Laser radar and automatic driving equipment

Abstract

The embodiment of the utility model discloses a laser radar and automatic driving equipment. The laser radar comprises a transmitting module and a receiving module, the receiving module comprises a first receiving array, a second receiving array, a first receiving lens, a second receiving lens and a first reflecting element, and the first reflecting element is located between the first receiving lens and the second receiving lens; the first reflecting element comprises a first reflecting surface and a second reflecting surface; a first echo light beam corresponding to a receiving view field of the first receiving channel is transmitted through the first receiving lens and the first reflecting surface in sequence and then reaches the first receiving array, and a second echo light beam corresponding to a receiving view field of the second receiving channel is transmitted through the second receiving lens and the second reflecting surface in sequence and then reaches the first receiving array. By folding the receiving and transmitting light path, the size of the laser radar can be reduced.

Description

Technical Field

[0001] The present application relates to the field of laser radar, and specifically to a laser radar and autonomous driving equipment. Background Art

[0002] LiDAR is a precision instrument that uses laser pulses for ranging and perception. It has been widely used in fields such as autonomous driving, industrial mapping, robotics, and smart transportation.

[0003] Existing LiDAR systems, such as common mechanical LiDARs, typically have transceiver modules that include multiple transceiver channels. These modules are rotated by motors to expand the LiDAR's horizontal or vertical field of view, enabling all-around perception of the surrounding environment. However, this mechanically rotating structure results in LiDARs with large size, complex structure, poor mechanical reliability, and high noise levels. Summary of the Invention

[0004] In order to reduce the size of the laser radar, the embodiments of the present application disclose a laser radar and an autonomous driving device.

[0005] In a first aspect, an embodiment of the present application discloses a laser radar, comprising a receiving module including a first receiving array, a second receiving array, a first receiving lens, a second receiving lens, and a first reflecting element, wherein the first reflecting element is located between the first receiving lens and the second receiving lens;

[0006] The first reflecting element includes a first reflecting surface and a second reflecting surface, wherein the first receiving lens, the first reflecting surface and the first receiving array constitute a first receiving channel, and the second receiving lens, the second reflecting surface and the second receiving array constitute a second receiving channel;

[0007] The first echo light beam corresponding to the receiving field of view of the first receiving channel is transmitted through the first receiving lens and the first reflecting surface in sequence and then reaches the first receiving array. The second echo light beam corresponding to the receiving field of view of the second receiving channel is transmitted through the second receiving lens and the second reflecting surface in sequence and then reaches the second receiving array.

[0008] In some embodiments, the transmitting module and the receiving module are arranged sequentially along a first direction, the first receiving lens, the first reflecting element, and the second receiving lens are arranged sequentially along a second direction, and the first receiving array, the first reflecting element, and the second receiving array are arranged sequentially along a third direction, wherein the first direction is perpendicular to the second direction, the second direction is perpendicular to the third direction, and the third direction is perpendicular to the first direction. Folding the optical path of the receiving module based on the first reflecting element helps to reduce the size of the lidar.

[0009] In some embodiments, the first reflecting element is a first plane mirror, wherein the surface on one side of the first plane mirror is the first reflecting surface, the surface on the other side of the first plane mirror is the second reflecting surface, the first reflecting surface is parallel to the second reflecting surface, the angle between the normal of the first reflecting surface and the second direction is 45 degrees, and the angle between the normal of the first reflecting surface and the third direction is 45 degrees. One reflecting surface corresponds to one receiving channel, and the folding of the receiving light paths corresponding to the two receiving channels can be achieved based on the first plane mirror, which is beneficial to reducing the volume of the laser radar. Compared with optical elements such as prisms and curved reflectors, the plane mirror has a simple structure and can further reduce the space volume occupied by the transmitting module.

[0010] In some embodiments, the transmitting module includes a first transmitting array, a second transmitting array, a first transmitting lens, a second transmitting lens, and a second reflecting element, wherein the first transmitting lens, the second reflecting element, and the second transmitting lens are arranged in sequence along the second direction, and the first transmitting array, the second reflecting element, and the second transmitting array are arranged in sequence along the third direction; the second reflecting element includes a third reflecting surface and a fourth reflecting surface, wherein the first transmitting lens, the third reflecting surface, and the first transmitting array constitute a first transmitting channel, and the second transmitting lens, the fourth reflecting surface, and the second transmitting array constitute a second transmitting channel, and one transmitting channel corresponds to one receiving channel. Corresponding to the optical path structure of the receiving module, one reflecting surface corresponds to one transmitting channel. By providing a second reflecting element with two reflecting surfaces, the optical path of the transmitting module can be folded, which is beneficial to reducing the volume of the laser radar.

[0011] In some embodiments, the transmitting module and the receiving module are arranged sequentially along a first direction, and the first receiving lens, the first reflecting element, and the second receiving lens are arranged sequentially along a second direction. The first receiving array and the second receiving array are located on the same side of the first reflecting element, and the first direction is perpendicular to the second direction. By arranging the two receiving arrays on the same side of the first reflecting element, the length of the receiving module along the third direction can be reduced, which helps reduce the size of the lidar.

[0012] In some embodiments, the first reflecting element includes a first plane mirror and a second plane mirror; the first plane mirror includes the first reflecting surface, and the second plane mirror includes the second reflecting surface, wherein the first reflecting surface is perpendicular to the second reflecting surface, the angle between the normal of the first reflecting surface and the second direction is 45 degrees, and the first reflecting surface is parallel to the first direction.

[0013] In some embodiments, the first reflecting element is a prism; the prism includes a first end face, a second end face, and multiple side faces located between the first end face and the second end face, the multiple side faces include the first reflecting surface and the second reflecting surface, wherein the first reflecting surface is perpendicular to the second reflecting surface, the angle between the normal of the first reflecting surface and the second direction is 45 degrees, and the first reflecting surface is parallel to the first direction.

[0014] In some embodiments, the transmitting module includes a first transmitting array, a second transmitting array, a first transmitting lens, a second transmitting lens, and a second reflecting element, wherein the first transmitting lens, the second reflecting element, and the second transmitting lens are arranged in sequence along the second direction, and the first transmitting array and the second transmitting array are located on the same side of the second reflecting element; the second reflecting element includes a third reflecting surface and a fourth reflecting surface, wherein the first transmitting lens, the third reflecting surface, and the first transmitting array constitute a first transmitting channel, and the second transmitting lens, the fourth reflecting surface, and the second transmitting array constitute a second transmitting channel, and one transmitting channel corresponds to one receiving channel. Corresponding to the receiving module, by placing the two transmitting arrays on the same side of the second reflecting element, the length of the transmitting module along the third direction is reduced, which is conducive to reducing the volume of the laser radar.

