Transmitting assembly and laser radar

Abstract

The utility model provides a transmitting assembly and a laser radar. The transmitting assembly comprises a circuit board; the emitter is located on the surface of the circuit board and comprises at least two lasers, and the lasers emit light beams in the direction perpendicular to the surface of the circuit board; and the light homogenizer group is fixed with the circuit board, the light homogenizer group comprises at least two light homogenizers, and the positions of the light homogenizers are matched with the positions of the lasers. The emitter is located on the surface of the circuit board, the light homogenizer set is fixed to the circuit board, the light homogenizer set comprises at least two light homogenizers, and the positions of the light homogenizers are matched with the positions of the lasers. Due to the fact that the light homogenizers in the light homogenizer set directly homogenize light in front of the laser, the size of the light homogenizers can be reduced. The dodging device and the laser are arranged on the circuit board together, so that the installation and adjustment complexity of the dodging device can be reduced by some embodiments of the invention.

Description

Technical Field

[0001] The present disclosure relates to the field of laser detection, and in particular to a transmitting assembly and a laser radar. Background Art

[0002] LiDAR (LiDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It is an advanced detection method that combines laser technology with photoelectric detection technology. LiDAR offers high resolution, strong resistance to active interference, excellent detection performance, and is compact and lightweight. It is widely used in autonomous driving, drones, intelligent robots, resource exploration, and other fields.

[0003] The sizes of the laser light-emitting surfaces used in different types of lidars are inconsistent, resulting in the need to customize lasers of different sizes / types for different lidars during mass production. For example, vertical cavity surface emitting lasers (VCSELs) of different sizes, such as edge emitting semiconductor lasers (EELs), polarized VCSELs, and non-polarized VCSELs, resulting in increased production costs.

[0004] However, different types of lidars use lasers of different sizes, there are gaps between adjacent lasers, and there are gaps between the lasers' fields of view (luminous areas) outside the lidar, which leads to blank areas in the point cloud.

[0005] In order to fill the gap between the light-emitting surfaces of adjacent lasers in the lidar, a light diffuser can be used. However, the existing light diffusers are large in size, and setting up a light diffuser may increase the complexity of installation and adjustment. Utility Model Content

[0006] To solve the above problems, according to a first aspect of the present disclosure, the present disclosure provides a transmitting assembly, comprising:

[0007] A circuit board; a transmitter located on a surface of the circuit board, the transmitter comprising: at least two lasers, the lasers emitting light beams in a direction perpendicular to the surface of the circuit board; a homogenizer group fixed to the circuit board, the homogenizer group comprising: at least two homogenizers, the positions of the homogenizers matching the positions of the lasers.

[0008] Optionally, it further includes: a support member, the support member including: a base plate, the base plate is fixed to the circuit board; the homogenizer group is fixed to the base plate.

[0009] Optionally, the light homogenizer includes: an optical device, the optical device is located in the first direction of the laser, and the position of the optical device matches the position of the laser; and a connecting member, the connecting member is located on one side of the optical device and connected to the optical device.

[0010] Optionally, the connecting member is configured to connect the optical device and the base plate.

[0011] Optionally, the optical devices of adjacent light diffusers are integrally formed; or, the connecting pieces of adjacent light diffusers are integrally formed; or, both the optical devices and the connecting pieces of adjacent light diffusers are integrally formed.

[0012] Optionally, the transmitting assembly includes at least two transmitters, and the at least two transmitters are arranged along a second direction; the base plate extends from one side to the other side of the at least two transmitters along the second direction.

[0013] Optionally, the transmitting component includes multiple transmitters, and the multiple transmitters are arranged along the second direction; among the multiple transmitters, the inter-group gaps on both sides along the second direction are larger than the inter-group gaps in the middle, and the inter-group gaps are the gaps between adjacent transmitters.

[0014] Optionally, the transmitting assembly includes a plurality of transmitters, and the plurality of transmitters are arranged in a plurality of columns along the second direction; transmitters in adjacent columns are staggered.

[0015] Optionally, the support member further includes: a pad, wherein the pad is located between the base plate and the circuit board to match the distance between the light homogenizer and the laser.

[0016] Optionally, the pad is integrally formed with the base plate.

[0017] Optionally, the spacer is located between adjacent transmitters along the second direction.

