the reflectivity of the first curved reflector 121 and the second curved reflector 122. For example, the reflective film can be an aluminum reflective film, a silver reflective film, a gold reflective film, etc.

[0037] Optionally, one of the first curved reflector 121 and the second curved reflector 122 is configured to be movably arranged relative to the other in a direction parallel to the axis, and the distance between the first curved reflector 121 and the second curved reflector 122 can be adjusted through corresponding operations to facilitate the debugging of the collimation assembly 12 and ensure the collimation effect of the collimation assembly 12. For example, the first curved reflector 121 and the second curved reflector 122 can be respectively arranged in two sleeves that are nested with each other and can slide in a direction parallel to the axis, and the distance between the first curved reflector 121 and the second curved reflector 122 can be adjusted by adjusting the pull-out length of the sleeves.

[0038] Reference Figure 1 and Figure 2In some embodiments, the first curved reflector 121 is a concave reflector, the laser beam 61 emitted by the laser emitter 11 is substantially coaxial with the first curved reflector 121, and the distance between the emission end of the laser emitter 11 and the first curved reflector 121 is greater than the focal length of the first curved reflector 121, so that the laser beam 61 emitted by the laser emitter 11 reflected by the first curved reflector 121 can have a converging effect, which is conducive to reducing the diameter of the laser beam 61 after being reflected by the second curved reflector 122, and ensuring that the beam energy is more concentrated. A light-transmitting area 1211 is provided on one side of the first curved reflector 121 close to the second curved reflector 122, and the reflection surface of the second curved reflector 122 is arranged opposite to the light-transmitting area 1211. The light-transmitting area 1211 is an area set on the first curved reflector 121 that allows the laser beam 61 to penetrate. For example, the light-transmitting area 1211 may be a hollow perforation, or the light-transmitting area 1211 may be provided with an anti-reflection film, so that the laser beam 61 can pass through the light-transmitting area 1211 and be emitted after being reflected by the second curved reflector 122. The specific size of the light-transmitting area 1211 is designed accordingly based on the beam diameter formed by the laser beam 61 after being reflected by the second curved reflector 122, and the size of the light-transmitting area 1211 is as small as possible while ensuring that the laser beam 61 can be smoothly emitted after being reflected by the second curved reflector 122, so as to ensure that the area of ​​the reflection surface of the first curved reflector 121 is sufficient to reflect the laser beam 61 emitted from the laser emitter 11 to the second curved reflector 122, thereby reducing energy loss.

[0039] Optionally, the laser emitting assembly 10 may further include a sleeve, and the laser emitter 11, the first curved reflector 121 and the second curved reflector 122 are coaxially assembled in the same sleeve. The setting of the sleeve is conducive to maintaining the relative positions between the laser emitter 11, the first curved reflector 121 and the second curved reflector 122, thereby ensuring that the laser beam 61 can be emitted from the light-transmitting area 1211 of the first curved reflector 121 according to a preset path.

[0040] In one embodiment, referring to Figure 1The second curved reflector 122 is a convex reflector with a smaller diameter than the first curved reflector 121. The laser emitter 11 is disposed on the side of the second curved reflector 122 away from the first curved reflector 121. The focus F2 of the second curved reflector 122 is located between the emission end of the laser emitter 11 and the reflection surface of the second curved reflector 122. The axis of the laser beam 61 emitted by the laser emitter 11 is coaxial with the first curved reflector 121. The laser beam 61 emitted by the laser emitter 11 passes through the area around the second curved reflector 122 and is emitted to the reflection surface of the first curved reflector 121. After being reflected by the reflection surface of the first curved reflector 121, the laser beam 61 is emitted to the second curved reflector 122. Since the first curved reflector 121 can converge the laser beam 61 emitted by the laser emitter 11, it is helpful to reduce the diameter of the second curved reflector 122, and reduce the cost while reducing the shielding of the laser beam 61 emitted by the laser emitter 11 by the second curved reflector 122. Since the axis of the laser beam 61 reflected by the reflection surface of the first curved reflector 121 passes through the focus F2 of the second curved reflector 122, the laser beam 61 reflected by the second curved reflector 122 is formed into a collimated parallel beam, and the diameter of the laser beam 61 is also small.

