Laser emitting device and multi-line laser radar

Abstract

The utility model discloses a laser emitting device and a multi-line laser radar, and belongs to the technical field of radars. The disclosed multi-line laser radar comprises a laser emitting device, the laser emitting device comprises a laser device, the laser device is provided with at least two emergent channels which are sequentially arranged in the first direction, and the first direction is perpendicular to the optical axis direction of the laser device; the first lens is used for receiving the laser beams emitted by the laser and converging the laser beams in a first direction; a first cylindrical micro-lens array and a second cylindrical micro-lens array are respectively arranged on two opposite surfaces of the double-sided micro-lens array, the first cylindrical micro-lens array is used for receiving the laser beams emitted by the first lens and re-converging the laser beams into at least two sub-beams in a first direction, and the second cylindrical micro-lens array is used for re-converging the laser beams into at least two sub-beams in a second direction; the second cylindrical micro-lens array is used for diverging the sub-beams in the first direction. According to the laser emitting device, the field angle can be adjusted while the light emitting uniformity is improved, so that the detection accuracy of the multi-line laser radar is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of radars, and particularly relates to a laser emitting device and a multi-line laser radar. BACKGROUND

[0002] A laser radar is a device for distance detection and target identification. According to the number of laser beams emitted, the laser radar can be divided into a single-line laser radar and a multi-line laser radar. The multi-line laser radar is favored because it has better restoration in dimensions and scenes and higher detection accuracy.

[0003] The multi-line laser radar is usually equipped with a laser, and the laser is usually designed to have at least two exit channels. In actual use, each exit channel emits a laser beam to emit a plurality of laser beams for detection. However, the laser beams emitted by different exit channels form a gap, which causes the field of view of the laser to be discontinuous, thereby resulting in low detection accuracy of the multi-line laser radar. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiments of the application is to provide a laser emitting device and a multi-line laser radar, which can solve the problem of low detection accuracy of the multi-line laser radar caused by the discontinuity of the multi-channel laser spot in the related art.

[0005] In a first aspect, the embodiments of the application provide a laser emitting device, comprising:

[0006] A laser has at least two exit channels, each of which is used to emit a laser beam, and each of the exit channels is arranged in a first direction, and the first direction is perpendicular to the optical axis direction of the laser;

[0007] A first lens is used to receive each of the laser beams emitted by the laser and to converge the laser beams in the first direction;

[0008] A double-sided microlens array is located on the side of the first lens away from the laser, and the two opposite sides of the double-sided microlens array have a first cylindrical microlens array and a second cylindrical microlens array, respectively. The first cylindrical microlens array is used to receive the laser beams emitted by the first lens and to re-converge the laser beams into at least two sub-beams in the first direction. The second cylindrical microlens array is located on the side of the first cylindrical microlens array away from the first lens and is used to diverge the sub-beams in the first direction, so that the two adjacent sub-beams in the first direction overlap.

[0009] In a second aspect, the embodiments of the application provide a multi-line laser radar, which comprises the laser emitting device described above.

[0010] In the embodiment of the present application, the first cylindrical microlens array can converge the laser beam into at least two sub-beams in the first direction, and the second cylindrical microlens array can diverge the sub-beams in the first direction, so that the two adjacent sub-beams in the first direction overlap. That is, the first cylindrical microlens array and the second cylindrical microlens array can both re-integrate the laser beam, and after the laser beam is integrated by the first cylindrical microlens array and the second cylindrical microlens array in turn, the two adjacent sub-beams in the first direction overlap. In this way, the gap between the light spots formed by the laser beams emitted by different exit channels in the first direction becomes smaller, or even does not exist, thereby improving the light emission uniformity of the laser emitting device, and further improving the detection accuracy of the multi-line laser radar.