[0018] Optionally, the base plate includes a mounting hole; the pad includes: a limiting portion, the limiting portion is located between the base plate and the circuit board; and a protruding portion, the protruding portion is connected to the limiting portion, and the protruding portion protrudes from the mounting hole.

[0019] Optionally, the cushion block includes two limiting portions, and the raised portion of the cushion block is located between the two limiting portions.

[0020] Optionally, at least two of the lasers of a transmitter are arranged along a column direction; and the two limiting portions are arranged along a row direction, and the row direction and the column direction are perpendicular to each other.

[0021] Optionally, the light homogenizer includes a wedge prism or a cylindrical lens.

[0022] Optionally, the light homogenizer is configured to ensure that the energy uniformity of the laser light beam is within a range of ±10%.

[0023] Optionally, the light homogenizer is configured to cause the attenuation of the energy of the laser light beam to be no more than 10%.

[0024] Optionally, the light homogenizer homogenizes light in the column direction, and the thickness and wedge angle of the light homogenizer are determined based on the size of the laser, the divergence angle and the width difference of the light beam generated by the laser; the light homogenizer homogenizes light in the column direction, and the thickness and curvature radius of the light homogenizer are determined based on the size of the laser, the divergence angle and the width difference of the light beam generated by the laser.

[0025] Optionally, along the second direction, a distance between the geometric center of the laser and the geometric center of a cross section of the light homogenizer is less than or equal to 0.05 mm, wherein the cross section of the light homogenizer is a cross section of the light homogenizer parallel to the surface of the circuit board.

[0026] According to a second aspect of the present disclosure, the present disclosure further provides a laser radar, comprising:

[0027] A transmitting assembly includes: a circuit board; a transmitter located on a surface of the circuit board, comprising: at least two lasers, the lasers emitting light beams in a direction perpendicular to the surface of the circuit board; a homogenizer group fixed to the circuit board, the homogenizer group comprising: at least two homogenizers, the positions of the homogenizers matching those of the lasers; the light beam emitted by the lasers is transmitted through the homogenizers to form outgoing light; the outgoing light is reflected by an object to form echo light; and a receiver configured to receive the echo light.

[0028] Optionally, it further includes: an emitting lens, which is located downstream of the homogenizer group along the optical path of the outgoing light.

[0029] Optionally, it further includes: a scanner, wherein the scanner is located downstream of the emitting lens along the optical path of the outgoing light.

[0030] In the technical solution disclosed herein, the emitter is located on the surface of the circuit board, and the diffuser assembly is fixed to the circuit board. The diffuser assembly includes at least two diffusers, the positions of which match the positions of the laser. Because the diffusers in the diffuser assembly diffuse light directly in front of the laser, some embodiments of the present disclosure can reduce the size of the diffusers. Because the diffusers and the laser are located together on the circuit board, some embodiments of the present disclosure can reduce the complexity of diffuser assembly and adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without inventive effort. The drawings are used to provide a further understanding of the present disclosure and constitute part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure.

[0032] Figure 1 A schematic perspective view of an example of a launch assembly consistent with some embodiments of the present disclosure is shown.

[0033] Figure 2 Shown Figure 1 Schematic diagram of the exploded structure of the launch assembly example shown.

[0034] Figure 3 Shown Figure 1 A schematic diagram of the top view of the structure of the transmitter example in the transmitting assembly example is shown.

[0035] Figure 4 Shown Figure 1 A schematic top view of the structure of an example launch assembly is shown.

[0036] Figure 5 Shown Figure 1 An enlarged perspective schematic diagram of a portion of the structure of an example of a transmitting assembly is shown.

[0037] Figure 6 A side view of an emitter and diffuser group in an example of a transmitting assembly consistent with some embodiments of the present disclosure is shown.

[0038] Figure 7 A schematic diagram of energy distribution in the downstream optical path of the homogenizer group in an example of a transmitting assembly consistent with some embodiments of the present disclosure is shown.

[0039] Figure 8 A schematic diagram of energy distribution in the downstream optical path of the light diffuser group in an example of a transmitting assembly consistent with some embodiments of the present disclosure is shown.

[0040] Figure 9 A side view of an emitter and diffuser group in an example of a transmitting assembly consistent with some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0041] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0042] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0043] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or interconnected connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0044] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0046] LiDAR can use a microlens array (such as a diverging concave lens array) or a single lens to homogenize light. This type of homogenizer is generally large and complex to assemble and adjust.

