Transmitting module and solid-state laser radar

Abstract

The utility model discloses a transmitting module and a solid-state laser radar, and belongs to the technical field of laser radars, and the transmitting module can achieve flexible switching of the solid-state laser radar between long-distance ranging and short-distance ranging after defocus dodging by adjusting the position of a transmitting lens. The production and manufacturing cost of the solid-state laser radar is reduced, and the overall performance of the solid-state laser radar is improved. According to the main technical scheme, the transmitting module comprises a transmitting lens, a lens sleeve and a lens base, the transmitting lens and the lens sleeve are relatively fixed, and the lens sleeve is movably arranged on the lens base so as to drive the transmitting lens to be switched between a first operation position and a second operation position.

Description

Technical Field

[0001] This application belongs to the field of lidar technology, specifically relating to a transmitting module and a solid-state lidar. Background Technology

[0002] In recent years, with the rapid development of autonomous driving technology and the continuous improvement of industrial automation, solid-state LiDAR has been increasingly widely used in the automotive and industrial fields. With its excellent detection performance, it plays a key role in target recognition, distance measurement and environmental perception, and has gradually become one of the indispensable core components of many advanced systems.

[0003] However, with the explosive growth in market demand for solid-state LiDAR, industry competition has become increasingly fierce. In this market environment, reducing the overall cost of LiDAR systems to enhance product competitiveness has become a crucial issue that major manufacturers urgently need to address.

[0004] In the transmitting module of solid-state lidar, vertical-cavity surface-emitting lasers (VCSELs) are widely used as the transmitting chip. To ensure precise channel matching between the transceiver modules, homogenizing the emitted beam is crucial. Currently, existing homogenization techniques mainly include diffractive optical elements, aspherical lens groups, and microlens arrays. However, these traditional homogenizing devices have significant drawbacks. On the one hand, their high cost significantly increases the overall production cost of lidar, severely compressing profit margins. On the other hand, while achieving homogenization, the maximum range measurement performance of the lidar is often inevitably sacrificed, making it difficult to balance performance and cost. This makes it impossible to simultaneously meet the market demand for high performance and low cost, which greatly limits the widespread adoption and application of solid-state lidar in broader fields. Therefore, an innovative solution is urgently needed to break through this technological bottleneck. Utility Model Content

[0005] In view of this, this application provides a transmitting module and a solid-state lidar, wherein the transmitting module can flexibly switch between long-range ranging and short-range ranging after defocusing and homogenization by adjusting the position of the transmitting lens. Compared with other existing homogenization solutions, this reduces the production and manufacturing cost of solid-state lidar and improves the overall performance of solid-state lidar.

[0006] To achieve the above objectives, this application mainly provides the following technical solutions:

[0007] The first aspect of this application provides a transmitting module, comprising:

[0008] Launch lens, lens sleeve, and lens mount;

[0009] The transmitting lens is fixed relative to the lens sleeve, and the lens sleeve is movably mounted on the lens base to drive the transmitting lens to switch between a first operating position and a second operating position.

[0010] Optionally, the lens sleeve and the lens base rotate relative to each other; or the lens sleeve and the lens base extend and retract.

[0011] Optionally, the transmitting module further includes:

[0012] Ultrasonic drive motor;

[0013] The ultrasonic drive motor is mounted on the lens base and connected to the lens sleeve. The ultrasonic drive motor is used to drive the lens sleeve to switch between the first operating position and the second operating position.

[0014] Optionally, the ultrasonic drive motor is a ring ultrasonic motor, the lens sleeve is screwed to the lens base, the stator of the ring ultrasonic motor is connected to the lens base, and the rotor of the ring ultrasonic motor is connected to the lens sleeve.

[0015] Optionally, the ultrasonic drive motor is a linear ultrasonic motor, a clearance groove is provided on the lens base, the clearance groove extends along the axial direction of the lens sleeve, the linear ultrasonic motor is disposed on the side of the lens base near the lens sleeve, and the lens sleeve is connected to the movable part of the linear ultrasonic motor through the clearance groove.

[0016] Optionally, a fixing member is provided on the outer peripheral surface of the lens sleeve at a position relative to the relief groove, and the lens sleeve is connected to the movable part of the linear ultrasonic motor through the fixing member.

[0017] Optionally, the transmitting module further includes:

[0018] Transmitter chip;

[0019] The transmitting chip is disposed on the side of the lens base away from the transmitting lens. The axis of the transmitting chip coincides with the optical axis of the transmitting lens. When the transmitting lens is switched to the first operating position, the transmitting chip is located on the focal plane of the transmitting lens. When the transmitting chip is switched to the second operating position, the transmitting chip is deviated from the focal plane of the transmitting lens.