[0015] In some embodiments, the emission module includes a first emission array, a second emission array, a first emission lens, and a second emission lens, each of the emission arrays includes a plurality of emission blocks, each of the emission lenses includes a plurality of microlenses, wherein one microlens corresponds to one emission block, and each emission block includes at least one laser; the first emission lens and the first emission array constitute a first emission channel, the second emission lens and the second emission array constitute a second emission channel, wherein one emission channel corresponds to one receiving channel. The first emission array cooperates with the microlens array composed of a plurality of microlenses, and the direction of the laser beam emitted from each emission block can be controlled by the optical structure design of the microlens array. Compared to using a mechanical rotation device to expand the scanning field of view, this flood emission strategy can simplify the optical path structure of the emission module and expand the scanning field of view.

[0016] In a second aspect, the present application discloses an autonomous driving device, comprising a vehicle body and any one of the above-described laser radars installed on the vehicle body.

[0017] The present application discloses a laser radar and an autonomous driving device, which performs optical path folding based on multiple reflective surfaces. While achieving field of view splicing to expand the laser radar scanning range, it reduces the space volume occupied by the transmitting module or the receiving module, which is conducive to the miniaturization of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application.

[0019] Figure 1 This is a schematic structural diagram of a laser radar disclosed in an embodiment of the present application;

[0020] Figure 2 This is a schematic structural diagram of a receiving module disclosed in an embodiment of the present application;

[0021] Figure 3 This is a schematic structural diagram of a receiving module disclosed in an embodiment of the present application;

[0022] Figure 4 This is a schematic structural diagram of a receiving module disclosed in an embodiment of the present application;

[0023] Figure 5 This is a schematic structural diagram of a receiving module disclosed in an embodiment of the present application;

[0024] Figure 6 This is a schematic structural diagram of a transmitting module disclosed in an embodiment of the present application;

[0025] Figure 7 This is a schematic structural diagram of a transmitting module disclosed in an embodiment of the present application;

[0026] Figure 8 This is a schematic structural diagram of a transmitting module disclosed in an embodiment of the present application;

[0027] Figure 9 is a schematic diagram of a transmitting array and a receiving array disclosed in an embodiment of the present application;

[0028] Figure 10 It is a schematic diagram of the transmitting array and receiving array disclosed in the embodiment of the present application.

[0029] Among them, the figure marks include: 100, receiving module; 1011, first receiving array; 1012, second receiving array; 1021, first receiving lens; 1022, second receiving lens; 1023, third receiving lens; 1024, fourth receiving lens; 103a, first reflecting surface; 103b, second reflecting surface; 200, transmitting module; 2011, first transmitting array; 2012, second transmitting array; 2021, first transmitting lens; 2022, second transmitting lens; 2023, third transmitting lens; 2024, fourth transmitting lens; 203a, third reflecting surface; 203b, fourth reflecting surface. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of this application more apparent, embodiments of the present application will be further described in detail below with reference to the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, identical numbers in different drawings represent identical or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Instead, they are merely examples of structures consistent with certain aspects of this application, as detailed in the appended claims.

[0031] In the existing technical solutions, laser radars with a large horizontal field of view are mainly mechanical laser radars. This type of laser radar uses a motor to drive the entire transceiver module to rotate around the rotation axis to achieve a 360-degree horizontal field of view, thereby realizing all-round perception of the surrounding environment. However, rotating components (such as motors, bearings, and counterweights) have problems such as complex structural design, large size, poor mechanical reliability (easy to be disabled by external impact), and high noise, making it difficult to guarantee system reliability and operational robustness. In addition, during the rotational scanning process, each component in the transceiver module needs to be powered by a complex power supply slip ring and optical communication module. Unlike mechanical laser radars, solid-state laser radars do not include rotating components, but are based on multi-field splicing to expand the horizontal field of view, which can effectively reduce the size of the laser radar and improve the reliability of the laser radar.

[0032] In one embodiment, the present application discloses a laser radar, such as Figure 1 As shown, the laser radar includes a receiving module 100 and a transmitting module 200, wherein the receiving module 100 and the transmitting module 200 are arranged in sequence along a first direction (Z-axis direction). The transmitting module 200 is used to emit a scanning beam toward a target object, and the receiving module 100 is used to receive an echo beam formed by the scanning beam reflected by the target object. The vertical field of view angle of the receiving module 100 is greater than or equal to 90 degrees, and the horizontal field of view angle is 360 degrees; the vertical field of view angle of the transmitting module 200 is greater than or equal to 90 degrees, and the horizontal field of view angle is 360 degrees (the horizontal plane is parallel to the XOY plane). Taking the receiving module 100 as an example, the 360-degree horizontal field of view angle is achieved by splicing the horizontal fields of view of multiple receiving channels. In one example, the receiving module 100 includes a first receiving array, a second receiving array, a first receiving lens, a second receiving lens and a first reflecting element, wherein the first reflecting element is located between the first receiving lens and the second receiving lens; the first reflecting element includes a first reflecting surface and a second reflecting surface; the first receiving lens, the first reflecting surface and the first receiving array constitute a first receiving channel, and the second receiving lens, the second reflecting surface and the second receiving array constitute a second receiving channel. The first echo light beam corresponding to the receiving field of the first receiving channel passes through the first receiving lens and the first reflecting surface in sequence and then reaches the first receiving array, and the second echo light beam corresponding to the receiving field of the second receiving channel passes through the second receiving lens and the second reflecting surface in sequence and then reaches the first receiving array.