[0047] The present disclosure provides a transmitting assembly, comprising: a circuit board; a transmitter, the transmitter being located on a surface of the circuit board and comprising: at least two lasers, the lasers emitting light beams in a direction perpendicular to the surface of the circuit board; and a homogenizer group, the homogenizer group being fixed to the circuit board and comprising: at least two homogenizers, the positions of the homogenizers matching those of the lasers.

[0048] The emitter is located on the surface of the circuit board, and the diffuser group is fixed to the circuit board. The diffuser group includes at least two diffusers, and the positions of the diffusers match the positions of the laser. Because the diffusers in the diffuser group diffuse light directly in front of the laser, some embodiments of the present disclosure can reduce the size of the diffusers. Because the diffusers and the laser are installed together on the circuit board, some embodiments of the present disclosure can reduce the complexity of diffuser installation and adjustment.

[0049] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0050] refer to Figure 1 , showing a schematic diagram of the three-dimensional structure of an embodiment of the launch assembly disclosed herein.

[0051] The transmitting assembly includes: a circuit board 101; a transmitter 110, the transmitter 110 is located on the surface of the circuit board 101, and the transmitter 110 includes: at least two lasers, the lasers emitting light beams in a direction perpendicular to the surface of the circuit board 101; a homogenizer group 102, the homogenizer group 102 is fixed to the circuit board 101, and the homogenizer group 102 includes: at least two homogenizers 120, the position of the homogenizer 120 matches the position of the laser.

[0052] The technical solution of the transmitting assembly embodiment is described below with reference to the accompanying drawings.

[0053] The circuit board 101 is used to provide mechanical support.

[0054] In some embodiments, the circuit board 101 may be a printed circuit board. In other embodiments, the circuit board 101 may be other types of circuit boards.

[0055] The emitter 110 is fixed to the surface of the circuit board 101. The emitter 110 may include at least two lasers 111, which are connected to other circuits through the circuit board 110. The lasers 111 may generate a light beam that is emitted in a direction perpendicular to the surface of the circuit board 110. In some embodiments, the lasers 111 include VCSELs; in other embodiments, the lasers may include other types of lasers.

[0056] In some embodiments, at least two lasers 111 in the emitter 110 may be arranged along the second direction x. Figures 1 to 3 , one of the emitters 110 may include two of the lasers 111; the two lasers 111 of one of the emitters 110 are arranged sequentially along the second direction x.

[0057] In some embodiments of the present disclosure, at least two lasers 111 in a transmitter 110 may be arranged along a second direction x. This disclosure uses the example of at least two lasers 111 in a transmitter 110 being arranged along the second direction x. In other embodiments of the present disclosure, at least two lasers 111 in a transmitter may also be arranged along other directions.

[0058] It should be noted that the second direction x is parallel to the circuit board 101 , and the second direction x may be one of a row direction and a column direction.

[0059] In other embodiments of the present disclosure, the number of lasers in a transmitter may also be greater than 2; and the multiple lasers in a transmitter are arranged sequentially along the second direction x.

[0060] In some embodiments of the present disclosure, the transmitting assembly may include at least two transmitters 110, and the at least two transmitters 110 may be arranged along the second direction x. Figure 3 The transmitting component may include a plurality of transmitters 110, and the plurality of transmitters 110 are arranged along the second direction x.

[0061] In some embodiments, within a row of emitters 110, the emitters 110 are evenly distributed, and the intergroup gaps SP1 between adjacent emitters are all equal. In other embodiments of the present disclosure, within the plurality of emitters, the intergroup gaps on both sides along the second direction x are larger than the intergroup gap in the middle, where the intergroup gap is the gap between adjacent emitters.

[0062] In some embodiments of the present disclosure, the transmitting assembly includes a plurality of transmitters 110, wherein the plurality of transmitters 110 are arranged in a plurality of columns; the transmitters 110 in adjacent columns are staggered. Staggering the transmitters 110 in adjacent columns means that a transmitter 110 in one column is located between two adjacent transmitters 110 in an adjacent column along a second direction x; and the transmitters 110 in adjacent columns are positioned at different positions along the second direction x.