[0020] Optionally, the transmitting chip includes:

[0021] Several light-emitting holes;

[0022] The light-emitting holes are arranged in an alternating and equidistant manner.

[0023] Optionally, the aperture of the light-emitting hole is A, and the distance between two adjacent light-emitting holes is B, where 0.17≤A / 2B≤0.37.

[0024] A second aspect of this application provides a solid-state lidar, including the transmitting module described in any one of the foregoing claims.

[0025] By employing the above technical solution, this application has at least the following beneficial effects:

[0026] Embodiments of this application provide a transmitting module and a solid-state lidar. The transmitting module uses a lens sleeve to switch the transmitting lens between different positions, allowing the transmitting module to flexibly change the characteristics of the emitted beam according to actual needs. For example, in the first operating position, the transmitting lens is in a focused state to meet the high-precision ranging requirements of the solid-state lidar for distant targets. At this time, the emitted laser beam energy is more concentrated, maintaining sufficient intensity after long-distance propagation, thereby accurately detecting distant objects and effectively improving the lidar's long-range detection capability and resolution. When switching to the second operating position, the state of the transmitting lens changes, entering a defocused and uniform light state, which is very advantageous for close-range detection. In the close-range range, the uniformly distributed emitted beam can more comprehensively cover the target area, avoiding situations where some areas are too bright and others are too dark due to excessively concentrated emitted beams. This ensures that detailed information of close-range targets can be clearly captured, improving the adaptability to complex close-range scenarios. For example, in autonomous driving scenarios, it can more accurately identify the shape, position, and movement of pedestrians, obstacles, and other objects near the vehicle. Therefore, solid-state lidar using the aforementioned emission module can quickly adjust the parameters of the emitted beam under different working scenarios and task requirements without the need for complex optical component replacements or system recalibration. This greatly improves the adaptability and flexibility of the entire lidar system, enabling it to better cope with complex and ever-changing real-world application environments. Whether it's close-range traffic monitoring in urban streets or long-range vehicle perception on open roads, optimal detection results can be achieved through simple lens position switching. Furthermore, compared to using multiple independent emission modules or complex optical adjustment systems to achieve different ranging functions, this method of switching the position of a single emission lens reduces the number of required optical components and system complexity, thereby lowering production costs and manufacturing difficulties. It also improves system reliability and stability, as fewer components mean fewer potential failure points, making maintenance and repair easier. This lays the foundation for the large-scale application and widespread adoption of solid-state lidar. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the transmitting module according to an optional embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the structure of the transmitting module in another optional embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the structure of the transmitter chip in one optional embodiment of this application;

[0030] Figure 4 This is a light intensity distribution diagram of three adjacent light-emitting holes when the transmitting lens is in the first operating position, according to an optional embodiment of this application.

[0031] Figure 5 This is a light intensity distribution diagram of three adjacent light-emitting holes when the transmitting lens is in the second operating position, according to an optional embodiment of this application.

[0032] Figure 6 A simulation diagram of the light spot when the transmitting lens is in the first operating position, according to an optional embodiment of this application;

[0033] Figure 7 A simulation diagram of the light spot when the transmitting lens is in the second operating position, according to an optional embodiment of this application;

[0034] Figure 8 A simulation diagram of the light spot when the transmitting lens is in the second operating position, according to another optional embodiment of this application;

[0035] Figure 9 To increase Figure 8 The example shown is a simulation diagram of the light spot based on the number of light-emitting holes.

[0036] Figure 10 In a real-world testing environment Figure 6 The grayscale image shown is an example.

[0037] Figure 11 This is a grayscale image obtained after using Diffuser to homogenize the light in an actual test environment.

[0038] Figure 12 In a real-world testing environment Figure 8 The grayscale image shown is an example.

[0039] The reference numerals in the attached figures are as follows:

[0040] 1. Transmitting lens; 2. Lens sleeve; 3. Lens base; 31. Clearance groove; 4. Ultrasonic drive motor; 41. Rotor; 42. Stator; 43. Movable part; 5. Fixing component; 6. Transmitting chip; 61. Light-emitting hole. Detailed Implementation

[0041] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0045] An embodiment of the first aspect of this application provides a transmitting module, and an embodiment of the second aspect of this application provides a solid-state lidar.