[0033] In one embodiment, the receiving module 100 includes a first receiving array 1011, a second receiving array 1012, a first receiving lens 1021, a second receiving lens 1022, and a first reflecting element, wherein the first photosensitive surface is the photosensitive surface of the first receiving array 1011, and the second photosensitive surface is the photosensitive surface of the second receiving array 1012. In one example, Figure 2 As shown, the first receiving array 1011, the first reflecting element and the second receiving array 1012 are arranged in sequence along the third direction (Y-axis direction), and the first receiving lens 1021, the first reflecting element and the second receiving lens 1022 are arranged in sequence along the second direction (X-axis direction). The first receiving channel includes the first receiving lens 1021, the first reflecting surface 103a and the first receiving array 1011, and the first receiving channel is used to receive the echo beam formed by the scanning beam reflected by the first target object on one side of the laser radar. The second receiving channel includes the second receiving lens 1022, the second reflecting surface 103b and the second receiving array 1012, and the second receiving channel is used to receive the echo beam formed by the scanning beam reflected by the second target object on the other side of the laser radar. In one example, as Figure 2 As shown, the horizontal field of view corresponding to the first receiving channel is θ1, θ1 is greater than or equal to 180 degrees, and the vertical field of view corresponding to the first receiving channel is greater than or equal to 90 degrees. The horizontal field of view corresponding to the second receiving channel is θ2, θ2 is greater than or equal to 180 degrees, and the vertical field of view corresponding to the second receiving channel is greater than or equal to 90 degrees. Based on the horizontal fields of view of the first receiving channel and the second receiving channel, splicing is performed so that the horizontal field of view of the receiving module 100 is 360 degrees. In addition, when the image plane ratio is less than 1:1 (the horizontal field of view of a single receiving channel is greater than the vertical field of view of the receiving channel), the transmitting module 200 and the receiving module 100 are stacked in the vertical direction (Z-axis direction) to avoid mutual interference between the transmitting and receiving light paths.

[0034] In one example, the first target reflects the scanning beam emitted by the transmitting module 200 to form a first echo beam, and the second target reflects the scanning beam emitted by the transmitting module 200 to form a second echo beam. Figure 2As shown, the optical axis of the first receiving lens 1021 is parallel to the X-axis, and the optical axis of the second receiving lens 1022 is parallel to the X-axis. The photosensitive surface of the first receiving array 1011 is perpendicular to the Y-axis, and the photosensitive surface of the first receiving array 1011 is parallel to the photosensitive surface of the second receiving array 1012. The first reflecting surface 103a is parallel to the second reflecting surface 103b. The angle between the normal of the first reflecting surface 103a and the X-axis is 45 degrees, and the angle between the normal of the first reflecting surface 103a and the Y-axis is 45 degrees. The first echo beam is transmitted through the first receiving lens 1021 and reaches the first reflecting surface 103a. The first echo beam is then reflected by the first reflecting surface 103a and reaches the photosensitive surface of the first receiving array 1011. The second echo beam is transmitted through the second receiving lens 1022 and reaches the second reflecting surface 103b. The second echo beam is then reflected by the second reflecting surface 103b and reaches the photosensitive surface of the second receiving array 1012. The first reflective element can fold the laser radar receiving optical path and reduce the heat dissipation path within the receiving module 100. In conjunction with the receiving lenses, the first target and the second target located on either side of the laser radar can be imaged onto the photosensitive surfaces of different receiving arrays, respectively. This expands the horizontal field of view of the receiving module 100 while reducing the internal space occupied by the receiving module, thereby facilitating the miniaturization of the laser radar.

[0035] In one example, if Figure 2 As shown, the receiving module 100 also includes a third receiving lens 1023 and a fourth receiving lens 1024, wherein the third receiving lens 1023 is located between the first reflecting surface 103a and the first receiving array 1011, and the optical axis of the third receiving lens 1023 is parallel to the Y-axis. The first receiving lens 1021 or the third receiving lens 1023 is used to perform beam expansion, focusing, collimation, or beam shaping on the first echo light beam. The fourth receiving lens 1024 is located between the second reflecting surface 103b and the second receiving array 1012, and the optical axis of the fourth receiving lens 1024 is parallel to the Y-axis. The second receiving lens 1022 or the fourth receiving lens 1024 is used to perform beam expansion, focusing, collimation, or beam shaping on the second echo light beam.

[0036] In one embodiment, the first reflecting element is a first plane mirror including a first reflecting surface 103a and a second reflecting surface 103b, the surface on one side of the first plane mirror is the first reflecting surface 103a, and the surface on the other side of the first plane mirror is the second reflecting surface 103b; or the first reflecting element includes a first plane mirror and a second plane mirror, wherein the first plane mirror includes the first reflecting surface 103a and a first bonding surface, the second plane mirror includes the second reflecting surface 103b and a second bonding surface, and the first bonding surface and the second bonding surface are bonded and fixed based on glue.

[0037] In one embodiment, the receiving module 100 is as follows Figure 3As shown, the first receiving array 1011, the first reflecting element, and the second receiving array 1012 are arranged in sequence along the third direction (Y-axis direction), and the first receiving lens 1021, the first reflecting element, and the second receiving lens 1022 are arranged in sequence along the second direction (X-axis direction). The first reflecting element is formed by gluing two prisms together. The prism is a triangular prism, a square prism, or a pentagonal prism. In one example, the first reflecting element includes a first prism and a second prism, both of which are triangular prisms. The first prism and the second prism are bonded and fixed, and the inner surface of the first prism facing away from the second prism is the first reflecting surface 103a, and the inner surface of the second prism facing away from the first prism is the second reflecting surface 103b. The first reflective surface 103a is parallel to the second reflective surface 103b. The normal of the first reflective surface 103a forms an angle of 45 degrees with the optical axis of the first receiving lens 1021. The normal of the second reflective surface 103b forms an angle of 45 degrees with the optical axis of the second receiving lens 106. The first reflective surface 103a is parallel to the first direction. The first receiving channel includes the first receiving lens 1021, the first reflective surface 103a, and the first receiving array 1011. The first receiving channel is used to receive the echo beam formed by the scanning beam reflected by the first target on one side of the laser radar. The horizontal field of view corresponding to the first receiving channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the first receiving channel is greater than or equal to 90 degrees. The second receiving channel includes the second receiving lens 1022, the second reflective surface 103b, and the second receiving array 1012. The second receiving channel is used to receive the echo beam formed by the scanning beam reflected by the second target on the other side of the laser radar. The horizontal field of view corresponding to the second receiving channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the second receiving channel is greater than or equal to 90 degrees. The horizontal fields of view of the first receiving channel and the second receiving channel are spliced ​​so that the horizontal field of view of the receiving module 100 is 360 degrees.

