Optical shaping unit, lidar, and optical transceiver module

Abstract

Provided in the present disclosure are an optical shaping unit for a LiDAR, a LiDAR chip, a LiDAR, and an optical transceiver module. The optical shaping unit comprises a first lens and a second lens, wherein the first lens is used to receive a detection light beam emitted by a transmitting unit of the LiDAR, the transmitting unit being provided with a light-emitting surface, and the detection light beam being emitted by the light-emitting surface; and the first lens is located in an optical path between the transmitting unit and the second lens, and the first lens and the second lens are configured such that the light-emitting surface of the transmitting unit forms a reduced light-emitting surface, with the optical axes of the first lens and the second lens being non-parallel. According to the present disclosure, the first lens and the second lens mutually cooperate to reduce the size of the light-emitting surface, which can flexibly control the size of the light-emitting surface, thereby increasing the power density of the detection light beam emitted by the LiDAR and reducing the requirement of the LiDAR for the power density of a laser. In addition, the optical path turns by means of the first lens and the second lens, such that the position of the light-emitting surface is changed, which is conducive to optimizing the arrangement of other components inside the LiDAR, and is conducive to reducing the number of components of the LiDAR and reducing the volume of the LiDAR, thereby reducing the cost, having a simple structure, and facilitating batch production.

Description

Optical shaping unit, laser radar and transceiver optical module Technical Field

[0001] The present disclosure relates to the field of laser radar, and in particular to an optical shaping unit for laser radar, a laser radar chip, a laser radar, and a transceiver optical module for laser radar. Background Art

[0002] LiDAR (LiDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It is an advanced detection method that combines laser technology with photoelectric detection technology. Due to its advantages such as high resolution, good concealment, strong resistance to active interference, excellent low-altitude detection performance, small size, and light weight, LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration, and other fields.

[0003] LiDAR emits a detection beam through a transmitting unit and receives the echo reflected by the target object through a receiving unit. The position and distance of the target object relative to the LiDAR are calculated based on the echo signal. Due to factors such as the number of transmitting and receiving units, as well as the coordination of the lens group and the spectrometer structure, the number of optical components in LiDAR is large, the structure is complex, and the layout is difficult. This prevents the LiDAR from being further reduced in size, limiting its miniaturization and application in small devices. At the same time, the traditional structure leads to excessively high production costs for LiDAR, which is not conducive to large-scale production and application. Therefore, it is necessary to improve LiDAR.

[0004] Furthermore, high-precision alignment between the transmitting and receiving fields of view in LiDAR directly impacts key performance aspects such as range finding capability and ranging accuracy. Currently, LiDAR faces challenges in ensuring alignment between the transmitting and receiving fields of view. This is primarily due to factors such as production processes, temperature fluctuations, and mechanical deformation, which can cause the two fields of view to shift and become misaligned.

[0005] To address the aforementioned issue of transceiver field of view offset, one currently used method is electronic aperture technology based on the receiving end array photosensitive device. This technology dynamically adjusts the receiving field of view, ensuring that it always coincides with the transmitting field of view. Furthermore, existing technologies often require a larger receiving field of view to address this issue. This ensures that even if the transmitting and receiving fields of view shift, the light spot remains within the receiving field of view, thus preventing significant degradation of the LiDAR's range-finding performance. Therefore, better alignment between the transmitting and receiving fields of view can effectively improve LiDAR performance.

[0006] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field.

[0007] Summary of the Invention

[0008] To address one or more deficiencies in the prior art, the present disclosure provides an optical shaping unit for a laser radar, comprising a first lens and a second lens. The first lens is configured to receive a probe beam emitted by a transmitting unit of the laser radar, wherein the transmitting unit has a light-emitting surface from which the probe beam is emitted. The second lens is configured to receive a probe beam emitted by a transmitting unit of the laser radar, wherein the transmitting unit has a light-emitting surface from which the probe beam is emitted. The first lens is configured to receive a probe beam emitted by a transmitting unit of the laser radar, wherein the transmitting unit has a light-emitting surface from which the probe beam is emitted. The second lens is configured to receive a probe beam emitted by a transmitting unit of the laser radar, wherein the first lens is configured to receive a probe beam emitted by a transmitting unit of the laser radar, wherein the transmitting unit has a light-emitting surface from which the probe beam is emitted. The first lens is configured to receive a probe beam emitted by a transmitting unit of the laser radar, wherein the ...

[0009] Optionally, the first lens and the second lens are both convex lenses. The focal length of the first lens is greater than the focal length of the second lens. The reduced light-emitting surface is formed on a side of the second lens opposite to the first lens.

[0010] Optionally, the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens.

[0011] Optionally, the optical shaping unit further includes a reflecting portion disposed between the first lens and the second lens, wherein the reflecting portion is configured to receive the detection beam from the first lens and reflect the detection beam to the second lens.

[0012] Optionally, the first lens, the second lens, and the reflective portion are integrally formed. Alternatively, the first lens, the second lens, and the reflective portion are separately formed. The optical axes of the first lens and the second lens are perpendicular. The reflective portion forms a 45° angle with the optical axis of the first lens, and the reflective portion forms a 45° angle with the optical axis of the second lens.

[0013] Optionally, the ratio of the focal lengths of the first lens and the second lens is determined according to the size of the reduced light-emitting surface, and the optical shaping unit is configured to increase the power density of the detection beam emitted from the lidar.

[0014] The present disclosure also provides a laser radar, comprising a transmitting unit, an optical shaping unit, a receiving unit, a spectroscopic unit, and a data processing unit. The transmitting unit is configured to transmit a detection beam, and the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface. The optical shaping unit is configured to form the light-emitting surface of the transmitting unit into a reduced light-emitting surface, and the optical shaping unit is arranged in the optical path between the transmitting unit and the spectroscopic unit. The receiving unit is configured to receive the echo generated by the reflection of the detection beam on the obstacle and convert it into an electrical signal. The spectroscopic unit is configured to guide the detection beam to the outside of the laser radar and guide the echo to the receiving unit. The data processing unit is coupled to the receiving unit and configured to obtain information about the obstacle based on the electrical signal.

[0015] Optionally, the laser radar further includes a transceiver optical unit configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit.