[0011] Furthermore, in the embodiment of the present application, by adjusting the surface shape and refractive index of the first cylindrical microlens array and the second cylindrical microlens array, a larger field of view angle can be obtained. Compared with the scheme of additionally adding at least three lenses to obtain a larger field of view angle, the scheme adopted in the embodiment of the present application involves fewer components, thereby having lower assembly difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 Structure schematic diagram of the laser emitting device disclosed in the embodiment of the present application;

[0013] Figure 2 Structure schematic diagram of the double-sided microlens array disclosed in the embodiment of the present application under a first viewing angle;

[0014] Figure 3 Structure schematic diagram of the double-sided microlens array disclosed in the embodiment of the present application under a second viewing angle;

[0015] Figure 4 Structure schematic diagram of the double-sided microlens array disclosed in the embodiment of the present application under a third viewing angle;

[0016] Figure 5 One of the optical path diagrams of the laser emitting device disclosed in the embodiment of the present application;

[0017] Figure 6 The second optical path diagram of the laser emitting device disclosed in the embodiment of the present application;

[0018] Figure 7 Correspondence diagram between the refractive index and the beam divergence angle of the cylindrical microlens with different surface shapes;

[0019] Figure 8 Schematic diagram of the line light spot formed by the laser emitting device disclosed in one of the embodiments of the present application;

[0020] Figure 9 is a light intensity distribution diagram of the line spot in Figure 8

[0021] Figure 10 is a schematic diagram of a line spot formed by the laser emitting device disclosed in another embodiment of the present application;

[0022] Figure 11 is a light intensity distribution diagram of the line spot in Figure 10

[0023] Figure 12 is a schematic diagram of a line spot formed by the laser emitting device disclosed in yet another embodiment of the present application;

[0024] Figure 13 is a light intensity distribution diagram of the line spot in Figure 12

[0025] Figure 14 is a schematic diagram of a light spot formed by the laser;

[0026] Figure 15 is a light intensity distribution diagram of the light spot formed by the laser;

[0027] Figure 16 is a working principle diagram of the multi-line laser radar disclosed in the embodiment of the present application.

[0028] BRIEF DESCRIPTION OF DRAWINGS

[0029] 10-laser emitting device,

[0030] 100-laser, 110-laser beam, 111-sub-beam, 120-line spot,

[0031] 200-first lens,

[0032] 300-double-sided microlens array, 310-first cylindrical microlens array, 311-first cylindrical microlens, 320-second cylindrical microlens array, 321-second cylindrical microlens, 330-base layer,

[0033] 20-scanning device,

[0034] 30-receiving device,

[0035] 40-target object. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.​​​

[0037] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, the first object can be one or at least two. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0038] The laser emitting device and multi-line lidar provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0039] Please refer to Figures 1 to 16 As shown, this application embodiment provides a laser emitting device 10, which includes a laser 100, a first lens 200, and a double-sided microlens array 300. The laser 100, the first lens 200, and the double-sided microlens array 300 are arranged at intervals, for example, along the optical axis direction of the laser 100. The optical axis direction of the laser 100 is, for example, [missing information]. Figure 1 or Figure 6 The direction indicated by the middle arrow C.

[0040] Specifically, the laser 100 has at least two emission channels, each for emitting a laser beam 110, and the emission channels are arranged sequentially along a first direction, which is perpendicular to the optical axis of the laser 100. For example, the first direction is... Figure 1 or Figure 5 The direction indicated by the middle arrow A. Optionally, the emission channels are arranged at intervals along the first direction, for example, and the number of emission channels is, for example, 1x2 or 1x4. That is, two or four emission channels can be arranged sequentially in the same direction. It should be noted that the exact number of emission channels depends on actual needs, and this embodiment does not impose any restrictions on it.

[0041] The first lens 200 is used to receive each laser beam 110 emitted by the laser 100 and to converge the laser beam 110 in a first direction to improve the clarity of the light spot formed by the laser 100.