[0046] The transmitting module is used in solid-state lidar. In practical applications, when the solid-state lidar is performing long-range detection tasks, the transmitting module can precisely adjust the position of the transmitting lens 1 to ensure that the emitted beam is emitted in a highly focused state, thereby guaranteeing high accuracy and stability of long-range ranging and effectively improving the radar's ability to detect distant targets. When facing close-range targets, the transmitting module can switch to defocusing and homogenizing mode. By adjusting the position of the transmitting lens 1, the emitted beam is evenly distributed within the close-range range, avoiding local overexposure or detection blind spots caused by excessive energy concentration. This provides strong support for detailed identification and accurate positioning of close-range targets, significantly enhancing the adaptability and reliability of solid-state lidar in complex close-range scenarios.

[0047] Specifically, see Figure 1 , Figure 2 and Figure 3As shown in the embodiment of the first aspect of this application, the transmitting module includes a transmitting lens 1, a lens sleeve 2, and a lens base 3. The transmitting lens 1 and the lens sleeve 2 are fixed relative to each other, and the lens sleeve 2 is movably disposed on the lens base 3 to drive the transmitting lens 1 to switch between a first operating position and a second operating position. In this embodiment, by driving the transmitting lens 1 to switch between different positions through the lens sleeve 2, the transmitting module can flexibly change the characteristics of the emitted beam according to actual needs. For example, in the first operating position, the transmitting lens 1 is in a focused state, that is, the transmitting chip 6 is exactly on the focal plane of the transmitting lens 1, to meet the high-precision ranging requirements of solid-state lidar for distant targets. At this time, the emitted laser beam energy is more concentrated, and it can still maintain sufficient intensity after long-distance propagation, thereby accurately detecting distant objects and effectively improving the long-range detection capability and resolution of lidar. When switching to the second operating position, the state of the transmitting lens 1 changes, entering a defocused and uniform light state. There is a certain distance in the axial direction between the transmitting chip 6 and the focal plane of the transmitting lens 1, which is very advantageous for close-range detection. At close range, a uniformly distributed emission beam can more comprehensively cover the target area, avoiding situations where some areas are too bright and others too dark due to excessive beam concentration. This ensures clear capture of detailed information about nearby targets, achieving a uniform light effect and improving adaptability to complex close-range scenarios. For example, in autonomous driving scenarios, it can more accurately identify the shape, position, and movement of pedestrians, obstacles, and other objects near the vehicle. Consequently, solid-state LiDAR systems using the aforementioned emission module can quickly adjust the emission beam parameters under different working scenarios and task requirements without the need for complex optical component replacements or system recalibration. This significantly improves the adaptability and flexibility of the entire LiDAR system, enabling it to better cope with complex and ever-changing real-world application environments. Whether it's close-range traffic monitoring in urban streets or long-range vehicle perception on open roads, optimal detection results can be achieved through simple lens position switching. Furthermore, compared to using multiple independent transmitting modules or complex optical adjustment systems to achieve different ranging functions, this method of switching positions through a single transmitting lens reduces the number of required optical components and the complexity of the system, thereby reducing production costs and manufacturing difficulties. At the same time, it also improves the reliability and stability of the system, because reducing the number of components means reducing the nodes that may fail, making it easier to maintain and repair, thus laying the foundation for the large-scale application and popularization of solid-state lidar.

[0048] Among them, the transmitting lens 1 is the core optical component of the transmitting module. The transmitting lens 1 is used to collimate and preliminarily shape the beam generated by the laser source so that it has a suitable divergence angle and energy distribution, so as to effectively emit it and form a detectable light spot in the target area.

[0049] The lens sleeve 2 is connected to the transmitting lens 1, which is housed within the lens sleeve 2. The lens sleeve 2 provides stable support and a precise position adjustment mechanism for the transmitting lens 1, ensuring that the optical axis of the transmitting lens 1 remains stable during lens position switching, preventing beam pointing deviation caused by lens shaking or displacement. In practical applications, the lens sleeve 2 is first installed on the lens base 3, then the transmitting lens 1 and lens sleeve 2 are coupled, aligning the optical axis of the transmitting lens 1 with the axis of the transmitting chip 6. It is understood that for the receiving lens (not shown in the figure) of the solid-state lidar, the receiving lens should be coupled after the transmitting lens 1 and lens sleeve 2 are fixed to achieve the optimal point cloud state, and finally, the receiving lens is fixed with adhesive.

[0050] Among them, the lens base 3 is the basic support structure of the launch module. The lens base 3 is used to provide a stable mounting platform for the lens sleeve 2 to resist the influence of external vibration, impact and other interference factors on the position and attitude of the launch lens 1.