[0016] Optionally, the optical shaping unit includes a first lens and a second lens. The first lens is configured to receive the probe light beam emitted by the emitting unit, and the first lens is located in the optical path between the emitting unit and the second lens. The first lens and the second lens are configured to transform the light-emitting surface of the emitting unit into the reduced light-emitting surface. The optical axes of the first lens and the second lens are non-parallel.

[0017] Optionally, the laser radar further includes a circuit board, and the transmitting unit and the receiving unit are arranged on the same circuit board.

[0018] Optionally, the first lens and the second lens are both convex lenses. The focal length of the first lens is greater than the focal length of the second lens. The reduced light-emitting surface is formed on a side of the second lens opposite to the first lens.

[0019] Optionally, the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens.

[0020] Optionally, the optical shaping unit further includes a reflecting portion, the reflecting portion being disposed between the first lens and the second lens, and configured to receive the detection beam from the first lens and reflect the detection beam to the second lens.

[0021] Optionally, the first lens, the second lens, and the reflective portion are integrally formed. Alternatively, the first lens, the second lens, and the reflective portion are separately formed. The optical axes of the first lens and the second lens are perpendicular. The reflective portion forms a 45° angle with the optical axis of the first lens, and the reflective portion forms a 45° angle with the optical axis of the second lens.

[0022] Optionally, the laser radar further includes a scanner configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar, and reflect the echo to the transceiver optical unit.

[0023] Optionally, the transmitting unit includes a laser array disposed on the circuit board. The receiving unit includes a detector array disposed on the circuit board. The laser radar includes multiple optical shaping units and multiple spectroscopic units. A transceiver optical module includes one optical shaping unit and one spectroscopic unit. One transceiver optical module corresponds to one laser of the laser array and one detector of the detector array.

[0024] Optionally, the transmitting unit includes multiple laser arrays disposed on the circuit board. The receiving unit includes multiple detector arrays disposed on the circuit board. The laser radar includes multiple optical shaping units and multiple spectrometers. A transceiver optical module includes one optical shaping unit and one spectrometer. One transceiver optical module corresponds to one laser array and one detector array.

[0025] Optionally, the transmitting unit includes multiple laser arrays disposed on the circuit board. The receiving unit includes a detector disposed on the circuit board. Regions within the detector can be activated individually. The laser radar includes multiple optical shaping units and multiple spectroscopic units. A transceiver optical module includes one optical shaping unit and one spectroscopic unit. One transceiver optical module corresponds to an activation region of the detector and a group of laser arrays or one laser within the laser array.

[0026] The present disclosure also provides a laser radar, comprising a transmitting unit, a receiving unit, a spectroscopic unit, a data processing unit, and a circuit board. The transmitting unit is configured to transmit a detection beam, and the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface. The receiving unit is configured to receive the echo generated by the detection beam reflected on an obstacle and convert it into an electrical signal. The spectroscopic unit is configured to guide the detection beam to the outside of the laser radar and guide the echo to the receiving unit. The data processing unit is coupled to the receiving unit and is configured to obtain information about the obstacle based on the electrical signal. The transmitting unit and the receiving unit are arranged on the same circuit board.

[0027] Optionally, the laser radar further includes a transceiver optical unit, which is configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit.

[0028] Optionally, the laser radar further includes an optical shaping unit. The optical shaping unit is disposed in the optical path between the transmitting unit and the spectroscopic unit and is configured to adjust the spot shape of the detection light beam emitted by the transmitting unit to form a reduced light-emitting surface of the transmitting unit.

[0029] Optionally, the optical shaping unit includes a first lens and a second lens. The first lens is located in the optical path between the emitting unit and the second lens. The first lens receives the detection beam and emits the detection beam to the second lens.

[0030] Optionally, the first lens and the second lens are both convex lenses. The focal length of the first lens is greater than the focal length of the second lens. The reduced light-emitting surface is formed on a side of the second lens opposite to the first lens.

[0031] Optionally, the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens.

[0032] Optionally, the optical shaping unit further includes a reflector disposed in an optical path between the first lens and the second lens, configured to receive the probe beam from the first lens and totally reflect the probe beam to the second lens.

[0033] Optionally, the first lens, the second lens and the reflective portion are integrally formed, or the first lens, the second lens and the reflective portion are separately formed.

[0034] Optionally, the optical axes of the first lens and the second lens are perpendicular. The angle between the reflective portion and the optical axis of the first lens is 45°, and the angle between the reflective portion and the optical axis of the second lens is 45°.

[0035] Optionally, the ratio of the focal lengths of the first lens and the second lens is determined according to the size of the reduced light-emitting surface.

[0036] Optionally, the optical shaping unit is configured to increase the power density of the detection beam emitted from the lidar.

[0037] Optionally, the light splitting unit is configured to guide the detection beam and the echo in a manner of polarization splitting, pinhole splitting, or partial reflection mirror splitting.

[0038] Optionally, the laser radar further includes a scanner configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar, and reflect the echo to the transceiver optical unit.

[0039] Optionally, the transmitting unit includes a laser array disposed on the circuit board. The receiving unit includes a detector array disposed on the circuit board. The laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit. One transceiver optical module corresponds to one laser in the laser array and one detector in the detector array.

[0040] Optionally, the transmitting unit includes multiple laser arrays disposed on the circuit board. The receiving unit includes multiple detector arrays disposed on the circuit board. The laser radar includes multiple optical shaping units and multiple spectrometers. A transceiver optical module includes one optical shaping unit and one spectrometer. One transceiver optical module corresponds to one laser array and one detector array.

[0041] Optionally, the transmitting unit includes multiple laser arrays disposed on the circuit board. The receiving unit includes a detector disposed on the circuit board. Regions within the detector can be activated individually. The laser radar includes multiple optical shaping units and multiple spectroscopic units, with one transceiver optical module including one optical shaping unit and one spectroscopic unit. One transceiver optical module corresponds to an activated region of the detector and a group of laser arrays or one laser within the laser array.

[0042] The present disclosure also provides a transceiver optical module for a laser radar, comprising an optical shaping unit and a spectroscopic unit, wherein the optical shaping unit is configured to receive a detection beam emitted by a transmitting unit of the laser radar and transmit the detection beam to the spectroscopic unit, the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface, the spectroscopic unit is configured to receive the detection beam from the optical shaping unit and guide the detection beam to the outside of the laser radar, and is configured to receive an echo and guide the echo to the receiving unit of the laser radar, wherein the optical shaping unit is configured to form the light-emitting surface of the transmitting unit into a reduced light-emitting surface.