[0042] The double-sided microlens array 300 has the functions of homogenizing light and adjusting the field of view angle. The double-sided microlens array 300 is located on the side of the first lens 200 away from the laser 100. The double-sided microlens array 300 has a first cylindrical microlens array 310 and a second cylindrical microlens array 320 on opposite sides thereof. The first cylindrical microlens array 310 is configured to receive the laser beam 110 emitted by the first lens 200 and to re-converge the laser beam 110 into at least two sub-beams 111 in a first direction. The second cylindrical microlens array 320 is located on the side of the first cylindrical microlens array 310 away from the first lens 200 and is configured to diverge the sub-beams 111 in the first direction so that two adjacent sub-beams 111 in the first direction overlap.

[0043] Optionally, any two adjacent sub-beams 111 in the first direction overlap, for example, to reduce or even eliminate the gap between the light spots formed by the laser beams 110 emitted by different exit channels. Specifically, referring to FIG. 1, in the absence of a gap, the laser beams 110 emitted by different exit channels of the laser emitting device 10 form a continuous linear light spot 120, for example. Figure 5

[0044] In the embodiments of the present application, the first cylindrical microlens array 310 can re-converge the laser beam 110 into at least two sub-beams 111 in the first direction, and the second cylindrical microlens array 320 can diverge the sub-beams 111 in the first direction so that two adjacent sub-beams 111 in the first direction overlap. That is, the first cylindrical microlens array 310 and the second cylindrical microlens array 320 can both re-integrate the laser beam 110, and after being integrated by the first cylindrical microlens array 310 and the second cylindrical microlens array 320 in sequence, two adjacent sub-beams 111 in the first direction overlap. In this way, the gap between the light spots formed by the laser beams 110 emitted by different exit channels in the first direction is reduced or even eliminated, thereby improving the light emission uniformity of the laser emitting device 10 and further improving the detection accuracy of the multi-line laser radar.

[0045] Furthermore, in the embodiments of the present application, by adjusting the surface shape and refractive index of the first cylindrical microlens array 310 and the second cylindrical microlens array 320, a larger field of view angle can be obtained. Compared with the scheme of obtaining a larger field of view angle by additionally adding at least three lenses, the scheme adopted in the embodiments of the present application involves fewer components, thereby having lower assembly difficulty.

[0046] In another embodiment, referring to FIG. 2, the laser emitting device 10 further includes a third cylindrical microlens array 330 located on the side of the second cylindrical microlens array 320 away from the first cylindrical microlens array 310. The third cylindrical microlens array 330 is configured to diverge the sub-beams 111 in the first direction so that two adjacent sub-beams 111 in the first direction overlap. Figures 1 to 5 ​As shown, the first cylindrical microlens array 310 includes at least two first cylindrical microlenses 311 arranged in sequence along the first direction, and the convex surface of each first cylindrical microlens 311 is arranged towards the first lens 200 to re-converge the laser beam 110 into at least two sub-beams 111 in the first direction.

[0047] Specifically, each first cylindrical microlens array 310 receives, for example, a portion of the laser beam 110 emitted by the first lens 200, converges the received portion of the laser beam 110 to form a sub-beam 111, and the first cylindrical microlens array 310 and the sub-beam 111 are in a one-to-one correspondence, that is, each first cylindrical microlens array 310 re-converges the received portion of the laser beam 110 into a sub-beam 111.

[0048] The second cylindrical microlens array 320 includes at least two second cylindrical microlenses 321 arranged in sequence along the first direction, and the convex surface of each second cylindrical microlens 321 is arranged away from the first cylindrical microlens array 310 to diverge the sub-beam 111 in the first direction. Specifically, each second cylindrical microlens array 320 diverges the received sub-beam 111.

[0049] In the embodiment, the number of the first cylindrical microlenses 311 and the second cylindrical microlenses 321 is at least two, and in actual use, each first cylindrical microlens 311 and each second cylindrical microlens 321 can process the laser beam 110, so that the light emission uniformity of the laser emitting device 10 is good, and a larger field of view angle can be obtained. Of course, in other embodiments, the number of the first cylindrical microlenses 311 and the second cylindrical microlenses 321 can also be one.