[0051] Specifically, the lens sleeve 2 is movably mounted on the lens base 3, enabling the transmitting lens 1, fixed to the lens sleeve 2, to move along the optical axis. In this embodiment, when the transmitting lens 1 moves axially to the first operating position, the transmitting lens 1 is in a focused state; when the transmitting lens 1 moves axially to the second operating position, the transmitting lens 1 is in a defocused state. See also... Figure 4 and Figure 5 As shown, Figure 4 This demonstrates the light intensity distribution at a specific distance of the light beams emitted by three adjacent light-emitting holes 61 when the emitting lens 1 is in focus. Figure 4 It can be clearly observed that the light intensity exhibits certain distribution characteristics. The light intensity distribution of each emitting aperture 61 has relatively independent and obvious peaks and contours, reflecting the focusing characteristics of the light at this time. Figure 5 This presents the light intensity distribution after the transmitting lens 1 defocuses, and the combined effect of multiple defocused light intensity distributions superimposed. Through the analysis of... Figure 5 The analysis clearly shows that after defocusing and superposition, the light intensity distribution changes significantly, exhibiting an overall intensity pattern that is approximately flat-topped. This flat-top light intensity distribution means that the light intensity is relatively uniform within a certain area, avoiding excessive concentration or dispersion of light intensity. This allows for more uniform beam coverage in specific application scenarios, such as close-range detection in solid-state lidar, improving the detection accuracy and reliability of close-range targets. It also provides a more stable and high-quality light intensity foundation for subsequent signal processing and target recognition.

[0052] In the above embodiments, the lens sleeve 2 and the lens base 3 rotate relative to each other; or the lens sleeve 2 and the lens base 3 extend and retract along a straight line.

[0053] Here, when the transmitting lens 1 moves linearly along the optical axis through relative rotation between the lens sleeve 2 and the lens base 3, the lens base 3 can be a barrel-shaped structure with a spiral groove inside, and the outer surface of the lens sleeve 2 has a threaded structure that matches the lens base 3. When the position of the transmitting lens 1 needs to be adjusted, the lens sleeve 2 is rotated. The tight fit between the threaded structure and the spiral groove allows the lens sleeve 2 to move stably and precisely linearly along the optical axis under the action of rotational force. When the transmitting lens 1 moves linearly along the optical axis through telescopic movement between the lens sleeve 2 and the lens base 3, the lens base 3 can be a cuboid frame structure. A pair of parallel linear guides are provided on the inner walls of both sides of the lens base 3 along the optical axis, and corresponding slider components that tightly fit the linear guides are installed on both sides of the lens sleeve 2. When the position of the transmitting lens 1 needs to be adjusted, the sliders are controlled to slide on the linear guides, thereby causing the transmitting lens 1 to switch positions.

[0054] In some possible implementations disclosed in this application, see [link to relevant documentation]. Figure 1 and Figure 2 As shown, the transmitting module also includes an ultrasonic drive motor 4, which is mounted on the lens base 3 and connected to the lens sleeve 2. The ultrasonic drive motor 4 is used to drive the lens sleeve 2 to switch between a first operating position and a second operating position.

[0055] Here, the ultrasonic drive motor 4 possesses high-precision displacement control capabilities. Because solid-state lidar, whether operating for long-range high-precision ranging or close-range uniform light detection, demands extremely high positional accuracy from the transmitting lens 1, the ultrasonic drive motor 4 can precisely control the minute displacement of the lens sleeve 2 by precisely controlling the frequency and quantity of pulse signals. Specifically, when switching the transmitting lens 1 from the first operating position (focus state) to the second operating position (defocus state), the ultrasonic drive motor 4 can precisely control the moving distance of the lens sleeve 2 according to preset parameters, ensuring that the transmitting lens 1 can quickly and accurately enter the defocus uniform light state. This high-precision positioning helps to ensure that the emitted beam is evenly distributed in the target area during close-range detection, avoiding uneven light intensity caused by positional deviations, thereby improving the ability to capture details of close-range targets.

[0056] See some specific examples. Figure 1As shown, the ultrasonic drive motor 4 is a ring ultrasonic motor, the lens sleeve 2 is screwed to the lens base 3, the stator 42 of the ring ultrasonic motor is connected to the lens base 3, and the rotor 41 of the ring ultrasonic motor is connected to the lens sleeve 2.

[0057] The ring-shaped ultrasonic motor includes a stator 42 and a rotor 41. The stator 42 may include a piezoelectric ceramic element, which generates ultrasonic vibrations when a high-frequency AC voltage is applied. In practical applications, the stator 42 of the ring-shaped ultrasonic motor is connected to the lens base 3, allowing the stator 42 to be securely fixed to the lens base 3. The lens base 3, as the basic support structure of the entire transmitting module, provides a stable mounting platform for the stator 42. Simultaneously, the rotor 41 of the ring-shaped ultrasonic motor is connected to the lens sleeve 2. Thus, when the rotor 41 rotates under the drive of the ultrasonic vibrations generated by the stator 42, it directly drives the lens sleeve 2 to move.