[0063] In some embodiments, reference Figure 1 and Figure 2 The transmitting assembly includes a plurality of transmitters 110, and the plurality of transmitters 110 are arranged along a first column and a second column; at least two transmitters 110 in the first column and at least two transmitters 110 in the second column are staggered, for example, a transmitter 110 in the first column is located between two adjacent transmitters 110 in the second column along the second direction x, and a transmitter 110 in the second column is located between two adjacent transmitters 110 in the first column along the second direction x.

[0064] Continue to refer Figure 1 and Figure 2 The transmitting component also includes a homogenizer group 102 fixed to the circuit board 101, and the homogenizer group 102 includes at least two homogenizers 120 that match the position of the laser 111. The homogenizer 120 can homogenize the light beam generated by the position-matched laser 111.

[0065] In some embodiments, the homogenizer group 102 corresponds to the emitter 110, for example, the light beam emitted by the emitter 110 can be incident on the corresponding homogenizer group 102; the homogenizer 120 in the homogenizer group 102 is position-matched with the laser 111 in the emitter 110, for example, the light beam emitted by the laser 111 in the emitter 110 can be incident on the homogenizer 120 in the homogenizer group 102 with matching position.

[0066] The homogenizer 120 can be fixed to the circuit board 101. In some embodiments, the homogenizer 120 is directly fixed to the circuit board 101. The homogenizer 120 is small in size; and the distance between the laser 111 and the homogenizer 120 is very small, so a homogenizer 120 can be set for each laser 111 with separated optical paths. In some embodiments, the homogenizer 120 corresponds one-to-one with the laser 111, and can homogenize the optical paths of the respective lasers 111, which can effectively reduce the design difficulty of the homogenizer. Moreover, the homogenizer 120 and the laser 111 are directly installed and adjusted to achieve alignment, which is more convenient. The setting of the homogenizer 120 does not need to consider the deflection of the optical path by the optical lens, which is conducive to mass production.

[0067] In some embodiments of the present disclosure, at least two lasers 111 in the transmitter 110 may be arranged along the second direction x; and at least two homogenizers 120 in the homogenizer group may also be arranged along the second direction x to match the positions of the lasers 111. Figures 1 to 4 The transmitter 110 includes two lasers 111 arranged along the second direction x; the two homogenizers 120 in the homogenizer group 102 are also arranged along the second direction x.

[0068] In some embodiments, the number of homogenizers in the homogenizer group is related to the number of lasers in the transmitter. For example, the number of homogenizers in the homogenizer group corresponds to the number of lasers in the transmitter: when the number of lasers in the transmitter is greater than 2, the number of homogenizers in the homogenizer group is also greater than 2. For example, when the number of lasers in the transmitter is 5, the number of homogenizers in the homogenizer group is also 5; when the number of lasers in the transmitter is 9, the number of homogenizers in the homogenizer group is 3.

[0069] In some embodiments of the present disclosure, the transmitting assembly includes at least two transmitters 110 arranged along the second direction x; the transmitting assembly also includes at least two light homogenizer groups 102, and at least two of the light homogenizer groups 102 are also arranged along the second direction x to match the position of the laser 111 in the transmitter 110. For example, refer to Figure 3 and Figure 4 The transmitting assembly includes a plurality of light homogenizer groups 102, and the plurality of light homogenizer groups 102 are arranged along the second direction x.

[0070] In some embodiments, within a row of emitters 110, the plurality of emitters 110 are evenly distributed; within a row of diffuser groups 102, the plurality of diffuser groups 102 are also evenly distributed, and the gaps SP2 between adjacent diffuser groups 102 are equal. In other embodiments of the present disclosure, within a row of emitters, the gaps between groups on both sides along the second direction x are larger than the gaps between groups in the middle; and the gaps between adjacent diffuser groups on both sides along the second direction x are larger than the gaps between adjacent diffuser groups in the middle.

[0071] In some embodiments of the present disclosure, the multiple emitters 110 of the transmitting assembly are arranged in multiple columns, with the emitters 110 in adjacent columns staggered. The multiple diffuser groups 102 of the transmitting assembly are arranged in multiple columns, with the diffuser groups 102 in adjacent columns staggered. Staggering the diffuser groups 110 in adjacent columns means that a diffuser group 102 in one column is located between two adjacent diffuser groups 102 in adjacent columns along the second direction x.