[0050] Optionally, the first cylindrical microlens 311 and the second cylindrical microlens 321 are, for example, micrometers-level cylindrical microlenses. After being arranged in this way, the volume of the first cylindrical microlens 311 and the second cylindrical microlens 321 is large, thereby reducing the processing difficulty of the first cylindrical microlens 311 and the second cylindrical microlens 321. Specifically, referring to Figure 2 As shown, the size d of the first cylindrical microlens 311 and the second cylindrical microlens 321 in the first direction is less than or equal to 1.5 mm. Of course, in other embodiments, the first cylindrical microlens 311 and the second cylindrical microlens 321 can also be micrometers-level cylindrical microlenses.

[0051] Optionally, a field of view of 24 degrees to 113 degrees can be obtained under the cooperation of the first lens 200, the first cylindrical microlens array 310 and the second cylindrical microlens array 320. More specifically, the field of view is, for example, 24 degrees, 50 degrees, 100 degrees or 113 degrees. After such an arrangement, the laser emitting device 10 has a larger field of view, thereby meeting the application of a large field of view laser radar.

[0052] The first cylindrical microlens 311 and the second cylindrical microlens 321 both belong to cylindrical microlenses, Figure 7 The relationship between the refractive index of the cylindrical microlenses of the two different surface types and the divergence angle of the light beams is shown in FIG. 3. The magnitude of the refractive index mainly depends on the material of the cylindrical microlenses, and specifically, Figure 7 The abscissa of FIG. 3 represents the refractive index of the cylindrical microlenses, and the ordinate represents the divergence angle of the light beams. As can be seen from FIG. 3, Figure 7 It can be seen that the divergence angle of the light beams increases with the increase of the refractive index. According to the law of refraction, the deflection angle of light in a material with a high refractive index is larger, so changing the refractive index of the cylindrical microlenses can change the divergence angle of the light beams. In addition, in actual use, the divergence angle of the light beams can also be changed by changing the surface type parameters of the cylindrical microlenses.

[0053] Optionally, the first cylindrical microlens 311 and the second cylindrical microlens 321 are, for example, both aspherical lenses, and the surface types of the first cylindrical microlens 311 and the second cylindrical microlens 321 satisfy the following relationship:

[0054]

[0055] wherein z is the radial height of the surface of the aspherical lens, r is the radial coordinate, c is the curvature, k is the conic coefficient, and a1-a7 are aspherical coefficients, and higher order terms of the aspherical coefficients can be set.

[0056] Specifically, Figure 7 The two different surface types of the cylindrical microlenses in FIG. 2 are, for example, both aspherical lenses, and the specific parameters of the surface type 1 and the surface type 2 in FIG. 2 are shown in Table 1 and Table 2 below. Figure 7

[0057] Table 1: Specific parameters of surface type 1

[0058]

[0059] Table 2: Parameters of surface type 2

[0060]

[0061] Further, the refractive index of the first cylindrical microlens 311 and the second cylindrical microlens 321 is, for example, greater than or equal to 1.5 and less than or equal to 2.

[0062] ​In addition, Figure 8 A schematic diagram of a line spot 120 formed by the laser emitting device 10 provided in one embodiment of the present application, Figure 9 In Figure 8 The beam intensity distribution of the line spot 120 at different angles, and Figure 9 In the middle, the field of view angle of the line spot 120 at the full width at half maximum is 24°, Figure 14 A schematic diagram of a spot formed by the laser beam 110 emitted by the laser 100 before being processed by the first lens 200 and the double-sided micro-lens array 300, and Figure 14 The spot in Figure 8 is converted into the line spot 120 in

[0063] Figure 10 A schematic diagram of a line spot 120 formed by the laser emitting device 10 provided in another embodiment of the present application, Figure 11 In Figure 10 The beam intensity distribution of the line spot 120 at different angles, and Figure 11 In the middle, the field of view angle of the line spot 120 at the full width at half maximum is 35°. This embodiment is compared with the embodiment corresponding to Figure 8 Only the refractive index of the first cylindrical micro-lens 311 and the second cylindrical micro-lens 321 is changed, and the rest of the parameters are not changed.