[0058] The lens sleeve 2 is screwed to the lens base 3, which means that the outer circumferential surface of the lens sleeve 2 has threads, and the inside of the lens base 3 has a matching thread structure, so that the lens sleeve 2 can rotate on the lens base 3. Due to the helical characteristics of the threads, the lens sleeve 2 will move linearly along the optical axis while rotating.

[0059] Specifically, when the rotor 41 of the ring ultrasonic motor drives the lens sleeve 2 to rotate, due to the screw connection between the lens sleeve 2 and the lens base 3, the lens sleeve 2 will move along the optical axis while rotating. This movement mode meets the requirement of the transmitting lens 1 to switch between a first operating position (such as the focused state) and a second operating position (such as the defocused state). For example, in the focused state, the lens sleeve 2 may rotate to a certain position so that the transmitting lens 1 is in a suitable position to focus the beam; when it is necessary to switch to the defocused state, the ring ultrasonic motor drives the lens sleeve 2 to rotate in the opposite direction, moving the lens sleeve 2 to another position, thereby defocusing the transmitting lens 1.

[0060] In other specific examples, see Figure 2 As shown, the ultrasonic drive motor 4 is a linear ultrasonic motor. The linear ultrasonic motor includes a movable part 43. A clearance groove 31 is provided on the lens base 3. The clearance groove 31 extends along the axial direction of the lens sleeve 2. The linear ultrasonic motor is located on the side of the lens base 3 close to the lens sleeve 2. The lens sleeve 2 is connected to the movable part 43 of the linear ultrasonic motor through the clearance groove 31.

[0061] The linear ultrasonic motor primarily generates linear driving force through ultrasonic vibration. Its working principle is based on the piezoelectric effect; the internal piezoelectric ceramic generates ultrasonic vibrations when an electric field is applied. These vibrations are converted into linear motion through a specific structure (the specific construction of which is not described in detail here as it is prior art). In this example, the linear ultrasonic motor is positioned on the side of the lens base 3 near the lens sleeve 2, facilitating direct connection between the linear ultrasonic motor and the lens sleeve 2, thereby effectively transmitting power to the lens sleeve 2 to achieve axial movement of the lens sleeve 2.

[0062] The lens base 3 has a clearance groove 31 that extends along the axial direction of the lens sleeve 2, providing a spatial channel for the connection between the lens sleeve 2 and the linear ultrasonic motor. Since the lens sleeve 2 needs to move axially, the clearance groove 31 prevents interference between the lens sleeve 2 and other parts of the lens base 3 during movement, ensuring that the lens sleeve 2 can freely move axially. In practical applications, the lens sleeve 2 is connected to the movable part 43 of the linear ultrasonic motor via the clearance groove 31. When the linear ultrasonic motor operates, its movable part 43 moves axially under the drive of ultrasonic vibration, thereby causing the lens sleeve 2 to move along the same axial direction, realizing the switching of the transmitting lens 1 between a first operating position and a second operating position.

[0063] Specifically, when the position of the transmitting lens 1 needs to be adjusted, the control system issues a command, and the linear ultrasonic motor starts working. The piezoelectric ceramic inside generates ultrasonic vibrations, causing the movable part 43 of the linear ultrasonic motor to move axially. Since the lens sleeve 2 is connected to the movable part 43 of the linear ultrasonic motor via the relief groove 31, the lens sleeve 2 also moves linearly in the axial direction. For example, when it is necessary to switch the transmitting lens 1 from a focused state (first operating position) to a defocused state (second operating position), the movable part 43 of the linear ultrasonic motor pushes the lens sleeve 2 along the relief groove 31 in the corresponding direction, thereby changing the position of the transmitting lens 1 and adjusting the characteristics of the emitted beam.

[0064] In the above embodiments, see Figure 2 As shown, a fastener 5 is provided on the outer peripheral surface of the lens sleeve 2 at a position relative to the relief groove 31, and the lens sleeve 2 is connected to the movable part 43 of the linear ultrasonic motor through the fastener 5.

[0065] Here, by setting the fixing member 5, the connection between the lens sleeve 2 and the movable part 43 of the linear ultrasonic motor is made more precise.

[0066] The fastener can be a metal block with mounting holes, which is tightly fixed to the movable part 43 of the linear ultrasonic motor by screws or other connectors to ensure that a rigid connection is formed between the lens sleeve 2 and the movable part 43 of the linear ultrasonic motor, so that the linear motion generated by the linear ultrasonic motor during operation can be effectively transmitted to the lens sleeve 2.