[0041] In a feasible implementation, the divergence angle of the laser beam 61 emitted by the laser emitter 11 is greater than 15 degrees, and the diameter of the emission hole of the emission end of the laser emitter 11 is between 0.1 mm and 0.5 mm, for example, the diameter of the emission hole of the emission end of the laser emitter 11 can be 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm or other values. The radius of curvature of the reflection surface of the first curved reflector 121 is between 40 mm and 100 mm, for example, it can be 40 mm, 50 mm, 60 mm, 80 mm, 100 mm or other values. The diameter of the first curved reflector 121 is 20 mm to 30 mm, for example, it can be 20 mm, 23 mm, 28 mm, 30 mm or other values. The distance between the light output port of the laser emitter 11 and the first curved reflector 121 is 80 mm to 120 mm, for example, it can be 80 mm, 90 mm, 100 mm, 110 mm, 120 mm or other values. The diameter of the light-transmitting area 1211 can be 3 mm to 7 mm, for example, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm or other values, and the size of the light-transmitting area 1211 is preferably large enough for the laser beam 61 reflected by the second curved reflector 122 to pass through. This arrangement is conducive to ensuring the energy density of the laser beam 61 emitted by the laser emitting assembly 10 and is conducive to the miniaturization of the laser emitting assembly 10.

[0042] Further optionally, the curvature radius of the reflection surface of the second curved reflector 122 is 40 mm to 60 mm, for example, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm or other values. And the diameter of the second curved reflector 122 is 1 mm to 2 mm larger than the diameter of the light-transmitting area 1211, which is conducive to reducing the overall size of the second curved reflector 122 and the overall volume of the laser emitting assembly 10 while ensuring that the area of ​​the second curved reflector 122 is sufficient to reflect the laser beam 61 from the first curved reflector 121.

[0043] Reference Figure 2 In another embodiment, the second curved reflector 122 is a concave reflector, that is, the focus F1 of the first curved reflector 121 and the focus F2 of the second curved reflector 122 are both located in the area between the reflection surface of the first curved reflector 121 and the reflection surface of the second curved reflector 122. Figure 2 , the distance between the first curved reflector 121 and the second curved reflector 122 along the central axis is greater than the sum of the focal lengths of the first curved reflector 121 and the second curved reflector 122, the emitting end of the laser emitter 11 is disposed between the focal point F1 of the first curved reflector 121 and the focal point F2 of the second curved reflector 122, and the distance between the emitting end of the laser emitter 11 and the first curved reflector 121 is greater than the focal length of the first curved reflector 121 and less than twice the focal length of the first curved reflector 121. The first curved reflector 121 is configured to reflect the laser beam 61 through the focal point F2 of the second curved reflector 122, and then the laser beam 61 is emitted from the focal point F2 of the second curved reflector 122 to the second curved reflector 122, and after being reflected by the second curved reflector 122, a collimated parallel beam is formed and emitted from the light passing area 1211 of the first curved reflector 121. Furthermore, the curvature radius of the reflecting surface of the second curved reflector 122 is greater than the curvature radius of the reflecting surface of the first curved reflector 121 , so as to facilitate the arrangement of the laser emitter 11 and help reduce the diameter of the laser beam 61 after being reflected by the second curved reflector 122 .

[0044] Reference Figure 3In one embodiment, the first curved reflector 121 is a convex reflector, the second curved reflector 122 is a concave reflector, and the diameter of the first curved reflector 121 is smaller than that of the second curved reflector 122. The axis of the laser beam 61 reflected by the first curved reflector 121 is emitted toward the second curved reflector 122 through the focus of the second curved reflector, so that the laser beam 61 reflected by the second curved reflector 122 is a collimated parallel beam, and the laser beam 61 reflected by the second curved reflector 122 can be emitted through the area around the first curved reflector 121, without the need to set a through or other structure for the laser beam 61 to penetrate on the first curved reflector 121.