[0064] Figure 12 A schematic diagram of a line spot 120 formed by the laser emitting device 10 provided in yet another embodiment of the present application, Figure 13 In Figure 12 The beam intensity distribution of the line spot 120 at different angles, and 13 shows that the field of view angle of the line spot 120 at the full width at half maximum is 113°. This embodiment is compared with the embodiment corresponding to Figure 7 Only the surface type parameters of the first cylindrical micro-lens 311 and the second cylindrical micro-lens 321 are changed.

[0065] It should be noted that, Figure 8 , Figure 10 and Figure 12 The abscissa of each of them shows the length of the line spot 120, and the ordinate shows the height of the line spot 120. Figure 9 , Figure 11 and Figure 13 The abscissa of each of them shows the field of view angle of the line spot 120, and the ordinate shows the light intensity of the line spot 120. Figure 14 The abscissa of each of them shows the length of the spot, and the ordinate shows the height of the spot. Figure 15 The abscissa of each of them shows the field of view angle of the spot, and the ordinate shows the light intensity of the spot.

[0066] In a further embodiment, the first cylindrical microlenses 311 and the second cylindrical microlenses 321 are in one-to-one correspondence, and the corresponding first cylindrical microlenses 311 and the second cylindrical microlenses 321 are symmetric about a first plane, the first plane being perpendicular to the optical axis of the laser 100. After being arranged in this way, the shape of the double-sided microlens array 300 is relatively regular, thereby reducing the processing difficulty of the double-sided microlens array 300, and after the double-sided microlens array 300 is turned over 180 degrees, the double-sided microlens array 300 can still be used normally, thereby reducing the assembly difficulty of the double-sided microlens array 300.

[0067] It should be noted that after the double-sided microlens array 300 is turned over 180 degrees, the second cylindrical microlens array 320 is arranged towards the first lens 200, and its function is the same as that of the first cylindrical microlens array 310 in the foregoing. Correspondingly, the first cylindrical microlens array 310 is located on the side of the second cylindrical microlens array 320 away from the first lens 200, and its function is the same as that of the second cylindrical microlens array 320 in the foregoing.

[0068] In other optional embodiments, the first cylindrical microlenses 311 and the second cylindrical microlenses 321 can also be in an asymmetric relationship, and the first cylindrical microlenses 311 and the second cylindrical microlenses 321 can also be in a one-to-many relationship or a many-to-one relationship.

[0069] In a further embodiment, the distance between any two adjacent first cylindrical microlenses 311 in the first direction is 0, and the distance between any two adjacent second cylindrical microlenses 321 in the first direction is also 0. After being arranged in this way, in the first direction, the compactness of the first cylindrical microlens array 310 and the second cylindrical microlens array 320 is relatively good, thereby making the double-sided microlens array 300 as a whole relatively compact and small in size. In addition, such an arrangement is conducive to reducing or even eliminating the gap between the light spots formed by different laser beams 110, thereby making the light emission uniformity of the laser emitting device 10 better.

[0070] In other optional embodiments, the distance between two adjacent first cylindrical microlenses 311 in the first direction can also be greater than 0, and the distance between two adjacent second cylindrical microlenses 321 in the first direction can also be greater than 0.

[0071] In another embodiment, the double-sided microlens array 300 comprises a substrate layer 330, one side of the substrate layer 330 is provided with the first cylindrical microlens array 310, and the other side of the substrate layer 330 is provided with the second cylindrical microlens array 320, the first cylindrical microlens array 310 comprises at least two first cylindrical microlenses 311 arranged in sequence along a first direction, and the distance between the first cylindrical microlens array 310 and the second cylindrical microlens array 320 along the optical axis of the laser 100 is equal to the focal length of the first cylindrical microlens 311, and the substrate layer 330 is parallel to the first plane in the foregoing embodiment, for example.