[0072] Continue to refer Figure 1 , combined with reference Figure 5 In some embodiments of the present disclosure, the light homogenizer 120 includes: an optical device 121, wherein the optical device 121 is located in the first direction z of the laser 111, and the position of the optical device 121 matches the position of the laser 111; a connecting member 122, wherein the connecting member 122 is located on one side of the optical device 121 and the connecting member 122 is connected to the optical device 121 to separate the optical device 121 from the laser 111.

[0073] In some embodiments, the position of the optical device 121 matches the position of the laser 111 , which means that the light beam generated by the laser 111 is incident on the optical device 121 with matching position.

[0074] In some embodiments, the first direction z is perpendicular to the surface of the circuit board 101 .

[0075] The optical device 121 plays an optical role and can homogenize the light beam generated by the position-matched laser; the connector 121 connected to the optical device 121 can fix the position of the optical device 121, so that the optical device 121 is at a certain distance from the laser 111, for example, the optical device 121 is suspended above the laser 111.

[0076] In some embodiments, in adjacent light diffusers 120, at least one of the optical component 121 and the connector 122 can be integrally formed. Figures 1 to 4The optical components 121 of adjacent light diffusers 120 are integrally formed; the connecting components 122 of adjacent light diffusers 120 are also integrally formed. In other embodiments of the present disclosure, the optical components of adjacent light diffusers are integrally formed, and the connecting components of adjacent light diffusers are separate; in other embodiments of the present disclosure, the optical components of adjacent light diffusers are separate, and the connecting components of adjacent light diffusers are integrally formed.

[0077] refer to Figure 1 、 Figure 2 and Figure 4 In some embodiments of the present disclosure, the transmitting assembly further includes: a support member 130 , the support member 130 includes: a base plate 131 , the base plate 131 is fixed to the circuit board 101 ; the homogenizer group 102 is fixed to the base plate 131 .

[0078] The support member 130 can fix the light homogenizer group 102 to prevent the light homogenizer group 102 from directly contacting the laser 111. The bottom plate 131 can fix the light homogenizer 120.

[0079] In some embodiments, at least two lasers 111 in one of the emitters 110 may be arranged along the second direction x; in one of the homogenizer groups, at least two homogenizers 120 may also be arranged along the second direction x to match the positions of the lasers 111; and the base plate 131 may extend from one side of the at least two emitters 110 to the other side along the second direction x.

[0080] In some embodiments, the light diffuser 120 includes an optical device 121 and a connector 122; the connector 122 is configured to connect the optical device 121 and the base plate 131. For example, referring to Figure 1 、 Figure 2 and Figure 4 In the light homogenizer 120, the optical device 121 is suspended above the laser 111 in a paired position, one side of the connecting member 122 is connected to the optical device 121, and the other side of the connecting member 122 extends to the base plate 131 and is fixedly connected to the surface of the base plate 131 to achieve the connection between the optical device 121 and the base plate 131.

[0081] Continue to refer Figure 1 , combined with reference Figure 2 and Figure 4 In some embodiments of the present disclosure, the support member 130 further includes a spacer 132 , and the spacer 132 is located between the base plate 131 and the circuit board 101 to match the distance between the light homogenizer 120 and the laser 111 .

[0082] The spacer 132 can adjust the distance between the base plate 131 and the circuit board 101 to adjust the optical path of the transmitting assembly. In some embodiments, the spacer 132 is integrally formed with the base plate 131. In other embodiments, the spacer can also be separated from the base plate.

[0083] refer to Figures 1 to 4 In some embodiments, in the transmitting assembly, at least two of the transmitters 110 are arranged along the second direction x, and the spacer 132 is located between the transmitters 110 adjacent to each other along the second direction x. Figure 4 In the transmitting assembly, at least two light diffuser groups 102 are also arranged along the second direction x; and the spacer 132 is also located between adjacent light diffuser groups 102 along the second direction x.

[0084] In some embodiments of the present disclosure, the base plate 131 includes a mounting hole 131k; the pad 132 includes: a limiting portion 132a, the limiting portion 132a is located between the base plate 131 and the circuit board 101; and a protruding portion 132b, the protruding portion 132b is connected to the limiting portion 132a, and the protruding portion 132b protrudes from the mounting hole 131k.