[0045] Optionally, in a feasible implementation, the first curved reflector 121 is a hyperbolic convex reflector, that is, the reflective surface of the first curved reflector 121 is a hyperbolic convex surface. The second curved reflector 122 is a parabolic concave reflector, that is, the reflective surface of the second curved reflector 122 is a parabolic concave surface. In addition, a focus of the hyperbolic surface coincides with the focus of the parabola.

[0046] Please continue to refer to Figure 3 In this embodiment, the laser emitter 11 is disposed outside the main axis of the first curved reflector 121, and the direction of the laser beam 61 emitted by the laser emitter 11 is inclined with respect to the main axis of the first curved reflector 121. The collimating assembly 12 further includes a convex lens 123 and a right-angle reflector 124, and the convex lens 123 and the right-angle reflector 124 cooperate to guide the laser beam 61 emitted by the laser emitter 11 to the reflection surface of the first curved reflector 121. The convex lens 123 is disposed at the emission end of the laser emitter 11, and is used to converge the laser beam 61 emitted by the laser emitter 11. The right-angle reflector 124 is disposed between the first curved reflector 121 and the second curved reflector 122, and is disposed on the optical path of the laser beam 61 converged by the convex lens 123, and the right-angle reflector 124 reflects the laser beam 61 to the first curved reflector 121. This arrangement helps to reduce the difficulty of processing the second curved reflector 122 and assembling the collimating assembly 12 , and the arrangement position of the laser emitter 11 is more flexible, which helps to shorten the length of the laser emitting assembly 10 .

[0047] The laser emitting assembly 10 of the embodiment of the utility model adjusts the laser beam 61 through the first curved reflector 121 and the second curved reflector 122 which are arranged at intervals and whose reflective surfaces are opposite to each other. The axis of the laser beam 61 after being reflected by the first curved reflector 121 passes through the focus F2 of the second curved reflector 122. For example, in some embodiments, the first curved reflector 121 and the second curved reflector 122 both include at least one concave reflector, so that the divergence angle of the laser beam 61 after being reflected by the second curved reflector 122 is smaller than the divergence angle when it is emitted from the laser emitter 11, thereby achieving collimation of the laser beam 61. This arrangement can achieve long focal length collimation, and the emitted laser beam 61 has a better degree of collimation and a smaller beam diameter, and the laser beam 61 has a higher energy density.

[0048] Reference Figure 4 The embodiment of the utility model also provides a laser radar device, which includes the laser emitting component 10 in at least some of the above embodiments. By applying the laser emitting component 10 in at least some of the above embodiments, it is beneficial to improve the laser ranging capability and accuracy.

[0049] exist Figure 4 In FIG. 6 , the dotted line with an arrow represents the laser beam 61, and the solid line with an arrow represents the reflected beam 62. Figure 4 As shown, the laser radar device emits a laser beam 61 to the detection area 50. When there is a target object in the detection area 50, the target object reflects the laser beam 61 to form a reflected beam 62. The laser radar device also includes a receiving component 20, which is used to receive the reflected beam 62 reflected from the detection area 50. The receiving component 20 may include a receiving focusing system 21 and a receiver 22. The receiving focusing system 21 may converge the reflected beam 62, and the reflected beam 62 converged by the receiving focusing system 21 is emitted into the receiver 22. According to parameters such as the time difference between the reflected beam 62 signal received by the receiver 22 and the laser beam 61 emitted by the laser radar and the laser intensity comparison result, the situation of the target object in the detection area 50 can be determined.

[0050] Optionally, the laser radar device includes a beam splitter 30, which is arranged on the optical path of a laser beam 61 emitted by the laser emitting assembly 10. The laser beam 61 emitted by the laser emitting assembly 10 is emitted toward the detection area 50 after passing through the beam splitter 30. At the same time, the beam splitter 30 is also arranged on the optical path of a reflected beam 62 reflected from the detection area 50, and the reflected beam 62 enters the receiving focusing system 21 after being reflected by the beam splitter 30. The reflected beam 62 and the laser beam 61 are emitted toward the beam splitter 30 in opposite directions. By setting the beam splitter 30, at least a portion of the reflected beam 62 can be reflected to the receiving assembly 20 without affecting the emission of the laser beam 61. The laser beam 61 and the reflected beam 62 can share a portion of the path, which is conducive to reducing the volume of the laser radar device.