[0043] Optionally, the optical shaping unit corresponds one-to-one to one or more lasers of the transmitting unit in the laser radar, and the spectroscopic unit corresponds one-to-one to one detector, multiple detectors and one of the activation areas of the detector of the receiving unit in the laser radar.

[0044] Optionally, the optical shaping unit includes the optical shaping unit described above.

[0045] The present disclosure also provides a laser radar chip, comprising: a substrate, a light emitting device array, a light receiving device array, a spectrometer, and a package. The light emitting device array is located on the substrate. The light receiving device array is located on the substrate on one side of the light emitting device array. The spectrometer is configured to transmit the detection light generated by the light emitting device array. The detection light is reflected by a target to form echo light; the spectrometer is further configured to transmit the echo light to the light receiving device array. The package is located on the substrate and encapsulates the light emitting device array, the light receiving device array, and the spectrometer.

[0046] Optionally, the light emitting device array includes a plurality of lasers, which are arranged in an array on the substrate. The light receiving device array includes a plurality of detectors, which are arranged in an array on the substrate.

[0047] Optionally, the laser radar chip further includes: a light emitting device driver module and a light receiving device driver module. The light emitting device driver module is located on the substrate and is electrically connected to the light emitting device array and the substrate. The light receiving device driver module is located on the substrate and is electrically connected to the light receiving device array and the substrate.

[0048] Optionally, the light emitting device driving module and the light receiving device driving module are located between the light emitting device array and the light receiving device array. Alternatively, the light emitting device array and the light receiving device array are located between the light emitting device driving module and the light receiving device driving module.

[0049] Optionally, the laser radar chip further comprises: a light-transmitting adhesive portion, the light-transmitting adhesive portion being located on a side of the light-splitting unit facing the substrate, the light-splitting unit being fixed to the light-receiving device array and the light-emitting device array via the light-transmitting adhesive portion.

[0050] Optionally, the light splitting unit includes a light splitting element, and the light splitting element is configured to separate the optical path of the detection light from the optical path of the echo light.

[0051] Optionally, the beam splitter element is a polarization beam splitter.

[0052] Optionally, the probe light is emitted from the light emitting device array in a direction perpendicular to the substrate surface; the echo light is incident on the light receiving device array in a direction perpendicular to the substrate surface. The spectroscopic unit further includes a light deflection element. The light deflection element is located in the optical path of the probe light and is configured to deflect the probe light toward the spectroscopic element.

[0053] Optionally, the spectroscopic unit further includes: a focusing element, the focusing element being located in the optical path of the detection light, and the focusing element being configured so that both the light emitting device array and the light receiving device array are disposed on the substrate.

[0054] Optionally, the focusing element includes a first lens and a second lens. The first lens is located upstream of the light deflection element in the optical path of the detection light, so as to transmit the detection light to be incident on the light deflection element. The second lens is located downstream of the light deflection element in the optical path of the detection light, so that the detection light, after being deflected by the light deflection element, transmits the second lens and is incident on the spectroscopic element.

[0055] Optionally, the first lens, the light deflection element and the second lens are integrally formed.

[0056] Optionally, the first lens is a convex lens or a gradient refractive index lens. The second lens is a convex lens or a gradient refractive index lens.

[0057] Optionally, the second lens is a gradient refractive index lens. The first lens, the light deflection element, the second lens and the beam splitting element are integrally formed.

[0058] The present disclosure also provides a laser radar, comprising: a laser radar chip, an optical component and a scanning device. The laser radar chip comprises: a substrate, a light emitting device array, a light receiving device array, a spectroscopic unit and a packaging body. The light emitting device array is located on the substrate. The light receiving device array is located on the substrate on one side of the light emitting device array. The spectroscopic unit is configured to transmit the detection light generated by the light emitting device array; the detection light is reflected by the target to form echo light; the spectroscopic unit is also configured to transmit the echo light to the light receiving device array. The packaging body is located on the substrate and encapsulates the light emitting device array, the light receiving device array and the spectroscopic unit. The optical component transmits the detection light emitted by the laser radar chip, and the detection light transmitted by the optical component is reflected by the scanning device and then emitted. The echo light reflected by the scanning device is transmitted to the laser radar chip via the optical component.

[0059] Optionally, the laser radar further includes a circuit board, and the circuit board is electrically connected to the laser radar chip.

[0060] Optionally, the plurality of laser radar chips are fixed and electrically connected to the same circuit board, and the plurality of laser radar chips share the optical component and the scanning device.

[0061] Optionally, the scanning device causes the detection light to scan along a first direction. The plurality of laser radar chips are arranged in an array along a second direction, and the second direction is perpendicular to the first direction.

[0062] Optionally, the laser radar includes multiple laser radar chipsets arranged along the first direction. The laser radar chipset includes multiple laser radar chips, and the multiple laser radar chips in the same laser radar chipset are arranged along the second direction. The multiple laser radar chips in one laser radar chipset are staggered with the multiple laser radar chips in an adjacent laser radar chipset along the second direction.

[0063] Optionally, the laser radar includes a plurality of laser radar chipsets arranged along the first direction. The laser radar chipset includes a plurality of laser radar chips. The plurality of laser radar chips in the same laser radar chipset are arranged along the second direction. At least a portion of the lasers in the light emitting device array or at least a portion of the detectors in the light receiving device array in the laser radar chip of one of the laser radar chipsets are staggered along the second direction with at least a portion of the lasers in the light emitting device array or at least a portion of the detectors in the light receiving device array in the laser radar chip of the adjacent laser radar chipset.

[0064] Compared with the existing technology, the present disclosure provides an optical shaping unit for a laser radar, which uses the mutual cooperation of a first lens and a second lens to reduce the size of the light-emitting surface, can flexibly control the size of the light-emitting surface, improve the power density of the detection light beam emitted by the laser radar, and reduce the laser radar's requirements for the laser power density; at the same time, the first lens and the second lens fold the light path, change the position of the light-emitting surface, and facilitate the optimization of the layout of other components inside the laser radar.