[0067] Specifically, when the linear ultrasonic motor receives a command from the control system and begins to operate, its internal piezoelectric ceramic generates ultrasonic vibrations, which in turn causes the movable part 43 of the linear ultrasonic motor to move along the axial direction. Since the lens sleeve 2 is connected to the movable part 43 of the linear ultrasonic motor via the fixing member 5, the fixing member 5 transmits the power of the linear ultrasonic motor to the lens sleeve 2. The linear ultrasonic motor body (fixed part) and the lens base 3 remain fixedly connected, as shown below. Figure 2 The lens base 3 and the linear ultrasonic motor 4 can be fixedly connected to the same mounting platform, with the lens base 3 being integrally formed with the mounting platform. Driven by the fixing member 5, the lens sleeve 2 moves along the axial direction of the relief groove 31, thereby enabling the transmitting lens 1 to switch between a first operating position (e.g., focused state) and a second operating position (e.g., defocused state). Throughout the process, the fixing member 5 plays a crucial role in power transmission and position constraint, ensuring that the lens sleeve 2 can move in the expected direction and distance, meeting the requirements of the solid-state lidar for adjusting the position of the transmitting lens 1.

[0068] In some possible implementations disclosed in this application, see [link to relevant documentation]. Figure 1 and Figure 2 As shown, the transmitting module also includes a transmitting chip 6, which is disposed on the side of the lens base 3 away from the transmitting lens 1. The axis of the transmitting chip 6 coincides with the optical axis of the transmitting lens 1. When the transmitting lens 1 is switched to the first operating position, the transmitting chip 6 is located on the focal plane of the transmitting lens 1. When the transmitting chip 6 is switched to the second operating position, the transmitting chip 6 deviates from the focal plane of the transmitting lens 1.

[0069] Here, when the transmitting lens 1 is switched to the first operating position, the transmitting chip 6 is located on the focal plane of the transmitting lens 1. This allows the emitted beam to form a clear spot on the distant target after refraction by the lens, enabling the beam energy to be highly concentrated and projected onto the target, thereby improving the accuracy of long-range detection. When the transmitting lens 1 is switched to the second operating position, the transmitting chip 6 is deviated from the focal plane of the transmitting lens 1. At this time, the emitted beam is no longer in a focused state after passing through the transmitting lens 1, but forms a defocused light distribution. This defocused state allows the emitted beam to be relatively evenly distributed within the close-range range, avoiding local overexposure caused by excessive energy concentration when detecting close-range targets. It can fully illuminate the target area, thereby better capturing the details of the target.

[0070] Specifically, the second operating position can be flexibly set according to actual application requirements, and its specific state can be clearly presented through a light spot simulation diagram. See also Figure 6 The simulated light spot diagram shown illustrates the light spot shape when the transmitting lens 1 is in the first operating position. At this time, the transmitting lens 1 is in a focused state, and the light spot exhibits relatively concentrated and clear characteristics. The boundaries of the light spots formed by each emitting aperture 61 are distinct, reflecting the focusing effect of the light. This state is beneficial for solid-state lidar to accurately detect distant targets, ensuring that the emitted beam maintains sufficient energy density and directionality after propagating over long distances, thereby accurately acquiring information about distant targets. Further references... Figure 7 This figure depicts the beam pattern when the transmitting lens 1 is in the second operating position and defocused by 0.2mm. It is clearly visible that compared to the first operating position, the beam pattern gradually diverges, and the spacing between the beams from different light-emitting holes 61 is significantly reduced. This is because the transmitting lens 1 has deviated from the focused state of the first operating position and entered a defocused state, causing the light to no longer be highly focused but to begin to diffuse outwards. The distance between the beams from each light-emitting hole 61 gradually shortens. This change reflects a change in the characteristics of the emitted beam, transitioning from focused to divergent, beginning to adapt to the needs of close-range detection, and to some extent expanding the beam's coverage area. However, the distribution of the beam pattern is still relatively uneven. Looking further... Figure 8 The image shows a simulated light spot of the transmitting lens 1 in its second operating position, but with a defocus of 0.5mm. It can be observed that the halos of adjacent light-emitting holes 61 partially overlap, and the light intensity distribution within the entire illumination area exhibits a relatively uniform state. This light spot state indicates that as the defocusing degree further increases, the emitted beam can more uniformly cover the target area at close range, effectively avoiding local overexposure or detection blind spots caused by excessive energy concentration. This provides strong support for detailed identification and precise positioning of close-range targets, enabling solid-state lidar to better handle detection tasks in complex close-range scenarios, significantly enhancing its adaptability and reliability in practical applications.