[0038] In one example, for Figure 3In the receiving module shown, the first target object reflects the scanning light beam emitted by the transmitting module 200 to form a first echo light beam, and the second target object reflects the scanning light beam emitted by the transmitting module 200 to form a second echo light beam. The first echo light beam is transmitted through the first receiving lens 1021 and reaches the first reflecting surface 103a. The first echo light beam is then reflected by the first reflecting surface 103a and reaches the photosensitive surface of the first receiving array 1011. The second echo light beam is transmitted through the second receiving lens 1022 and reaches the second reflecting surface 103b. The second echo light beam is then reflected by the second reflecting surface 103b and reaches the photosensitive surface of the second receiving array 1012. Based on the combination of two prisms, the laser radar receiving light path can be folded, and the heat dissipation path in the receiving module can be shortened. In conjunction with each receiving lens, the first target and the second target located on both sides of the laser radar can be imaged on the photosensitive surfaces of different receiving arrays respectively. While expanding the horizontal field of view of the receiving module, the internal space of the laser radar occupied by the receiving module is reduced, which is conducive to the miniaturization of the laser radar. In another example, as Figure 3 As shown, the receiving module 100 also includes a third receiving lens 1023 and a fourth receiving lens 1024, wherein the third receiving lens 1023 is located between the first prism and the first receiving array 1011, and the fourth receiving lens 1024 is located between the first prism and the second receiving array 1012. The first receiving lens 1021 or the third receiving lens 1023 is used to perform beam expansion, focusing, collimation, or beam shaping on the first echo light beam. The second receiving lens 1022 or the fourth receiving lens 1024 is used to perform beam expansion, focusing, collimation, or beam shaping on the second echo light beam.

[0039] In one embodiment, the first receiving array 1011 and the second receiving array 1012 are located on the same side of the first reflecting element. The first receiving array 1011 and the second receiving array 1012 are two elements separated along the second direction, or the photosensitive surface of the first receiving array 1011 and the photosensitive surface of the second receiving array 1012 are separated by the photosensitive surface of the same receiving array. In one example, the receiving module 100 is as follows: Figure 4As shown, the photosensitive surfaces of the first receiving array 1011 and the second receiving array 1012 are both perpendicular to the Y-axis, and the optical axes of the first receiving lens 1021 and the second receiving lens 1022 are both parallel to the X-axis. The first receiving channel includes the first receiving lens 1021, the first reflecting surface 103a, the third receiving lens 1023, and the first receiving array 1011; the second receiving channel includes the second receiving lens 1022, the second reflecting surface 103b, the fourth receiving lens 1024, and the second receiving array 1012. The first receiving channel is used to receive the echo beam formed by the scanning beam reflected by the first target on one side of the laser radar. The horizontal field of view corresponding to the first receiving channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the first receiving channel is greater than or equal to 90 degrees. The second receiving channel is used to receive the echo beam formed by the scanning beam reflected by the second target on the other side of the laser radar. The horizontal field of view corresponding to the second receiving channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the second receiving channel is greater than or equal to 90 degrees. The horizontal fields of view of the first receiving channel and the second receiving channel are spliced ​​so that the horizontal field of view of the receiving module 100 is 360 degrees.

[0040] In some embodiments, Figure 4 The receiving module 100 shown includes a light-blocking element that is used to separate the photosensitive surface of the first receiving array 1011 from the photosensitive surface of the second receiving array 1013b to reduce signal crosstalk between the two receiving channels. In one example, the light-blocking element is a baffle having an anti-reflective coating on its surface, which is used to separate the photosensitive surface of the first receiving array 1011 from the photosensitive surface of the second receiving array 1013b.

[0041] In one example, the first target and the second target are located on both sides of the laser radar. Figure 4As shown, the first reflective element includes two reflectors, one of which includes a first reflective surface 103a and the other includes a second reflective surface 103b. Both reflectors are plane mirrors or curved reflectors. In one example, the first reflective element includes a first plane mirror and a second plane mirror, the first plane mirror including a first reflective surface 103a and the second plane mirror including a second reflective surface 103b. The first reflective surface 103a is perpendicular to the second reflective surface 103b. The normal of the first reflective surface 103a is at an angle of 45 degrees to the X-axis, the normal of the first reflective surface 103a is at an angle of 45 degrees to the Y-axis, and the first reflective surface 103a is parallel to the Z-axis. The first echo beam is transmitted through the first receiving lens 1021 and reaches the first reflective surface 103a. It is then reflected by the first reflective surface 103a and passes through the third receiving lens 1023. Finally, it is transmitted through the third receiving lens 1023 and reaches the photosensitive surface of the first receiving array 1011. The second echo beam is transmitted through the second receiving lens 1022 and reaches the second reflecting surface 103b. It is then reflected by the second reflecting surface 103b and transmitted through the fourth receiving lens 1024. Finally, it is transmitted through the fourth receiving lens 1024 and reaches the photosensitive surface of the second receiving array 1013b. By folding the optical paths of the two receiving channels using two plane mirrors and two receiving lenses, the horizontal field of view of the receiving module is expanded while reducing the internal space occupied by the receiving module, which facilitates the miniaturization of the LiDAR.

[0042] In another embodiment, the receiving module 100 is as follows Figure 5 As shown, in Figure 4 Based on the receiving module 100 shown, a prism is used as the first reflective element to achieve isolation of the two echo light beams. The prism can be a triangular prism, a square prism, or a pentagonal prism. In one example, the first reflective element is a square prism, including a first end face, a second end face, and multiple side faces located between the first end face and the second end face. The first end face and the second end face are both parallel to the XOY plane, and the multiple side faces include a first reflective surface 103a and a second reflective surface 103b, wherein the first reflective surface 103a is perpendicular to the second reflective surface 103b. The first echo light beam is transmitted through the first receiving lens 1021 and reaches the first reflective surface 103a. It is then reflected by the first reflective surface 103a and then transmits through the third receiving lens 1023. Finally, it is transmitted through the third receiving lens 1023 and reaches the photosensitive surface of the first receiving array 1011. The second echo beam is transmitted through second receiving lens 1022 and reaches second reflecting surface 103b. It is then reflected by second reflecting surface 103b and transmitted through fourth receiving lens 1024. Finally, it is transmitted through fourth receiving lens 1024 and reaches the photosensitive surface of second receiving array 1013b. Deflecting the two echo beams using a single prism expands the horizontal field of view of the receiving module while reducing the internal space occupied by the receiving module, facilitating miniaturization of the LiDAR.