[0065] The present disclosure also includes an embodiment of a laser radar, which utilizes an optical shaping unit to form a reduced light-emitting surface of the transmitting unit, thereby reducing the requirements for the size of the laser light-emitting surface and shaping the detection beam. The detection beam and the echo are simultaneously guided by the spectroscopic unit, providing a structural basis for the common lens group of the transmitting unit and the receiving unit, which is conducive to reducing the number of laser radar components and reducing the size of the laser radar, reducing costs, simplifying the structure, and facilitating mass production.

[0066] The present disclosure also includes another embodiment of a laser radar, which uses a spectroscopic unit to simultaneously guide the detection beam and the echo, and the transmitting unit and the receiving unit are integrated on a circuit board, which can reduce the occupied space, has a simple structure, and is conducive to the installation and field of view alignment of the transmitting unit and the receiving unit, reducing the difficulty of mass production and improving production efficiency.

[0067] The present disclosure also includes an embodiment of a transceiver optical module, wherein an optical shaping unit and a spectrometer unit cooperate with each other and are integrated into the transceiver optical module, thereby improving the integration of optical elements inside the laser radar and facilitating mass production.

[0068] In the technical solution disclosed herein, the light emitting device array, the light receiving device array, and the spectroscopic unit are all located on the same substrate and are packaged in a package to form the laser radar chip. Since the light emitting device array and the light receiving device array are sealed in the same chip, based on the chip packaging process, the mounting accuracy of the light emitting device array and the light receiving device array on the substrate can be controlled to the micron (μm) level, which can effectively ensure high-precision alignment of the emission field of view of the laser in each channel and the receiving field of view of the detector; and the light emitting device array, the light receiving device array, and the spectroscopic unit are all located on the same substrate, which can effectively reduce assembly accuracy and the impact of temperature changes, mechanical deformation, etc. on the emission field of view and the receiving field of view during the use of the laser radar.

[0069] In a laser radar, the array of light-emitting devices and the array of light-receiving devices share optical components and a scanning device, effectively overcoming the effects of optical axis offsets of the lens assembly in the optical component, positional offsets of the scanning device, and other factors on the alignment accuracy between the laser's transmitting field of view and the detector's receiving field of view in each channel. Therefore, the disclosed solution can effectively improve the alignment accuracy of the laser radar's transmitting and receiving fields of view, facilitate laser radar assembly and production, and contribute to reducing laser radar costs, improving laser radar reliability, and enabling the implementation of high-line-count laser radars. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0071] FIG1 is a schematic structural diagram of an optical shaping unit in one embodiment of the present disclosure;

[0072] FIG2 is a schematic structural diagram of an optical shaping unit in another embodiment of the present disclosure;

[0073] FIG3 is a system block diagram of a laser radar according to an embodiment of the present disclosure;

[0074] FIG4 is a schematic diagram of a laser radar including a transceiver optical unit according to an embodiment of the present disclosure;

[0075] FIG5 is a schematic diagram of a laser radar including an optical shaping unit according to an embodiment of the present disclosure;

[0076] FIG6 is a schematic diagram of the optical path of a laser radar in one embodiment of the present disclosure;

[0077] 7A-7D are schematic diagrams of light splitting units in different embodiments of the present disclosure;

[0078] FIG8 is a schematic diagram of the optical path of a transceiver optical module according to an embodiment of the present disclosure;

[0079] 9A and 9B are schematic structural diagrams of transceiver optical modules in different embodiments of the present disclosure;

[0080] FIG10 is a schematic diagram of the cross-sectional structure of an embodiment of a laser radar chip disclosed herein;

[0081] FIG11 is a schematic diagram of a top view of the structure of an embodiment of a laser radar chip disclosed herein;

[0082] FIG12 is a schematic diagram of the optical path structure of a light splitting unit in one embodiment of the laser radar chip disclosed herein;

[0083] FIG13 is a schematic top view of the structure of a light emitting device array and a light emitting device driving module in one embodiment of the laser radar chip disclosed herein;

[0084] FIG14 is a schematic top view of the structure of a light emitting device array and a light emitting device driving module in another embodiment of the laser radar chip disclosed herein;

[0085] FIG15 is a schematic cross-sectional view of another embodiment of the laser radar chip disclosed herein;

[0086] FIG16 is a schematic cross-sectional view of another embodiment of the laser radar chip disclosed herein;

[0087] FIG17 is a schematic diagram of the optical path structure of a light splitting unit in another embodiment of the laser radar chip disclosed herein;

[0088] FIG18 is a schematic structural diagram of an embodiment of a laser radar disclosed herein;

[0089] FIG19 is a schematic diagram of an enlarged structure of multiple laser radar chips in the laser radar embodiment shown in FIG18 ;

[0090] FIG20 is a schematic top view of the structure of multiple laser radar chips on the circuit board in the laser radar embodiment shown in FIG18 ;

[0091] Figure 21 is a schematic diagram of the top view of the structure of multiple laser radar chips on a circuit board in another embodiment of the laser radar disclosed herein. DETAILED DESCRIPTION

[0092] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0093] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0094] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0095] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0096] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0097] The following describes embodiments of the present disclosure in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0098] It should be understood that in the embodiments of the present disclosure, each module, unit, module, or component may include one or more physical parts in whole or in part. For example, a module, unit, module, or component may include hardware components that realize the emission of a light beam, photoelectric conversion, light beam refraction or reflection, and control of light beam transmission or reflection. As other embodiments, a module, unit, module, or component may include one or more hardware components and one or more software components. For example, a module, unit, module, or component (such as a data processing unit) may include a processor (such as a digital signal processor, a microcontroller, a field programmable gate array, a central processing unit, an application-specific integrated circuit, etc.) and a computer program. When the computer program runs on the processor, the function of the module, unit, module, or component can be realized. The computer program can be stored in a memory (such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, a register, a hard disk, a removable hard disk, or any other form of storage medium) or a server. As an example, the optical shaping unit may include multiple optical elements that reflect or refract the light beam so that the light beam changes its propagation direction or converges (or diverges). The light-emitting unit may include a light-emitting circuit, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), a fiber laser, etc.