[0085] refer to Figure 5 In some embodiments, the spacer 132 includes two limiting portions 132a, and the raised portion 132b of the spacer 132 is located between the two limiting portions 132a. For example, the two limiting portions 132a are arranged along the third direction y, and the third direction y is perpendicular to the second direction x.

[0086] It should be noted that the third direction y is parallel to the circuit board 101 , and the third direction y may be the other of the row direction and the column direction.

[0087] refer to Figure 6 , showing a side view of the light emitter and light homogenizer group in another embodiment of the transmitting assembly of the present disclosure.

[0088] Similarities with the previous embodiments are not further described in this disclosure. In some embodiments of the present disclosure, the light diffuser 220 in the light diffuser assembly 202 is a wedge-shaped lens. In some embodiments, the light diffuser may include the optical device and the connector. The light diffuser 220 being a wedge-shaped lens means that at least the optical device is wedge-shaped. In some embodiments, the connector of the light diffuser 220 may also be wedge-shaped.

[0089] In some embodiments of the present disclosure, the light homogenizer 220 can make the energy uniformity of the light beam emitted by the laser 211 within the range of ±10%. Figure 7After the light homogenizer is set, the energy of the light beams generated by all the lasers in the transmitter at different positions in the plane perpendicular to the output light axis floats within the design range.

[0090] In some embodiments, the light homogenizer 220 can attenuate the energy of the light beam emitted by the laser 211 by no more than 10%. The configuration of the light homogenizer 220 reduces the maximum energy of the light beams generated by all lasers 211 in the emitter 210 at different positions within a plane perpendicular to the output optical axis by no more than 10%.

[0091] In some embodiments, the light homogenizer 220 homogenizes light along the second direction, and the thickness and wedge angle of the light homogenizer 220 are determined based on the size of the laser 211 and the divergence angle and width difference of the light beam generated by the laser 211. The size of the light homogenizer 220 and the parameters of the laser 211 affect the final homogenization effect.

[0092] It should be noted that the width difference of the light beam refers to the difference in size of the light spot formed by the light beam before and after homogenization in the plane perpendicular to the light path.

[0093] refer to Figure 7 and Figure 8 , Figure 7 The thickness of the wedge lens in the embodiment shown is less than Figure 8 The thickness of the wedge lens in the embodiment shown is, Figure 7 The wedge angle of the wedge lens in the embodiment shown is greater than Figure 8 The wedge angle of the wedge lens in the embodiment shown is, Figure 7 In the embodiment shown, the maximum energy of the light beam in the downstream optical path of the homogenizer accounts for less than the maximum energy of the light beam in the upstream optical path of the homogenizer. Figure 8 In the embodiment shown, the maximum energy of the light beam in the downstream optical path of the homogenizer accounts for the maximum energy of the light beam in the upstream optical path of the homogenizer.

[0094] In some embodiments, along the second direction, the distance between the geometric center of the laser and the geometric center of the cross section of the homogenizer is less than or equal to a preset value. In some embodiments, the preset value may be 0.05 mm. In other embodiments, the preset value may be, for example, 0.01 mm, 0.02 mm, 0.03 mm, 0.04 mm, etc. The cross section of the homogenizer is the cross section of the homogenizer parallel to the surface of the circuit board. By limiting the distance between the homogenizer and the laser, some embodiments of the present disclosure can allow the light beam generated by the laser to enter the homogenizer as much as possible, thereby reducing energy consumption, improving the homogenization effect, and improving the integration level.

[0095] refer to Figure 9 , shows a side view of the light emitter and light homogenizer group in another embodiment of the transmitting assembly of the present disclosure.

[0096] Similarities with the previous embodiments are not further described in this disclosure. In some embodiments of the present disclosure, the light diffuser 320 in the light diffuser assembly 302 is a cylindrical lens. In some embodiments, the light diffuser may include the optical device and the connector. The light diffuser 320 being a cylindrical lens means that at least the optical device is cylindrical. In some embodiments, the connector of the light diffuser 320 may also be cylindrical.

[0097] In some embodiments, the light homogenizer 320 homogenizes light along the second direction, and the thickness and curvature radius of the light homogenizer 320 are determined based on the size of the laser 311 and the divergence angle and width difference of the light beam generated by the laser 311. The size of the light homogenizer 320 and the parameters of the laser 311 will affect the final homogenization effect.