[0043] In one embodiment, Figure 6 As shown, the transmitting module 200 includes a first transmitting array 2011, a second transmitting array 2012, a first transmitting lens 2021, a second transmitting lens 2022, and a second reflecting element. The first transmitting array 2011, the second reflecting element, and the second transmitting array 2012 are arranged sequentially along the third direction (the Y-axis), and the first transmitting lens 2021, the second reflecting element, and the second transmitting lens 2022 are arranged sequentially along the second direction (the X-axis). The second reflecting element includes a third reflecting surface 203a facing the first transmitting array 2011 and a fourth reflecting surface 203b facing the second transmitting array 2012. The first transmitting channel includes the first transmitting lens 2021, the third reflecting surface 203a, and the first transmitting array 2011. The first transmitting channel is used to emit a first scanning beam toward a first target located on one side of the laser radar. The first target reflects the first scanning beam to form a first echo beam. The first transmitting channel corresponds to the first receiving channel. The horizontal field of view corresponding to the first transmitting channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the first transmitting channel is greater than or equal to 90 degrees. The second transmitting channel includes a second transmitting lens 2022, a fourth reflecting surface 203b, and a second transmitting array 2012. The second transmitting channel is used to emit a second scanning beam toward a second target located on the other side of the laser radar. The second target reflects the second scanning beam to form a second echo beam. The second transmitting channel corresponds to the second receiving channel. The horizontal field of view corresponding to the second transmitting channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the second transmitting channel is greater than or equal to 90 degrees. The horizontal fields of view of the first and second transmitting channels are combined to achieve a horizontal field of view of 360 degrees for the transmitting module 200.

[0044] In one example, for Figure 6In the illustrated transmitting module 200, the optical axis of the first transmitting lens 2021 is parallel to the X-axis, and the optical axis of the second transmitting lens 2022 is parallel to the X-axis. The light-emitting surface of the first transmitting array 2011 is perpendicular to the Y-axis, and the light-emitting surface of the first transmitting array 2011 is parallel to the light-emitting surface of the second transmitting array 2012. The third reflecting surface 203a is parallel to the fourth reflecting surface 203b. The normal of the third reflecting surface 203a forms an angle of 45 degrees with the X-axis, and the normal of the third reflecting surface 203a forms an angle of 45 degrees with the Y-axis. The first scanning beam emitted by the first transmitting array 2011 is reflected by the third reflecting surface 203a, then transmitted through the first transmitting lens 2021, and reaches the surface of the first target. The first target reflects the first scanning beam, forming a first echo beam. The second scanning beam emitted by the second transmitting array 2012 is reflected by the fourth reflecting surface 203b, then transmitted through the second transmitting lens 2022, and reaches the surface of the second target. The second target reflects the second scanning beam, forming a second echo beam. The second reflective element can fold the laser radar transmission optical path, shortening the heat dissipation path within the transmitting module. This not only expands the horizontal field of view of the transmitting module 200, but also reduces the internal space of the laser radar occupied by the transmitting module 200, facilitating the miniaturization of the laser radar.

[0045] In another example, Figure 6 As shown, the transmitting module 200 also includes a third transmitting lens 2023 and a fourth transmitting lens 2024, wherein the third transmitting lens 2023 is located between the second reflecting element and the first transmitting array 2011, and the fourth transmitting lens 2024 is located between the second reflecting element and the second transmitting array 2012. The optical axis of the third transmitting lens 2023 is parallel to the Y axis, and the optical axis of the fourth transmitting lens 2024 is parallel to the Y axis. The first transmitting lens 2021 or the third transmitting lens 2023 is used to perform beam expansion, focusing, collimation, or beam shaping on the first scanning light beam. The second transmitting lens 2022 or the fourth transmitting lens 2024 is used to perform beam expansion, focusing, collimation, or beam shaping on the second scanning light beam.

[0046] In one embodiment, the second reflective element is a second plane mirror including a third reflective surface 203a and a fourth reflective surface 203b. One side of the second plane mirror is the third reflective surface 203a, and the other side of the second plane mirror is the fourth reflective surface 203b.

[0047] In one embodiment, combined Figure 2 and Figure 6The first reflective element in the receiving module 100 and the second reflective element in the transmitting module 200 are the same reflective element, which includes a first surface and a second surface. The first surface includes a first reflective surface 103a and a third reflective surface 203a, and the second surface includes a second reflective surface 103b and a fourth reflective surface 203b. In other words, the first reflective surface 103a and the third reflective surface 203a are different regions of the same reflective surface. This effectively simplifies the internal structure of the LiDAR, facilitating miniaturization of the LiDAR.

[0048] In one embodiment, the first emission array 2011 and the second emission array 2012 are located on the same side of the second reflective element. The first emission array 2011 and the second emission array 2012 are two elements separated along the second direction, or the first emission array 2011 and the second emission array 2012 are different areas corresponding to the same emission array. In one example, the emission module 200 is as follows: Figure 7 As shown, the light-emitting surface of the first transmitting array 2011 and the light-emitting surface of the second transmitting array 2012 are in the same plane and perpendicular to the Y-axis. The optical axes of the first receiving lens 1021 and the second receiving lens 1022 are both parallel to the X-axis. The first transmitting channel includes the first transmitting lens 2021, the third reflecting surface 203a, the third transmitting lens 2023, and the first transmitting array 2011; the second transmitting channel includes the second transmitting lens 2022, the fourth reflecting surface 203b, the fourth transmitting lens 2024, and the second transmitting array 2012. The first transmitting channel is used to emit a first scanning beam toward a first target located on one side of the laser radar. The horizontal field of view corresponding to the first transmitting channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the first transmitting channel is greater than or equal to 90 degrees. The second transmitting channel is used to emit a second scanning beam toward a second target located on the other side of the laser radar. The horizontal field of view corresponding to the second transmitting channel is greater than or equal to 180 degrees, and the vertical field of view corresponding to the second transmitting channel is greater than or equal to 90 degrees. Based on the fields of view of the first emission channel and the second emission channel, the horizontal field of view of the emission module 200 is spliced ​​to be 360 ​​degrees and the vertical field of view is greater than or equal to 90 degrees.