[0099] FIG1 shows an optical shaping unit 100 for a laser radar according to an embodiment of the present disclosure, which includes a first lens and a second lens. The first lens is used to receive a detection light beam emitted by the light-emitting surface of the transmitting unit of the laser radar. The first lens is located in the optical path between the transmitting unit and the second lens. The first lens and the second lens form the light-emitting surface of the transmitting unit into a reduced light-emitting surface. The first lens and the second lens can be used to flexibly control the size of the (reduced) light-emitting surface after imaging, thereby improving the power density of the detection light beam emitted by the laser radar and reducing the laser radar's requirements for laser power density. The optical axes of the first lens and the second lens are non-parallel, and the light beam emitted by the transmitting unit can be folded by the first lens and the second lens. The position of the transmitting unit can be flexibly set, which facilitates the optimization of the layout of other components inside the laser radar. The optical shaping unit 100 is described in detail below in conjunction with FIG1 .

[0100] As shown in Figure 1, the optical shaping unit 100 for a laser radar includes a first lens 110 and a second lens 120. The laser radar's transmitting unit (or light emitting device) 200 is also schematically shown. The transmitting unit 200 has a light-emitting surface (the upper surface of the transmitting unit 200 in the figure), and a probe beam (or probe light) is emitted from the light-emitting surface. The transmitting unit 200 can be, for example, a vertical cavity surface emitting laser (VCSEL). The first lens 110 is used to receive the probe beam emitted by the transmitting unit 200 of the laser radar. In addition, the probe beam emitted by the transmitting unit 200 can be directly incident on the first lens 110, or it can be shaped by other optical components (such as a microlens or microlens array) and then incident on the first lens 110.

[0101] First lens 110 is positioned in the optical path between transmitting unit 200 and second lens 120. First lens 110 and second lens 120 cooperate to transform the light-emitting surface of transmitting unit 200 into a reduced light-emitting surface 200′ (a real image), effectively reducing the size of the light-emitting surface. Therefore, according to the relationship "transmitted power = light-emitting surface size * power density," while maintaining a stable transmit power of transmitting unit 200, reducing the size of the light-emitting surface can increase the power density of the probe beam emitted by reduced light-emitting surface 200′ (equivalent to a virtual light source or virtual transmitting unit).

[0102] Specifically, the original size of the light-emitting surface of the emitting unit 200 is set to L1, and the size of the reduced light-emitting surface 200 ′ after imaging by the first lens 110 and the second lens 120 is L2, which is calculated by the following formula: L2=N×L1.

[0103] Where N is less than 1 (also called compression coefficient). Therefore, the size of the light-emitting surface of the emitting unit 200 is compressed. Correspondingly, the power density of the detection beam emitted by the reduced light-emitting surface 200' is increased to 1 / N of the original power density. 2 In the above embodiment, the size of the light emitting surface is changed after the light emitting surface is imaged by the first lens 110 and the second lens 120, thereby forming a reduced light emitting surface 200'.

[0104] Furthermore, in this embodiment, the optical axes of the first lens 110 and the second lens 120 are non-parallel. For example, as shown in FIG1 , the optical axis of the first lens 110 is substantially vertical in FIG1 , while the optical axis of the second lens 120 is substantially horizontal in FIG1 . Of course, in different embodiments of the present disclosure, the angle between the optical axes of the first lens 110 and the second lens 120 can be other angles. Preferably, an optical element for changing the propagation direction of the probe beam, such as a reflective element, a diffraction element, or a grating, can be disposed between the first lens 110 and the second lens 120 to achieve a non-parallel arrangement of the optical axes of the first lens 110 and the second lens 120.

[0105] According to the specific structural design of the laser radar, by adjusting the positions of the first lens 110 and the second lens 120, as well as the angle between their optical axes, the position and size of the transmitting unit 200 and the reduced light-emitting surface 200' can be changed. Furthermore, because the reduced light-emitting surface 200' is smaller than the light-emitting surface of the transmitting unit 200, the power density of the probe beam emitted by the reduced light-emitting surface 200', i.e., the power density of the probe beam emitted by the laser radar, is increased, thereby improving the laser radar's range-finding capability. Furthermore, when used in a laser radar, the optical shaping unit 100 allows for more flexible adjustment of the positions of optical components such as the spectrometer and lens assembly located downstream in the optical path, facilitating the optimization of the layout of other components within the laser radar. This helps reduce the number of laser radar components and the size of the laser radar, thereby lowering costs and simplifying the structure for mass production. This will be described in detail below.

[0106] In addition, after an object is imaged once through a lens, its spatial domain and angular domain will be interchanged. For example, a laser with a rectangular light-emitting surface and a circularly symmetrically distributed divergence angle will be transformed into a circle and its divergence angle will be transformed into a rectangular distribution after being imaged once through a lens. In the application of LiDAR, the light-emitting surface of the laser in the transmitting unit is usually set to a rectangle or square. In order to achieve effective matching of the transmitting field of view of the LiDAR laser and the receiving field of view of the detector, it is preferred to set the divergence angle of the detection beam to a circular symmetrical distribution. If it is imaged only once through a lens, the light-emitting surface of the laser needs to be set to a circle and have a rectangularly distributed divergence angle. This type of laser is difficult to implement through engineering methods, and the processing cost is difficult to control. Therefore, in order to reduce the cost of LiDAR and achieve mass production, a laser with a rectangular light-emitting surface can be used in the transmitting unit, and the transmitting unit can be imaged twice by a lens to ensure effective matching of the laser's transmitting field of view and the detector's receiving field of view.

[0107] To facilitate providing the detection beam required by the laser radar, this embodiment proposes performing double lens imaging on the transmitting unit. According to a preferred embodiment of the present disclosure, both the first lens 110 and the second lens 120 are convex lenses, and the focal length of the first lens 110 is greater than that of the second lens 120. The reduced light-emitting surface 200' is formed on the side of the second lens 120 opposite to the first lens 110. In other words, the detection beam emitted by the transmitting unit 200 passes through the first lens 110 and the second lens 120 in sequence before converging on the other side of the second lens 120.