[0071] Further, see Figure 9 As shown, to deeply analyze the variation law of light spot characteristics under specific optical performance requirements, researchers carried out optimized design of the transmitting module, specifically by increasing the number of its light-emitting apertures 61, and conducted related simulation studies based on this. In this simulation experiment, when the transmitting lens 1 was precisely adjusted to the second operating position and the defocus amount was precisely controlled at the specific parameter condition of 0.5mm, the corresponding simulated light spot image was obtained, i.e. Figure 9 The simulation clearly shows that as the number of emitting apertures (61) increases, the distribution of the light spot on the plane becomes more uniform. This uniform light spot distribution has several positive impacts on the performance of solid-state lidar: In terms of ranging accuracy, a uniform light spot makes the reflected light signal received by the lidar more stable and accurate, effectively reducing ranging errors caused by uneven or irregular distribution of light spot energy, and significantly improving the accuracy of ranging; in terms of measurement stability, the uniform distribution of the light spot allows the lidar to maintain relatively stable measurement performance under different working environments and conditions, reducing measurement fluctuations caused by changes in the light spot, and ensuring the reliability and consistency of each measurement result; in terms of system anti-interference capability, a uniform light spot distribution helps the lidar better resist various interference factors in the external environment, such as stray light and electromagnetic interference, because a uniform light spot enables the system to more accurately identify and process effective signals, reducing the impact of interference signals on measurement results, thereby improving the anti-interference performance of the entire lidar system and providing strong support for its stable operation in complex and ever-changing practical application scenarios.

[0072] Furthermore, in a real-world testing environment, a comparative study was conducted on scene images under different conditions. Specific grayscale image displays are shown below. Figure 10 , Figure 11 and Figure 12 As shown. Among them, Figure 10 The image presented is a grayscale image in focus mode. In this mode, the outline of the visible light spot is clearly defined, making it particularly suitable for long-distance measurement. After switching to point cloud mode, actual measurements and data acquisition showed that the point cloud intensity value of the furthest target reached 6380. This high intensity value provides reliable data support for long-distance measurement, ensuring effective detection and accurate measurement of distant targets in this mode. Figure 11The image shown is a grayscale image after being processed by a diffuser (an optical device specifically designed to achieve uniform light distribution). Under this diffused lighting condition, when switched to point cloud mode, the measured point cloud intensity value of the furthest target is 3000. This is lower than the point cloud intensity value in focused mode, reflecting the impact of diffuser processing on the light spot energy distribution and point cloud intensity. It also indicates that while the point cloud intensity changes under this diffused lighting condition, it may offer unique advantages in other aspects (such as light spot uniformity and near-field measurement accuracy), making it suitable for specific measurement scenarios and requirements. Figure 12 This is the grayscale image obtained after defocusing by 0.5mm and homogenizing the light. In this state, after switching to point cloud mode, the point cloud intensity value of the farthest target is 2640. Compared to the previous two states, the point cloud intensity after defocusing by 0.5mm and homogenizing the light further decreases. This is because the combined effect of the defocusing operation and homogenization processing changes the energy distribution of the light spot, thus affecting the point cloud intensity value. The light spot characteristics in this state may have application value in scenarios where high light spot uniformity is required, but the requirement for point cloud intensity at long distances is relatively low. This provides more parameter selections and performance references for the flexible application of lidar under different operating conditions. In the current research context, a comparative analysis was conducted on defocus homogenization and diffuser homogenization. The results show that defocus homogenization successfully improved the light spot uniformity without significantly attenuating the ranging performance. This characteristic allows the lidar to exhibit better performance when in defocus mode (i.e., close-range mode), thereby optimizing its working efficiency and detection accuracy in the close-range range. It is important to note that the calculation of the beam uniformity is performed using existing, mature, and widely accepted technical formulas. This embodiment focuses on a thorough discussion and application of the final calculated results, as these results directly reflect the actual situation of the beam uniformity and provide crucial data support for subsequent optical system performance evaluation and optimization. The specific structure and detailed derivation steps of the calculation formula are not elaborated upon here, as they fall within the scope of existing technology.

[0073] In the above embodiments, see Figure 3 As shown, the emitting chip 6 includes several light-emitting holes 61, which are arranged in an alternating and equidistant manner.

[0074] Here, several light-emitting apertures 61 are arranged in a staggered and equidistant manner, which makes the emitted light beam more uniform in spatial distribution. Specifically, after the emitted light beam is emitted, the light emitted from different light-emitting apertures 61 superimposes and complements each other. For example, in close-range detection scenarios, this uniform light distribution can avoid excessive local differences in light intensity, preventing overexposure due to excessively strong light in some areas or blind spots due to insufficient light in others. Figure 7 and Figure 8 In the simulated light spot diagram shown, the arrangement of this light-emitting aperture 61 helps to better blend the halos of adjacent light-emitting apertures 61 in the defocused state, thereby achieving more uniform light coverage and improving the detection effect of close-range targets.