[0072] In the embodiment, the distance between the first cylindrical microlens array 310 and the second cylindrical microlens array 320 along the optical axis of the laser 100 is equal to the focal length of the first cylindrical microlens 311, so that the focal point of the first cylindrical microlens 311 is located between the first cylindrical microlens array 310 and the second cylindrical microlens array 320, and the size of the substrate layer 330 along the optical axis of the laser 100 is prevented from being too large, so that the volume of the double-sided microlens array 300 can be reduced while ensuring that the laser emitting device 10 has a large field of view.

[0073] It should be noted that in the case where the focal point of the first cylindrical microlens 311 is located between the first cylindrical microlens array 310 and the second cylindrical microlens array 320, the laser beam 110 is first focused and then diverged by the second cylindrical microlens array 320, and this beam integration manner helps to obtain a line beam with uniform intensity and a large field of view.

[0074] Optionally, the substrate layer 330, the first cylindrical microlens array 310 and the second cylindrical microlens array 320 are made of the same material, for example, as shown in FIG. 6, and the distance between the first cylindrical microlens array 310 and the second cylindrical microlens array 320 along the optical axis of the laser 100 is adjusted by adjusting the size L of the substrate layer 330 along the optical axis of the laser 100. Figure 2

[0075] In other optional embodiments, the distance between the first cylindrical microlens array 310 and the second cylindrical microlens array 320 along the optical axis of the laser 100 can also be greater than the focal length of the first cylindrical microlens 311.

[0076] In another embodiment, the laser emitting device 10 further comprises a second lens, which is located between the laser 100 and the first cylindrical microlens array 310, and the second lens and the first lens 200 are arranged in sequence along the optical axis of the laser 100. In this embodiment, the second lens can focus or diverge the laser beam 110, so that different user needs can be met by additionally adding the second lens.​

[0077] It should be noted that the number of the first lens 200 and the second lens is determined according to actual needs, which is not limited in the embodiment of the present application, and in the case that the number of the first lens 200 is at least two, each first lens 200 is arranged at intervals along the optical axis direction of the laser 100, and in the case that the number of the second lens is at least two, each second lens is arranged at intervals along the optical axis direction of the laser 100.

[0078] In other optional embodiments, the laser 100 can also not include the second lens.

[0079] In another embodiment, the center of the first lens 200 is located on the optical axis of the laser 100, for example, to improve the beam integration effect.

[0080] Further, the center of the double-sided microlens array 300 is not located on the optical axis of the laser 100, for example. In this way, the matching precision between the first lens 200 and the double-sided microlens array 300 is lower, thereby reducing the assembly difficulty of the double-sided microlens array 300. Of course, in other optional embodiments, the center of the first lens 200 and the center of the double-sided microlens array 300 can also be located on the optical axis of the laser 100.

[0081] In another embodiment, the distance between the first lens 200 and the double-sided microlens array 300 in the optical axis direction of the laser 100 is in the range of 1mm-10mm, and specifically, for example, 1mm, 5mm or 10mm. In this way, the compactness of the laser emitting device 10 can be improved on the basis of ensuring the light emission effect. It should be noted that the smaller the distance between the first lens 200 and the double-sided microlens array 300 in the optical axis direction of the laser 100, the better the compactness of the laser emitting device 10.

[0082] In addition, the greater the distance between the first lens 200 and the double-sided microlens array 300 in the optical axis direction of the laser 100, the greater the coverage area of the laser beam 110 on the double-sided microlens array 300. Correspondingly, in order to receive as much laser beam 110 as possible, the area of the double-sided microlens array 300 in the direction perpendicular to the optical axis direction of the laser 100 needs to be designed to be larger. In the embodiment, by setting the distance between the first lens 200 and the double-sided microlens array 300 in the optical axis direction of the laser 100 to be in the range of 1mm-10mm, the distance between the first lens 200 and the double-sided microlens array 300 in the optical axis direction of the laser 100 can be prevented from being too large, thereby preventing the area of the double-sided microlens array 300 in the direction perpendicular to the optical axis direction of the laser 100 from being too large.

[0083] In another embodiment, the first lens 200 is a non-spherical lens, for example, to meet the preset light emission requirement.