[0108] Furthermore, the optical spacing between the first lens 110 and the second lens 120 is the sum of the focal length of the first lens 110 and the focal length of the second lens 120, wherein the optical spacing represents the distance between the optical center of the first lens 110 and the optical center of the second lens 120 along the optical axis of the two. For example, the focal length of the first lens 110 is f1, the focal length of the second lens 120 is f2, and the optical spacing between the first lens 110 and the second lens 120 is f1+f2. The focal length f2 of the second lens 120 is smaller than the focal length f1 of the first lens 110. After two lens imagings, the reduced light-emitting surface 200′ of the transmitting unit 200 is smaller in size, thereby increasing the power density of the detection beam emitted by the laser radar. In this embodiment, the compression coefficient N above is calculated by the following formula:

[0109] This is equivalent to emitting all the luminous power of the emitting unit 200 from a smaller luminous surface. The power density of the detection beam emitted by the laser radar will increase to 1 / N of the original power. 2 times.

[0110] As shown in FIG1 , according to a preferred embodiment of the present disclosure, the optical shaping unit 100 further includes a reflector 130 . The reflector 130 is disposed in the optical path between the first lens 110 and the second lens 120 . The reflector 130 is configured based on the angle between the optical axes of the first lens 110 and the second lens 120 . The reflector 130 is configured to receive a detection beam from the first lens 110 and reflect the detection beam to the second lens 120 .

[0111] According to an embodiment of the present disclosure, the first lens 110, the second lens 120, and the reflective portion 130 can be integrated into a single optical component (e.g., through integral molding) and disposed within a lens barrel. The first lens 110 and the second lens 120 can be configured as convex surfaces at the light entry and light exit positions of the optical component, respectively, thereby converging the light beam. A reflective film is applied to the reflective portion 130. Alternatively, the reflective portion 130 can be formed by total internal reflection within a medium. For example, by selecting the material of the optical shaping unit 100 and adjusting the angle at which the probe light beam emitted by the transmitting unit 200, after passing through the first lens 110, is incident on the reflective portion 130, such that the incident angle is greater than a critical angle (which is related to the refractive index of the material and the refractive index of the external medium (e.g., air)). Therefore, the probe light beam incident on the reflective portion 130 is totally reflected toward the second lens 120. In this case, a separate reflective film is not required.

[0112] In different embodiments of the present disclosure, as shown in FIG2 , the first lens 110 , the second lens 120 , and the reflecting portion 130 may also be formed separately and separately disposed in the lens barrel 140 . For example, the first lens 110 and the second lens 120 are independent convex lenses, respectively fixed at the light entrance position and the light exit position of the lens barrel 140 , and the reflecting portion 130 may be a reflector fixed at a specific position in the lens barrel 140 .

[0113] Furthermore, the optical axis of the first lens 110 and the optical axis of the second lens 120 are arranged to be perpendicular to each other. As shown in Figures 1 and 2, the reflective portion 130 is arranged to form a 45° angle with the optical axis of the first lens 110, and the reflective portion 130 is arranged to form a 45° angle with the optical axis of the second lens 120. The arrangement of the first lens 110 and the second lens 120 with their optical axes perpendicular to each other is only a preferred embodiment. The first lens 110, the second lens 120 and the reflective portion 130 can also be arranged at other angles to adapt to specific optical path requirements and installation requirements in the laser radar. In addition, the reflective portion 130 can also be arranged as a curved reflector to further optimize the optical shaping effect, and cooperate with the first lens 110 and the second lens 120 to form the light-emitting surface of the emitting unit 200 into a reduced light-emitting surface 200′.

[0114] In the specific embodiment of the present disclosure, the ratio of the focal length of the first lens 110 to the focal length of the second lens 120 is determined based on the size of the light-emitting surface of the transmitting unit 200 and its reduced light-emitting surface 200′. When applied to a lidar, the ratio of the focal length of the first lens 110 to the focal length of the second lens 120 can be determined according to the above formula based on the actual size of the light-emitting surface of the transmitting unit 200 of the lidar and the ideal size of the light-emitting surface desired for the transmitting unit as the size of the reduced light-emitting surface 200′.

[0115] When applied to a laser radar (LIDAR), the optical shaping unit can significantly improve the laser radar's range-finding performance because it can reduce the size of the emitting surface of the transmitting unit and increase power density. Furthermore, in a laser radar, the size of the emitting surface of the transmitting unit 200 affects the focal length of the transmitting lens group (which is actually shared by the transmitting unit and the receiving unit) that subsequently shapes the detection beam. The focal length of the transmitting lens is calculated as follows: the size of the emitting surface 200' of the transmitting unit 200 divided by the far-field spot angle. The size of the reduced emitting surface 200' of the transmitting unit 200 is used as the emitting surface size, and the focal length of the transmitting lens group downstream of the reduced emitting surface 200' is adjusted accordingly. Specifically, the predetermined position and size of the reduced emitting surface 200' are determined based on the focal length and position of the transmitting lens group. Then, based on the actual size of the emitting surface of the transmitting unit 200, the focal lengths and positions of the first lens 110 and the second lens 120 are determined, thereby forming the emitting surface of the transmitting unit 200 into the reduced emitting surface 200' at the predetermined position. Ultimately, the transmitting and receiving units can share a set of lenses, reducing the number of optical components in the LiDAR and simplifying its structure. Furthermore, if the focal length of the transmitting and receiving lens or lens group is determined, the transmitting unit 200 and the receiving unit can be integrated on the same circuit board, further simplifying the LiDAR's internal structure and reducing its design and manufacturing complexity.

[0116] FIG3 shows a system structure of a laser radar 10 according to an embodiment of the present disclosure. The laser radar 10 will be described below with reference to FIG3 .

[0117] As shown in Figure 3, in this embodiment, the laser radar 10 includes a transmitting unit 11, a receiving unit 12, a spectroscopic unit 13, a data processing unit 14 and a circuit board 15, wherein the transmitting unit 11 is used to transmit the detection light beam L, and the receiving unit 12 is used to receive the echo (or echo light) L′ generated by the detection light beam L being reflected on an obstacle (or target), and convert the echo signal L′ into an electrical signal. The receiving unit 12 has a photoelectric conversion element, for example.