[0075] In the above embodiment, the aperture of the light-emitting hole 61 is A, and the distance between two adjacent light-emitting holes 61 is B, where 0.17≤A / 2B≤0.37.

[0076] Here, the radius and spacing of the emitting apertures 61 are relatively small, resulting in a more advantageous beam distribution in the defocused state. Specifically, although the emitting apertures 61 are small, the relatively large spacing allows the beam emitted by each aperture 61 to diffuse independently within a certain range after defocusing. This independent diffusion characteristic enables the beam to cover the target area more evenly in the defocused state, without causing local energy to be too high or too low due to the excessive density of adjacent apertures 61. For example, in close-range detection scenarios, this evenly distributed beam can illuminate the target object more comprehensively, reducing shadows and thus improving the effective utilization of energy in the target area. Simultaneously, the smaller aperture radius and spacing ratio reduces energy loss of the emitted beam in non-target areas. Because the apertures 61 are relatively small, the divergence angle of the emitted beam is relatively small in the initial defocusing stage, allowing the emitted beam to diffuse more concentratedly towards the target area during propagation, rather than scattering excessive energy into the surrounding space. For example, when solid-state lidar detects close-range targets around vehicles, this characteristic allows the beam's energy to be concentrated more on pedestrians or obstacles around the vehicle, reducing energy waste above the vehicle or in other irrelevant areas. In this embodiment, the ratio of the radius of the light-emitting hole 61 to the spacing between the light-emitting holes 61 is preferably 0.27.

[0077] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0078] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A transmitting module, characterized by The emission lens (1), the lens sleeve (2) and the lens base (3) are included. The emission lens (1) is fixed opposite to the lens sleeve (2), and the lens sleeve (2) is movably arranged on the lens base (3) to drive the emission lens (1) to switch between the first operation position and the second operation position. The relative rotation movement between the lens sleeve (2) and the lens base (3) or the telescopic movement between the lens sleeve (2) and the lens base (3) is included.

2. The launch module of claim 1, wherein, The ultrasonic drive motor (4) is further included.

3. The launch module of claim 1, wherein, The ultrasonic drive motor (4) is arranged on the lens base (3), and the ultrasonic drive motor (4) is connected with the lens sleeve (2), and the ultrasonic drive motor (4) is used for driving the lens sleeve (2) to switch between the first operation position and the second operation position. The ultrasonic drive motor (4) is a ring-shaped ultrasonic motor, the lens sleeve (2) is screwed on the lens base (3), the stator (42) of the ring-shaped ultrasonic motor is connected with the lens base (3), and the rotor (41) of the ring-shaped ultrasonic motor is connected with the lens sleeve (2). The ultrasonic drive motor (4) is a linear ultrasonic motor, the lens base (3) is provided with a displacement slot (31) extending along the axial direction of the lens sleeve (2), the linear ultrasonic motor is arranged on one side of the lens base (3) close to the lens sleeve (2), and the lens sleeve (2) is connected with the movable part (43) of the linear ultrasonic motor through the displacement slot (31).

4. The launch module of claim 3, wherein, The lens sleeve (2) is connected with the movable part (43) of the linear ultrasonic motor through the fixed part (5) arranged at the position of the outer circumferential surface of the lens sleeve (2) relative to the displacement slot (31).

5. The launch module of claim 3, wherein, The emission chip (6) is further included.

6. The transmit module of claim 5, wherein, The emission chip (6) is arranged on the side of the lens base (3) away from the emission lens (1), the axial center line of the emission chip (6) coincides with the optical axis of the emission lens (1), when the emission lens (1) is switched to the first operation position, the emission chip (6) is located on the focal plane of the emission lens (1), and when the emission chip (6) is switched to the second operation position, the emission chip (6) deviates from the focal plane of the emission lens (1).

7. The launch module of claim 1, wherein, The emission chip (6) includes: A plurality of light emitting holes (61). The plurality of light emitting holes (61) are arranged in a staggered and equidistant manner.

8. The transmit module of claim 7, wherein, The aperture of the light emitting hole (61) is A, the interval distance between two adjacent light emitting holes (61) is B, and 0.17≤A / 2B≤0.

37. The emission module as claimed in any one of claims 1-9 is included. ​ 9. The transmit module of claim 8, wherein, ​ 10. A solid state lidar, characterized by, ​

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