[0049] In some embodiments, Figure 7 The transmitter module 200 shown in FIG. 2 further includes a light-blocking element for separating the first transmitter array 2011 from the second transmitter array 2012 to reduce signal crosstalk between the two transmitter channels. In one example, the light-blocking element is a baffle having an anti-reflective coating on its surface, and is used to separate the first transmitter array 2011 from the second transmitter array 2012.

[0050] In one embodiment, Figure 7As shown, the second reflective element includes a third plane mirror and a fourth plane mirror. The third plane mirror includes a third reflective surface 203a, and the fourth plane mirror includes a fourth reflective surface 203b. The third reflective surface 203a is perpendicular to the fourth reflective surface 203b. The normal of the third reflective surface 203a forms an angle of 45 degrees with the third direction, the normal of the third reflective surface 203a forms an angle of 45 degrees with the second direction, and the third reflective surface 203a is parallel to the first direction. The first scanning beam emitted by the first emitting array 2011 is transmitted through the third emitting lens 2023 and reaches the third reflective surface 203a. The first scanning beam is reflected by the third reflective surface 203a and reaches the first emitting lens 2021. The first scanning beam is then transmitted through the first emitting lens 2021 and reaches the surface of the first target object. The second scanning beam emitted by the second transmitting array 2012 is transmitted through the fourth transmitting lens 2024 and reaches the fourth reflecting surface 203b. The second scanning beam is then reflected by the fourth reflecting surface 203b and reaches the second transmitting lens 2022. The second scanning beam is then transmitted through the second transmitting lens 2022 and reaches the surface of the second target object. The two plane mirrors and the transmitting lenses expand the horizontal field of view of the transmitting module 200 while reducing the internal space occupied by the transmitting module 200, which facilitates the miniaturization of the laser radar.

[0051] In one embodiment, the second reflective element is a prism including a third reflective surface 203a and a fourth reflective surface 203b. The prism can be a triangular prism, a quadrangular prism, or a pentagonal prism. In one example, the second reflective element is a quadrangular prism including a first end face, a second end face, and a plurality of side faces between the first end face and the second end face. The first end face and the second end face are both parallel to the XOY plane. The plurality of side faces include the third reflective surface 203a and the fourth reflective surface 203b. The third reflective surface 203a is perpendicular to the fourth reflective surface 203b and parallel to the first direction.

[0052] In another embodiment, combined Figure 4 and Figure 7 The first plane mirror in the receiving module 100 and the third plane mirror in the transmitting module 200 are the same reflector, and the second plane mirror in the receiving module 100 and the fourth plane mirror in the transmitting module 200 are the same reflector. The first reflective surface 103a and the third reflective surface 203a are different regions of the same reflective surface, and the second reflective surface 103b and the fourth reflective surface 203b are different regions of the same reflective surface. This effectively simplifies the internal structure of the laser radar and facilitates its miniaturization.

[0053] In one embodiment, the transmitting module 200 realizes a wide field of view scanning of the environment around the laser radar based on flood transmission. Figure 8As shown, the transmitting module 200 includes a first transmitting array 2011 and a second transmitting array 2012. The first transmitting array 2011 and the second transmitting array 2012 are both planar transmitting arrays or linear transmitting arrays. Each transmitting array includes multiple transmitting blocks, and each transmitting block includes at least one laser. The first transmitting lens 2021 and the second transmitting lens 2022 are both two-dimensional microlens arrays. The two-dimensional microlens array includes multiple microlenses, wherein one transmitting block corresponds to one microlens. Taking the first transmitting array 2021 as an example, the first scanning beam emitted by the first transmitting array 2021 includes multiple scanning sub-beams, one transmitting block corresponds to one scanning sub-beam, and there is a non-zero angle between two adjacent scanning sub-beams. The first transmitting channel includes the first transmitting array 2011 and the first transmitting lens 2021, and the second transmitting channel includes the second transmitting array 2012 and the second transmitting lens 2022. One transmitting channel corresponds to one receiving channel. The horizontal field of view or vertical field of view of the laser radar can be divided into sub-fields of view with the same field of view angle or sub-fields of view with different field of view angles through a two-dimensional microlens array. Multiple sub-fields of view are spliced ​​to achieve all-round perception of the environment surrounding the laser radar. The optical structure design of the microlens array controls the emission direction of the laser beam emitted by each emission block. Compared with using a mechanical rotation device to expand the scanning field of view, this flood emission strategy can simplify the optical path structure of the emission module and expand the scanning field of view. In some embodiments, the emission module 200 also includes elements such as gratings, free-form surfaces, or super lenses to control the emission direction of each scanning sub-beam to achieve flood emission with a large scanning field of view angle.

[0054] In some embodiments, one transmit channel corresponds to one receive channel. Figure 1 、 Figure 2 and Figure 6 , or combined Figure 1 、 Figure 3 and Figure 6 The first transmitting array 2011 corresponds to the first receiving array 1011. The second transmitting array 2012 corresponds to the second receiving array 1012. The first scanning beam emitted by the first transmitting array 2011 is reflected by the first target to form a first echo beam, and the first receiving array 1011 is used to receive the first echo beam. The second scanning beam emitted by the second transmitting array 2012 is reflected by the second target to form a second echo beam, and the second receiving array 1012 is used to receive the second echo beam. In another example, combined with Figure 1 、 Figure 4 and Figure 7 , or combined Figure 1 、 Figure 5 and Figure 7The first transmitting array 2011 corresponds to the first receiving array 1011, and the second transmitting array 2012 corresponds to the second receiving array 1012. The first scanning beam emitted by the first transmitting array 2011 is reflected by the first target to form a first echo beam, and the first receiving array 1011 is used to receive the first echo beam. The second scanning beam emitted by the second transmitting array 2012 is reflected by the second target to form a second echo beam, and the second receiving array 1012 is used to receive the second echo beam.

[0055] In some embodiments, the laser radar is a flash solid-state laser radar, each transmitting array includes multiple transmitting blocks, each transmitting block includes at least one vertical-cavity surface-emitting laser (VCSEL) or edge-emitting laser (EEL). Each receiving array includes multiple receiving blocks, each receiving block includes multiple single photon avalanche diodes (SPADs). One transmitting block corresponds to one or more receiving blocks; or one receiving block corresponds to one or more transmitting blocks.