[0118] As shown in Figure 3, the thicker arrow represents the detection beam L, and the thinner arrow represents the echo L′. The spectroscopic unit 13 is used to guide the detection beam L to the outside of the laser radar 10, and guide the echo L′ to the receiving unit 12. That is, the spectroscopic unit 13 can receive the detection beam L and the echo L′, and guide the detection beam L and the echo L′ to different directions. The detection beam L and the echo L′ both pass through the spectroscopic unit 13, and the optical paths partially overlap, which is beneficial to reducing the volume of the laser radar.

[0119] The data processing unit 14 is coupled to the receiving unit 12 and is configured to obtain information about the obstacle based on the electrical signal of the echo. Specifically, for example, it determines the distance between the obstacle and the laser radar 10 based on the time when the echo is received, and determines the reflectivity of the obstacle based on the echo.

[0120] In this embodiment, the laser radar 10 includes a circuit board 15, wherein the transmitting unit 11 and the receiving unit 12 are arranged on the same circuit board 15, which can further compress the space occupied by the optical components inside the laser radar 10 and help reduce the volume.

[0121] In existing designs, the transmitting unit and the receiving unit are usually arranged on both sides of the spectrometer unit 13 in different directions. For example, the transmitting unit and the receiving unit are arranged on different sides of the spectrometer unit 13 at an angle of 90°, that is, the transmitting unit 11 and the receiving unit 12 are respectively arranged at different positions, and the transmitting unit 11 and the receiving unit 12 need to be arranged on a circuit board. Therefore, separate circuit boards need to be provided for the transmitting unit and the receiving unit, resulting in a large space occupation, poor integration, and a relatively complicated production process. In this embodiment, the transmitting unit 11 and the receiving unit 12 are both integrated on the same circuit board 15, wherein the transmitting unit 11 or the receiving unit 12 can optimize the optical path using an optical shaping unit with shaping, guiding and other functions, so that the detection beam is incident on the spectrometer unit 13, and the spectrometer unit 13 guides the detection beam to the outside of the laser radar 10 for detection, and guides the echo to the receiving unit 12 through the spectrometer unit 13.

[0122] According to a preferred embodiment of the present disclosure, as shown in FIG4 , the laser radar 10 further includes a transceiver optical unit 16 (such as the lens group shared by the transmitting unit and the receiving unit described above), wherein the transceiver optical unit 16 is configured to receive the detection beam L from the spectroscopic unit 13 and transmit the detection beam L to the outside of the laser radar 10. At the same time, the transceiver optical unit 16 is also used to receive the echo L′ and guide the echo L′ to the spectroscopic unit 13. The transceiver optical unit 16 can be a lens or a lens group, which is used to collimate, converge, and other shaping of the detection beam and the echo to meet the detection and echo reception requirements of the laser radar 10. Compared with the existing laser radars with independent transmitting lenses and receiving lenses, the detection beam and the echo share the transceiver optical unit 16 in this embodiment, which can reduce the number of optical elements in the laser radar 10 and further reduce the volume of the laser radar.

[0123] In a preferred embodiment of the present disclosure, as shown in FIG5 , the laser radar 10 further includes an optical shaping unit 100 as described above with reference to FIG1 and FIG2 . The optical shaping unit 100 is disposed in the optical path between the transmitting unit 11 and the light-splitting unit 13 . In this embodiment, the transmitting unit 11 has a light-emitting surface, from which the detection beam L is emitted. The optical shaping unit 100 is configured to adjust the spot shape of the detection beam emitted by the transmitting unit 11 to form the light-emitting surface of the transmitting unit 11 into a reduced light-emitting surface 11′. The features of the optical shaping unit 100 described above with reference to FIG1 and FIG2 may be incorporated into this embodiment individually or in any combination. The features of the optical shaping unit 100 are not further described.

[0124] Figure 6 shows the transmitting unit 11, optical shaping unit 100, spectrometer 13, and receiving unit 12 of a laser radar 10 according to a specific embodiment of the present disclosure. The optical shaping unit 100 includes a first lens 110, a second lens 120, and a reflector 130. The first lens 110 is located in the optical path between the transmitting unit 11 and the second lens 120. The first lens 110 is used to receive the probe beam emitted by the transmitting unit 11 and transmit the probe beam to the second lens 120. The probe beam is emitted through the second lens 120 and forms a reduced light-emitting surface 11′ of the transmitting unit 11 downstream in the optical path. This reduced light-emitting surface 11′ is considered a virtual transmitting unit, reducing the size of the light-emitting surface of the transmitting unit and improving power density. The probe beam emitted from the second lens 120 can pass through the spectrometer 13 and be emitted to the exterior of the laser radar 10. According to various embodiments of the present disclosure, during the transmission of the probe beam from the first lens 110 to the second lens 120, its propagation direction can be changed by an optical device for changing the beam's direction, such as by the reflector 130. In this embodiment, when the luminous power of the transmitting unit 11 does not change, the optical shaping unit 100 is used to form a reduced luminous surface 11′ of the transmitting unit 11, that is, to reduce the size of the luminous surface. Accordingly, the optical shaping unit 100 can increase the power density of the detection beam emitted by the laser radar.

[0125] In the embodiment of FIG6 , the optical axis of the first lens 110 and the optical axis of the second lens 120 are perpendicular to each other, and the reflector 130 is configured to form an angle of 45° with the optical axis of the first lens 110, and the reflector 130 is configured to form an angle of 45° with the optical axis of the second lens 120, so that the propagation direction of the detection beam emitted by the transmitting unit 11 is deflected by 90° after passing through the reflector 130. The deflection angle of the detection beam in this embodiment corresponds to the position and arrangement of the spectrometer unit 13 in the laser radar 10. For example, the spectrometer surface of the spectrometer unit 13 is configured to be inclined at a 45° angle, as shown in FIG6 , wherein the detection beam is deflected by 90° after passing through the spectrometer unit 13 and is guided toward the outside of the laser radar 10. After passing through the spectrometer unit 13, the echo continues to extend along the original direction to the receiving unit 12. Of course, the angle of the spectroscopic unit 13 relative to the transmitting unit 11 and the receiving unit 12 can also be other values. For example, the spectroscopic unit 13 shown in Figure 6 is rotated by a certain angle. Accordingly, the angle at which the detection light beam is incident on the spectroscopic unit 13 is adjusted, and the angle between the optical axes of the first lens 110 and the second lens 120 and the position of the reflecting part 130 are also adjusted accordingly.