[0051] In some embodiments, the laser radar device may include a beam steering device 40. The beam steering device 40 is arranged on the side of the beam splitter 30 away from the laser emitting assembly 10, that is, the beam steering device 40 is arranged between the beam splitter 30 and the detection area 50. The beam steering device 40 is used to reflect the laser beam 61 passing through the beam splitter 30 to the detection area 50, and is also used to reflect the reflected beam 62 from the detection area 50 to the beam splitter 30. The beam steering device 40 may include a bracket (not shown), a driving mechanism (not shown) and a steering reflector 41, the steering reflector 41 is rotatably arranged on the bracket, and the driving mechanism is configured to drive the steering reflector 41 to rotate around a preset rotation axis on the bracket. By driving the steering reflector 41 to rotate by the driving mechanism, the emission direction of the laser beam 61 can be changed, which is conducive to expanding the scanning range of the laser radar. Optionally, the beam steering device 40 can be a piezoelectric fast reflection mirror whose driving mechanism adopts a piezoelectric driving device, which has the advantages of fast response speed and high control accuracy, and is suitable for scenes with large angle scanning.

[0052] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A laser emitting assembly (10) for a laser radar device, characterized in that: The laser emitting assembly (10) comprises: A laser emitter (11) configured to emit a laser beam (61); and A collimation component (12) is arranged on an optical path of a laser beam (61) emitted by the laser emitter (11), the collimation component (12) being configured to collimate the laser beam (61) emitted by the laser emitter (11), the collimation component (12) comprising a first curved reflector (121) and a second curved reflector (122) arranged at an interval, the reflective surface of the second curved reflector (122) being arranged opposite to the reflective surface of the first curved reflector (121), and the second curved reflector (122) being arranged coaxially with the first curved reflector (121); The laser light beam (61) passes through the first curved reflector (121) and the second curved reflector (122) in sequence, and the axis of the laser light beam (61) after being reflected by the first curved reflector (121) passes through the focus (F2) of the second curved reflector (122), so that the divergence angle of the laser light beam (61) after being reflected by the second curved reflector (122) is smaller than the divergence angle when the laser light beam (61) is emitted from the laser emitter (11).

2. The laser emitting assembly (10) according to claim 1, characterized in that: The first curved reflector (121) is a concave reflector, a light-transmitting area (1211) is provided on a side of the first curved reflector (121) close to the second curved reflector (122), and a reflecting surface of the second curved reflector (122) is arranged opposite to the light-transmitting area (1211).

3. The laser emitting assembly (10) according to claim 2, characterized in that: The second curved reflector (122) is a convex reflector with a smaller diameter than the first curved reflector (121); the laser emitter (11) is arranged on a side of the second curved reflector (122) away from the first curved reflector (121); a focus (F2) of the second curved reflector (122) is located between an emitting end of the laser emitter (11) and a reflecting surface of the second curved reflector (122); and an axis of a laser beam (61) emitted by the laser emitter (11) is coaxial with the first curved reflector (121).

4. The laser emitting assembly (10) according to claim 3, characterized in that: The divergence angle of the laser beam (61) emitted by the laser emitter (11) is greater than 15 degrees, and the diameter of the emission hole at the emission end of the laser emitter (11) is 0.1 mm-0.5 mm; The radius of curvature of the reflection surface of the first curved reflector (121) is 40 mm-100 mm, the diameter of the first curved reflector (121) is 20 mm-30 mm, the diameter of the light-transmitting area (1211) is 3 mm-7 mm, and the distance between the emission hole of the laser emitter (11) and the first curved reflector (121) is 80 mm-120 mm.

5. The laser emitting assembly (10) according to claim 4, characterized in that: The curvature radius of the reflection surface of the second curved reflector (122) is 40 mm to 60 mm, and the diameter of the second curved reflector (122) is 1 mm to 2 mm larger than the diameter of the light-transmitting area (1211).