[0056] In one embodiment, Figure 9As shown, the laser radar scanning process is illustrated using the first transmitting array 2011 and the corresponding first receiving array 1011 as examples. The first transmitting array 2011 includes four transmitting sequences, T1, T2, T3, and T4, each of which includes multiple transmitting blocks. The first receiving array 1011 includes four receiving sequences, R1, R2, R3, and R4, each of which includes multiple receiving blocks. Each transmitting sequence corresponds to a receiving sequence, and each transmitting block corresponds to a receiving block. In one example, the laser radar scans row by row as follows: the transmitting blocks in the transmitting sequence T1 emit scanning beams, and the receiving blocks in the receiving sequence R1 receive the corresponding return beams; the transmitting blocks in the transmitting sequence T2 emit scanning beams, and the receiving blocks in the receiving sequence R2 receive the corresponding return beams; the transmitting blocks in the transmitting sequence T3 emit scanning beams, and the receiving blocks in the receiving sequence R3 receive the corresponding return beams; the transmitting blocks in the transmitting sequence T4 emit scanning beams, and the receiving blocks in the receiving sequence R4 receive the corresponding return beams. In this embodiment, the number of emission blocks included in each row of the emission sequence can be adjusted according to the dynamic range, the scanning frame rate, or the preset emission power. The number of lasers included in each emission block can also be adjusted according to the dynamic range, the scanning frame rate, or the preset emission power. Correspondingly, the number of receiving blocks included in each row of the receiving sequence can be dynamically adjusted according to the target distance, the target surface reflectivity, or the echo beam intensity. The number of SPADs included in each receiving block can also be dynamically adjusted according to the target distance, the target surface reflectivity, or the echo beam intensity. This thereby enhances the flexibility of the lidar scanning process to adapt to different detection needs.

[0057] In another example, the laser radar line-by-line scanning can start from any row according to a randomly generated random number sequence. For example, when the random number sequence is "2, 1, 3, 4", the corresponding scanning process is as follows: the transmitting block in the transmitting sequence of row T2 emits a scanning beam, and the receiving block in the receiving sequence of row R2 receives the corresponding echo beam; the transmitting block in the transmitting sequence of row T1 emits a scanning beam, and the receiving block in the receiving sequence of row R1 receives the corresponding echo beam; the transmitting block in the transmitting sequence of row T3 emits a scanning beam, and the receiving block in the receiving sequence of row R3 receives the corresponding echo beam; the transmitting block in the transmitting sequence of row T4 emits a scanning beam, and the receiving block in the receiving sequence of row R4 receives the corresponding echo beam. In another example, when the random number sequence is "1, 4, 2, 3", the corresponding scanning process is as follows: the transmitting block in the T1-line transmitting sequence and the transmitting block in the T4-line transmitting sequence simultaneously emit scanning beams, the receiving block in the R1-line receiving sequence receives the corresponding echo beam, and the receiving block in the R4-line receiving sequence receives the corresponding echo beam; the transmitting block in the T2-line transmitting sequence and the transmitting block in the T3-line transmitting sequence simultaneously emit scanning beams, the receiving block in the R2-line receiving sequence receives the corresponding echo beam, and the receiving block in the R3-line receiving sequence receives the corresponding echo beam. The random row scanning method in this embodiment can effectively improve the laser radar's ability to resist external radar crosstalk, improve the laser radar's working stability and the accuracy of detection results.

[0058] In one embodiment, Figure 10As shown, the scanning process of the laser radar is described using the first transmitting array 2011 and the corresponding first receiving array 1011 as an example. The first transmitting array 2011 includes 16 transmitting blocks, namely T11 to T14, T21 to T24, T31 to T34, and T41 to T44; the first receiving array 1011 includes 16 transmitting blocks, namely R11 to R14, R21 to R24, R31 to R34, and R41 to R44. Each transmitting block corresponds to one receiving block. In an example, the laser radar scanning process block by block is as follows: T11, T12, T13, and T14, a total of four transmitting blocks, emit scanning beams in sequence, and R11, R12, R13, and R14, a total of four receiving blocks, receive the corresponding echo beams in sequence; T21, T22, T23, and T24, a total of four transmitting blocks, emit scanning beams in sequence, and R21, R22, R23, and R24, a total of four receiving blocks, receive the corresponding echo beams in sequence; T31, T32, T33, and T34, a total of four transmitting blocks, emit scanning beams in sequence, and R31, R32, R33, and R34, a total of four receiving blocks, receive the corresponding echo beams in sequence; T41, T42, T43, and T44, a total of four transmitting blocks, emit scanning beams in sequence, and R41, R42, R43, and R44, a total of four receiving blocks, receive the corresponding echo beams in sequence. The number of lasers in each transmitting block can be adjusted based on dynamic range, scanning frame rate, or preset transmit power. Similarly, the number of SPADs in each receiving block can be dynamically adjusted based on target distance, target surface reflectivity, or return beam intensity. This enhances the flexibility of the LiDAR scanning process to accommodate diverse detection needs.

[0059] In another example, the starting position of the laser radar's block-by-block scanning can also be emitted according to a random number. For example, when the random number is 12, the emitting block T12 emits a scanning beam, and the receiving block R12 receives the corresponding echo beam; then the other emitting blocks emit scanning beams in turn, and the corresponding receiving blocks receive the echo beams in turn. This random block-based scanning method can effectively improve the laser radar's ability to resist external radar crosstalk. In another example, multiple emitting blocks distributed at intervals emit scanning beams simultaneously. For example, the emitting block T11 and the emitting block T44 emit scanning beams at the same time, and the receiving block R11 and the receiving block R44 receive the corresponding echo beams respectively. On the one hand, this spatially partitioned and spaced scanning method can effectively reduce the impact of high anti-expansion on the laser radar's detection accuracy; on the other hand, the parallel emission of multiple emitting blocks can improve the laser radar's scanning efficiency.

[0060] In some embodiments, the transmission timing of the transmitting module 200 and the reception timing of the receiving module 100 are synchronized via the Global Positioning System (GPS); or each transmitting array and each receiving array are connected to the processor within the lidar via a serial communication interface, and hardware time synchronization is used to ensure the synchronization of the transmission timing and the reception timing. Time synchronization can prevent data mismatch and error accumulation caused by time delay, thereby improving the detection accuracy of the lidar.