[0098] The present disclosure also provides a laser radar.

[0099] The laser radar includes: a transmitting component, reference Figure 1 The transmitting assembly includes: a circuit board 101; a transmitter 110, the transmitter 110 is located on the surface of the circuit board 101, the transmitter 110 includes: at least two lasers 111, the lasers 111 emit light beams in a direction perpendicular to the surface of the circuit board 101; a homogenizer group 102, the homogenizer group 102 is fixed to the circuit board 101, the homogenizer group 102 includes: at least two homogenizers 120, the positions of the homogenizers 120 match the positions of the lasers 111; the light beam emitted by the laser 111 is transmitted through the homogenizer 120 to form an outgoing light; the outgoing light is reflected by an object to form an echo light; a receiver, the receiver is configured to receive the echo light.

[0100] In some embodiments of the present disclosure, the transmitting assembly is the transmitting assembly of the present disclosure. The technical solution of the transmitting assembly is referred to the embodiment of the transmitting assembly described above. The present disclosure will not repeat it here.

[0101] In some embodiments, the laser radar further comprises a transmitting lens, which is located downstream of the light homogenizer assembly 102 along the optical path of the outgoing light. Providing a light homogenizer 120 in the transmitting assembly upstream of the transmitting lens can prevent overlap of the optical paths of multiple lasers, enabling the beams of multiple lasers to be simultaneously optimized to a better state, thereby improving the performance of the laser radar.

[0102] In some exemplary embodiments, the receiver may be at least one of a single photon avalanche diode (SPAD) receiver, a silicon photomultiplier (SiPM) receiver, and an avalanche photodiode (APD) receiver.

[0103] In some embodiments, the laser radar further includes: a scanner, wherein the scanner is located downstream of the transmitting lens along the optical path of the outgoing light.

[0104] In some exemplary embodiments, the scanner may be one of a rotating mirror, a swinging mirror, and a MEMS scanning mirror.

[0105] It should be understood that the division of the modules and units in the above system is merely a division of logical functions. In actual implementation, other division methods may be employed. In actual implementation, the modules and units may be fully or partially integrated into a single physical entity, or they may be physically separate. Furthermore, the modules and units in the device may be implemented in the form of a processor invoking software. For example, the device includes a processor connected to a memory storing instructions, and the processor invokes the instructions stored in the memory to implement any of the above methods or the functions of the modules and units in the device. The processor may be, for example, a general-purpose processor such as a central processing unit (CPU) or a microprocessor, and the memory may be internal or external to the system. Alternatively, the modules and units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the modules can be realized by designing the hardware circuits. The hardware circuits can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above modules are realized by designing the logical relationships between the components within the circuit. For another example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD), which can include a large number of logic gate circuits. The logical relationships between the logic gate circuits are configured through configuration files, thereby realizing the functions of some or all of the above modules. All modules of the above system can be implemented entirely by calling programs from the processor, or entirely by hardware circuits, or partially by calling programs from the processor, with the remaining parts implemented in the form of hardware circuits.

[0106] In summary, the emitter is located on the surface of the circuit board, the diffuser group is fixed to the circuit board, and the diffuser group includes at least two diffusers, the positions of which match the positions of the laser. Because the diffusers in the diffuser group diffuse light directly in front of the laser, some embodiments of the present disclosure can reduce the size of the diffusers. Because the diffusers and the laser are arranged together on the circuit board, some embodiments of the present disclosure can reduce the complexity of diffuser installation and adjustment.

[0107] Although the present disclosure is disclosed as above, the present disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope defined by the claims.

Claims

1. A launching assembly, characterized in that: include: circuit boards; An emitter, the emitter being located on the surface of the circuit board, the emitter comprising: at least two lasers, the lasers emitting light beams in a direction perpendicular to the surface of the circuit board; A light homogenizer group is fixed to the circuit board and includes at least two light homogenizers, and positions of the light homogenizers match positions of the lasers.

2. The launch assembly according to claim 1, wherein: Also includes: A support member, the support member comprising: a bottom plate, the bottom plate being fixed to the circuit board; The light diffuser group is fixed to the bottom plate.