6. The laser emitting assembly (10) according to claim 2, characterized in that: The second curved reflector (122) is a concave reflector, the distance between the first curved reflector (121) and the second curved reflector (122) along the central axis is greater than the sum of the focal lengths of the first curved reflector (121) and the second curved reflector (122), the emitting end of the laser emitter (11) is arranged between the focus (F1) of the first curved reflector (121) and the focus (F2) of the second curved reflector (122), and the first curved reflector (121) is configured to reflect the laser beam (61) through the focus (F2) of the second curved reflector (122).

7. The laser emitting assembly (10) according to claim 6, characterized in that: The curvature radius of the reflection surface of the second curved reflection mirror (122) is greater than the curvature radius of the reflection surface of the first curved reflection mirror (121).

8. The laser emitting assembly (10) according to any one of claims 2 to 7, characterized in that: The laser emitting assembly (10) comprises a sleeve, and the laser emitter (11), the first curved reflector (121) and the second curved reflector (122) are coaxially assembled in the same sleeve.

9. The laser emitting assembly (10) according to claim 1, characterized in that: The first curved reflector (121) is a convex reflector, the second curved reflector (122) is a concave reflector, and the diameter of the first curved reflector (121) is smaller than that of the second curved reflector (122).

10. The laser emitting assembly (10) according to claim 9, characterized in that: The first curved reflector (121) is a hyperbolic convex reflector, and the second curved reflector (122) is a parabolic concave reflector.

11. The laser emitting assembly (10) according to claim 9, characterized in that: The laser emitter (11) is arranged outside the main axis of the first curved reflector (121), and the direction of the laser beam (61) emitted by the laser emitter (11) is inclined with respect to the main axis of the first curved reflector (121); The collimation assembly (12) comprises: a convex lens (123), arranged at the emission end of the laser emitter (11); and A right-angle reflector (124) is disposed between the first curved reflector (121) and the second curved reflector (122); The laser beam (61) emitted by the laser emitter (11) is converged to the right-angle reflector (124) through the convex lens (123), and then the laser beam (61) is reflected to the first curved reflector (121) by the right-angle reflector (124).

12. The laser emitting assembly (10) according to claim 1, characterized in that: The back surface of the first curved reflector (121) and the back surface of the second curved reflector (122) are plane surfaces, and the reflection surface of the first curved reflector (121) and the reflection surface of the second curved reflector (122) are respectively coated with a reflection film.

13. The laser emitting assembly (10) according to claim 1, characterized in that: One of the first curved reflector (121) and the second curved reflector (122) is configured to be movably arranged relative to the other in a direction parallel to the axis so as to adjust the distance between the first curved reflector (121) and the second curved reflector (122).

14. The laser emitting assembly (10) according to claim 1, characterized in that: The focus (F1) of the first curved reflector (121) is located on a side of the second curved reflector (122) close to the first curved reflector (121) and a predetermined distance is provided between the second curved reflector (122).

15. A laser radar device, characterized in that: include: The laser emitting assembly (10) according to any one of claims 1 to 14; A receiving assembly (20), comprising a receiving focusing system (21) and a receiver (22); and Spectroscope (30); The laser light beam (61) emitted by the laser emitting assembly (10) is emitted toward the detection area (50) after passing through the beam splitter (30), and the beam splitter (30) is configured to reflect a reflected light beam (62) reflected by the detection area (50) according to the laser light beam (61) to the receiving focusing system (21), and the reflected light beam (62) is converged by the receiving focusing system (21) and then emitted into the receiver (22).

16. The laser radar device according to claim 15, characterized in that: The laser radar device comprises: a light beam steering device (40) disposed on a side of the beam splitter (30) away from the laser emitting assembly (10), the light beam steering device (40) comprising a bracket, a driving mechanism and a steering reflector (41), the steering reflector (41) being rotatably disposed on the bracket, and the driving mechanism being configured to drive the steering reflector (41) to rotate; The light beam steering device (40) is configured as follows: reflecting the laser beam (61) passing through the beam splitter (30) to the detection area (50); and The reflected light beam (62) reflected from the detection area (50) is reflected to the beam splitter (30).

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