[0084] In addition, the first lens 200 is, for example, a collimating lens. In this case, as shown in FIG. 2, the first lens 200 converges the laser beam 110 in the first direction, and as shown in FIG. 3, the first lens 200 collimates the laser beam 110 in a direction perpendicular to the first direction to meet the preset light emission requirement. Figure 5 Figure 6 In addition, as shown in FIG. 4, in a plane perpendicular to the first direction, the first lens 200 collimates the laser beam 110 along the optical axis direction of the laser 100 to meet the preset light emission requirement. In addition, as shown in FIG. 5, the first lens 200 converges the laser beam 110 along the optical axis direction of the laser 100 to meet the preset light emission requirement. Figure 6

[0085] Optionally, the refractive index of the first lens 200 is greater than or equal to 1.5 and less than or equal to 1.7.

[0086] It should be noted that the foregoing embodiments of the laser emitting device 10 can be combined in any manner, for example, the laser emitting device 10 further comprises the second lens, the first lens 200 is an aspheric lens, the center of the first lens 200 is located on the optical axis of the laser 100, and the distance between the first lens 200 and the double-sided microlens array 300 in the optical axis direction of the laser 100 is in the range of 1 mm to 10 mm.

[0087] In another embodiment, the laser 100 is an edge-emitting laser, and the first direction is the slow axis direction of the laser 100 to meet the corresponding light emission requirement. In addition, the edge-emitting laser has a large optical power density, thereby facilitating the improvement of the detection accuracy. On this basis, the second direction in the foregoing embodiments is, for example, the fast axis direction of the laser 100.

[0088] In other optional embodiments, the laser 100 can also be a surface-emitting laser, and the type of the laser 100 is not limited in the embodiments of the present application.

[0089] As a specific implementation, the laser 100 comprises, for example, a multi-channel edge-emitting laser chip, and the multi-channel edge-emitting laser chip has at least two exit channels.

[0090] In other optional embodiments, the laser 100 can also comprise at least two single-channel edge-emitting laser chips, and each single-channel edge-emitting laser chip has one exit channel. Optionally, the single-channel edge-emitting laser chips are arranged in sequence in the first direction, so that the exit channels are arranged in sequence in the first direction.

[0091] In another embodiment, at least one of the first cylindrical microlens array 310 and the second cylindrical microlens array 320 is a plastic microlens array. The cost of plastic is low, thereby facilitating the reduction of the cost of the laser emitting device 10.

[0092] ​​In another embodiment, at least one of the first cylindrical microlens array 310 and the second cylindrical microlens array 320 is a glass microlens array. Glass is not prone to thermal deformation, thereby helping to improve the processing precision of the first cylindrical microlens array 310 and the second cylindrical microlens array 320.

[0093] Reference Figure 16 As shown, the embodiments of the present application also provide a multi-line laser radar, which includes the laser emitting device 10 described above.

[0094] Optionally, the multi-line laser radar also includes the scanning device 20 and the receiving device 30, for example. In actual use, the laser emitting device 10 described above is used to emit outgoing light to detect the target object 40, the outgoing light being the line light spot 120 described above, for example. The scanning device 20 is used to reflect the outgoing light emitted by the laser emitting device 10 at a controllable deflection angle to scan the target object 40. The receiving device 30 is used to receive and detect the light reflected by the target object 40, which is transmitted to the receiving device 30 via the scanning device 20, for example, after being transmitted to the scanning device 20 from the target object 40.

[0095] Specifically, the receiving device 30 includes a detector, which includes an avalanche photodiode (APD) or a silicon photomultiplier (SiPM), for example. In actual use, the light reflected by the target object 40 is converted into a signal with distance position information via the detector, thereby achieving detection of the target object 40.

[0096] The embodiments of the present application are described above in combination with the accompanying drawings, but the present application is not limited to the above-described specific embodiments, which are merely illustrative rather than limiting. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims, all of which belong to the protection scope of the present application.