[0061] In one embodiment, the present application discloses an autonomous driving device comprising a central controller, a vehicle body, and a laser radar (LiDAR) mounted on the vehicle body. The central controller is configured to send control instructions to a processor mounted within the LiDAR to adjust the LiDAR's scanning time, field of view, and frame rate. The central controller is also configured to perform target recognition and path planning based on point cloud data collected by the LiDAR.

[0062] In some embodiments, the central controller or the processor within the lidar is a field programmable gate array (FPGA), a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit, a micro controller unit (MCU), an application-specific integrated circuit (ASIC), or any combination thereof, for implementing relevant functions.

[0063] Throughout the description of this application, it should be understood that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this application belongs. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein describe an association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship. The singular forms "a" and "an" are intended to include the plural forms unless the context clearly indicates otherwise. When used in this specification, the terms "comprising" and / or "including" specify the presence of the recited features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof, i.e., include any and all combinations of one or more of the related listed items. Ordinal numbers such as "first" and "second" cited in the embodiments of this application are merely identifiers and do not denote a particular order or imply relative importance.

[0064] In the present application, unless otherwise expressly specified and 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. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The "one or more embodiments" used herein do not refer to the same embodiment, but rather to a combination of specific features, structures, or characteristics in any appropriate manner. The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A laser radar, characterized in that: The device comprises a transmitting module and a receiving module, wherein the receiving module comprises a first receiving array, a second receiving array, a first receiving lens, a second receiving lens and a first reflecting element, wherein the first reflecting element is located between the first receiving lens and the second receiving lens; The first reflecting element includes a first reflecting surface and a second reflecting surface, wherein the first receiving lens, the first reflecting surface and the first receiving array constitute a first receiving channel, and the second receiving lens, the second reflecting surface and the second receiving array constitute a second receiving channel; The first echo light beam corresponding to the receiving field of view of the first receiving channel is transmitted through the first receiving lens and the first reflecting surface in sequence and then reaches the first receiving array. The second echo light beam corresponding to the receiving field of view of the second receiving channel is transmitted through the second receiving lens and the second reflecting surface in sequence and then reaches the second receiving array.

2. The laser radar according to claim 1, characterized in that The transmitting module and the receiving module are arranged in sequence along a first direction, the first receiving lens, the first reflecting element and the second receiving lens are arranged in sequence along a second direction, and the first receiving array, the first reflecting element and the second receiving array are arranged in sequence along a third direction, wherein the first direction is perpendicular to the second direction, the second direction is perpendicular to the third direction, and the third direction is perpendicular to the first direction.

3. The laser radar according to claim 2, characterized in that The first reflecting element is a first plane mirror, wherein the surface on one side of the first plane mirror is the first reflecting surface, the surface on the other side of the first plane mirror is the second reflecting surface, the first reflecting surface is parallel to the second reflecting surface, the angle between the normal of the first reflecting surface and the second direction is 45 degrees, and the angle between the normal of the first reflecting surface and the third direction is 45 degrees.

4. The laser radar according to claim 2, characterized in that The transmitting module includes a first transmitting array, a second transmitting array, a first transmitting lens, a second transmitting lens and a second reflecting element, wherein the first transmitting lens, the second reflecting element and the second transmitting lens are arranged in sequence along the second direction, and the first transmitting array, the second reflecting element and the second transmitting array are arranged in sequence along the third direction; The second reflecting element includes a third reflecting surface and a fourth reflecting surface, wherein the first transmitting lens, the third reflecting surface and the first transmitting array constitute a first transmitting channel, the second transmitting lens, the fourth reflecting surface and the second transmitting array constitute a second transmitting channel, and one transmitting channel corresponds to one receiving channel.

5. The laser radar according to claim 1, characterized in that The transmitting module and the receiving module are arranged in sequence along a first direction, and the first receiving lens, the first reflecting element and the second receiving lens are arranged in sequence along a second direction, wherein the first receiving array and the second receiving array are located on the same side of the first reflecting element, and the first direction is perpendicular to the second direction.

6. The laser radar according to claim 5, characterized in that The first reflecting element includes a first plane mirror and a second plane mirror; The first plane mirror includes the first reflecting surface, and the second plane mirror includes the second reflecting surface, wherein the first reflecting surface is perpendicular to the second reflecting surface, the angle between the normal of the first reflecting surface and the second direction is 45 degrees, and the first reflecting surface is parallel to the first direction.

7. The laser radar according to claim 5, characterized in that The first reflective element is a prism; The prism includes a first end face, a second end face, and multiple side faces located between the first end face and the second end face, the multiple side faces include the first reflecting surface and the second reflecting surface, wherein the first reflecting surface is perpendicular to the second reflecting surface, the angle between the normal of the first reflecting surface and the second direction is 45 degrees, and the first reflecting surface is parallel to the first direction.

8. The laser radar according to claim 5, characterized in that The transmitting module includes a first transmitting array, a second transmitting array, a first transmitting lens, a second transmitting lens, and a second reflecting element, wherein the first transmitting lens, the second reflecting element, and the second transmitting lens are arranged in sequence along the second direction, and the first transmitting array and the second transmitting array are located on the same side of the second reflecting element; The second reflecting element includes a third reflecting surface and a fourth reflecting surface, wherein the first transmitting lens, the third reflecting surface and the first transmitting array constitute a first transmitting channel, the second transmitting lens, the fourth reflecting surface and the second transmitting array constitute a second transmitting channel, and one transmitting channel corresponds to one receiving channel.

9. The laser radar according to claim 1, characterized in that The emission module includes a first emission array, a second emission array, a first emission lens, and a second emission lens. Each of the emission arrays includes a plurality of emission blocks. Each of the emission lenses includes a plurality of microlenses. One microlens corresponds to one emission block. Each emission block includes at least one laser. The first transmitting lens and the first transmitting array constitute a first transmitting channel, and the second transmitting lens and the second transmitting array constitute a second transmitting channel, wherein one transmitting channel corresponds to one receiving channel.

10. An automatic driving device, characterized in that: It comprises a car body and a laser radar as described in any one of claims 1 to 9 installed on the car body.

Images