3. The launch assembly according to claim 2, wherein: The light diffuser comprises: an optical device, the optical device being located in a first direction of the laser, and the position of the optical device being matched with the position of the laser; A connecting member is located at one side of the optical device and is connected to the optical device.

4. The launch assembly according to claim 3, wherein: The connecting member is configured to connect the optical device and the base plate.

5. The launch assembly according to claim 3, wherein: The optics of adjacent light diffusers are integrally formed; Alternatively, the connecting pieces of adjacent light diffusers are integrally formed; Alternatively, the optical devices and connectors of adjacent light diffusers are integrally formed.

6. The launch assembly according to claim 2, wherein: The transmitting assembly includes at least two transmitters, and at least two of the transmitters are arranged along the second direction; The bottom plate extends from one side to the other side of the at least two emitters along the second direction.

7. The launch assembly according to claim 6, wherein: The transmitting assembly includes a plurality of transmitters, and the plurality of transmitters are arranged along the second direction; Among the plurality of emitters, the inter-group gaps on both sides along the second direction are larger than the inter-group gap in the middle, and the inter-group gaps are the gaps between adjacent emitters.

8. The launch assembly according to claim 2, wherein: The transmitting assembly includes a plurality of transmitters, and the plurality of transmitters are arranged in a plurality of columns along the second direction; the transmitters in adjacent columns are staggered.

9. The launch assembly according to claim 2, wherein: The support member further includes a spacer block, which is located between the bottom plate and the circuit board to match the distance between the light homogenizer and the laser.

10. The launch assembly according to claim 9, wherein: The cushion block and the bottom plate are integrally formed.

11. The launch assembly according to claim 9, wherein: The spacer is located between the emitters adjacent to each other along the second direction.

12. The launch assembly according to claim 9, wherein: The base plate includes a mounting hole; The pad includes: a limiting portion, the limiting portion being located between the bottom plate and the circuit board; A raised portion is connected to the limiting portion, and the raised portion protrudes from the mounting hole.

13. The launch assembly according to claim 12, wherein: The cushion block includes two limiting portions, and the raised portion of the cushion block is located between the two limiting portions.

14. The launch assembly according to claim 13, wherein: At least two of the lasers of a transmitter are arranged along a second direction; The two limiting portions are arranged along a third direction, and the third direction is perpendicular to the second direction.

15. The launch assembly according to claim 1, wherein: The light homogenizer includes a wedge prism or a cylindrical lens.

16. The launch assembly according to claim 15, wherein: The light homogenizer is configured to ensure that the energy uniformity of the laser light beam is within a range of ±10%.

17. The launch assembly according to claim 15, wherein: The light homogenizer is configured to make the attenuation of the energy of the laser light beam no greater than 10%.

18. The launch assembly according to claim 15, wherein: The light homogenizer is configured to homogenize light along a second direction, and the thickness and wedge angle of the light homogenizer are determined based on the size of the laser, the divergence angle and the width difference of the light beam generated by the laser; or The light homogenizer is configured to homogenize light along the second direction, and the thickness and curvature radius of the light homogenizer are determined based on the size of the laser, and the divergence angle and width difference of the light beam generated by the laser.

19. The launch assembly according to claim 1, wherein: Along the second direction, a distance between the geometric center of the laser and the geometric center of the cross section of the light homogenizer is less than or equal to 0.05 mm, wherein the cross section of the light homogenizer is a cross section of the light homogenizer parallel to the surface of the circuit board.

20. A laser radar, characterized in that: include: A transmitting assembly, the transmitting assembly comprising: a circuit board; a transmitter, the transmitter being located on a surface of the circuit board, the transmitter comprising: at least two lasers, the lasers emitting light beams in a direction perpendicular to the surface of the circuit board; a homogenizer group, the homogenizer group being fixed to the circuit board, the homogenizer group comprising: at least two homogenizers, the positions of the homogenizers matching the positions of the lasers; The light beam emitted by the laser is transmitted through the light homogenizer to form an output light; The outgoing light forms echo light after being reflected by the object; A receiver is configured to receive the echo light.

21. The laser radar according to claim 20, wherein: Also includes: An emitting lens is located downstream of the light homogenizer group along the optical path of the outgoing light.

22. The laser radar according to claim 21, wherein Also includes: A scanner is located downstream of the emission lens along the optical path of the outgoing light.

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