Claims

1. A laser emitting device, characterized by, The application relates to a laser device, which comprises: a laser (100) having at least two exit channels, each of which is used for emitting a laser beam (110), and each of which is arranged in a first direction in sequence, wherein the first direction is perpendicular to the optical axis direction of the laser (100); a first lens (200) used for receiving each of the laser beams (110) emitted by the laser (100) and converging the laser beams (110) in the first direction; a double-sided microlens array (300) located on the side of the first lens (200) away from the laser (100), wherein the double-sided microlens array (300) has a first cylindrical microlens array (310) and a second cylindrical microlens array (320) on opposite sides, respectively, the first cylindrical microlens array (310) is used for receiving the laser beams (110) emitted by the first lens (200) and re-converging the laser beams (110) into at least two sub-beams (111) in the first direction, and the second cylindrical microlens array (320) is located on the side of the first cylindrical microlens array (310) away from the first lens (200) and is used for diverging the sub-beams (111) in the first direction so that two adjacent sub-beams (111) in the first direction are overlapped.

2. The laser emitting device of claim 1, wherein, The first cylindrical microlens array (310) comprises at least two first cylindrical microlenses (311) arranged in the first direction in sequence, and the convex surface of each of the first cylindrical microlenses (311) is arranged towards the first lens (200) to re-converge the laser beams (110) into at least two sub-beams (111) in the first direction; the second cylindrical microlens array (320) comprises at least two second cylindrical microlenses (321) arranged in the first direction in sequence, and the convex surface of each of the second cylindrical microlenses (321) is arranged away from the first cylindrical microlens array (310) to diverge the sub-beams (111) in the first direction.

3. The laser emitting device of claim 2, wherein, The first cylindrical microlenses (311) and the second cylindrical microlenses (321) correspond to each other in one-to-one correspondence, and the corresponding first cylindrical microlenses (311) and second cylindrical microlenses (321) are symmetrical about a first plane, wherein the first plane is perpendicular to the optical axis of the laser (100).

4. The laser emitting device of claim 2, wherein, The distance between any two adjacent first cylindrical microlenses (311) in the first direction is 0, and the distance between any two adjacent second cylindrical microlenses (321) in the first direction is 0.

5. The laser emitting device of claim 1, wherein, The double-sided microlens array (300) comprises a substrate layer (330), one side of the substrate layer (330) is provided with the first cylindrical microlens array (310) facing the first lens (200), and the other side of the substrate layer (330) is provided with the second cylindrical microlens array (320) facing away from the first lens (200), the first cylindrical microlens array (310) comprises at least two first cylindrical microlenses (311) arranged in sequence along the first direction, and the distance between the first cylindrical microlens array (310) and the second cylindrical microlens array (320) in the direction of the optical axis of the laser (100) is equal to the focal length of the first cylindrical microlens (311).

6. The laser emitting device of claim 1, wherein, The laser emitting device (10) further comprises a second lens, the second lens is located between the laser (100) and the first cylindrical microlens array (310), and the second lens and the first lens (200) are arranged in sequence along the direction of the optical axis of the laser (100); And / or, the center of the first lens (200) is located on the optical axis of the laser (100); And / or, the distance between the first lens (200) and the double-sided microlens array (300) in the direction of the optical axis of the laser (100) is in the range of 1mm-10mm; And / or, the first lens (200) is an aspheric lens.

7. The laser emitting device of claim 1, wherein, The laser (100) is an edge-emitting laser, and the first direction is the slow-axis direction of the laser (100).

8. The laser emitting device of claim 1, wherein, The laser (100) comprises a multi-channel edge-emitting laser chip having at least two exit channels; or the laser (100) comprises at least two single-channel edge-emitting laser chips, each of which has one exit channel.

9. The laser emitting device of claim 1, wherein, At least one of the first cylindrical microlens array (310) and the second cylindrical microlens array (320) is a plastic microlens array; Or, at least one of the first cylindrical microlens array (310) and the second cylindrical microlens array (320) is a glass microlens array.

10. A multi-line lidar, characterized by, The laser emitting device (10) comprises the laser emitting device (10) according to any one of claims 1-9.

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