[0126] In different embodiments of the present disclosure, different structures of the spectroscopic unit 13 can be selected. For example, as shown in Figures 7A-7D, the spectroscopic unit 13 can be configured in different ways, such as a polarization spectroscopic prism (Figure 7A), polarizer spectroscopic (Figure 7B), pinhole spectroscopic (Figure 7C), and partial reflector spectroscopic (Figure 7D), to guide the detection beam to the outside of the laser radar 10 and guide the echo to the receiving unit 12. When different structures of the spectroscopic unit 13 are selected, the optical paths of the detection beam and the echo will also change accordingly. The structural form of the spectroscopic unit 13 can be matched with the position of the transmitting unit 11, the reduced light-emitting surface 11' of the transmitting unit 11, and the receiving unit 12. The specific structure of the spectroscopic unit 13 is not limited in different embodiments of the present disclosure.

[0127] Furthermore, as shown in FIG5 , according to a preferred embodiment of the present disclosure, the laser radar 10 further includes a scanner 18, which is used to receive the detection beam emitted from the transceiver optical unit 16. The scanner 18 covers the field of view of the laser radar, and the scanner 18 is also used to reflect the echo to the transceiver optical unit 16. The scanner 18 is arranged on the side of the transceiver optical unit 16 facing the outside of the laser radar 10, and can change the emission angle of the detection beam through controllable rotation, for example, to achieve detection of the laser radar field of view. Specifically, it can be one of a galvanometer mirror, a swing mirror, a galvanometer mirror, and a multi-faceted rotating mirror. Furthermore, the scanner 18 scans in the horizontal direction and records the rotation angle of the reflector at the same time, so as to calculate the angle of the obstacle generating the echo relative to the laser radar 10.

[0128] In a preferred embodiment of the present disclosure, the transmitting unit 11 includes a laser array consisting of multiple lasers, which are arranged on a circuit board 15. The lasers can be VCSELs (vertical cavity surface emitting lasers). Correspondingly, the receiving unit 12 also includes a detector array consisting of multiple detectors, which are also arranged on the circuit board 15. The detectors can be single-photon detectors, such as SPADs (single-photon avalanche diodes) or Si PMs (silicon photomultipliers). The laser radar 10 includes multiple optical shaping units 100 and multiple spectrometers 13. One transceiver optical module includes one optical shaping unit 100 and one spectrometer 13. One transceiver optical module corresponds to one laser in the laser array and one detector in the detector array. To improve the detection range and detection efficiency of the laser radar 10, the multiple lasers in the transmitting unit 11 can correspond one-to-one with the multiple detectors in the receiving unit 12, forming multiple detection channels. Each detection channel corresponds to a detection direction, for example, to cover the detection range of the laser radar 10.

[0129] In this embodiment, the optical shaping unit 100 and the spectroscopic unit 13 correspond one-to-one with the laser and the detector. That is, the detection beam emitted by a laser increases its power density after passing through the optical shaping unit 100 and is incident on the spectroscopic unit 13. The spectroscopic unit 13 guides the detection beam toward the outside of the lidar 10. After being reflected by an obstacle, the detection beam forms an echo, which is guided by the spectroscopic unit 13 to the corresponding receiver, completing a detection process.

[0130] According to other embodiments of the present disclosure, the transmitting unit 11 includes multiple laser arrays disposed on a circuit board 15, and the receiving unit 12 includes multiple detector arrays disposed on the circuit board 15. The laser radar 10 also includes multiple optical shaping units 100 and multiple spectrometers 13. A transceiver optical module includes one optical shaping unit 100 and one spectrometer 13. The spectrometer 13 is disposed downstream of the (detection) optical path of its corresponding optical shaping unit 100. One transceiver optical module corresponds to one laser array and one detector array. For example, multiple lasers in a laser array collectively correspond to one optical shaping unit 100. After passing through the optical shaping unit 100, the emitted detection beam forms multiple reduced light-emitting surfaces and is emitted to the outside of the laser radar through the spectrometer 13. The corresponding echo is received by the spectrometer 13 and directed to the corresponding detector array, for example, to multiple detectors in the corresponding detector array, completing a detection process. In addition, multiple lasers in a laser array can also be emitted in a time-sharing manner, and the corresponding echoes are received by the corresponding detectors to complete a detection process.

[0131] According to other embodiments of the present disclosure, the emitting unit 11 includes a laser array composed of a plurality of lasers, and the laser array is arranged on a circuit board 15. The laser is, for example, a vertical cavity surface emitting laser VCSEL. The VCSEL can be a large-size area array laser (such as 3mm*5mm) and has light-emitting points arranged in an area array. The large area array VCSEL can be individually selected and lit in different areas (for example, the rows / columns in the area array VCSEL are individually controlled to light up), thereby forming different light-emitting areas according to actual needs and emitting detection beams. Specifically, as shown in FIG9A , the laser radar includes two transmitting units 1, each transmitting unit 1 includes three large-area array VCSELs. The three VCSELs in the transmitting unit 1 on the left and the three VCSELs in the transmitting unit 1 on the right are staggered in the vertical direction. The six staggered VCSELs respectively detect different areas of the vertical field of view of the laser radar. The detection of the entire vertical field of view of the laser radar is achieved through the six staggered VCSELs. Of course, the six VCSELs shown in FIG9A are only examples. In specific applications, different numbers of VCSELs can be selected according to actual work requirements. Accordingly, as shown in FIG9A , the laser radar includes a receiving unit 2, which includes a detector provided on a circuit board. The detector can be, for example, a SPAD array, and each SPAD in the SPAD array can be individually gated and activated. The area in the detector can be activated individually. Specifically, one or more SPADs in the SPAD array are activated to form an activated area. According to the light-emitting area of ​​the above-mentioned large-area array VCSEL, the SPAD in the corresponding area of ​​the SAPD array is activated, so that the multiple selection areas in the VCSEL and the corresponding multiple activation areas in the SPAD array correspond one-to-one to form multiple detection channels. Each detection channel corresponds to a detection direction, for example, to cover the detection range of the laser radar 10.

[0132] In this embodiment, the optical shaping unit 100 and the spectroscopic unit 13 correspond one-to-one with the laser's gating area and the detector's activation area. That is, the detection beam emitted from a laser's gating area increases its power density after passing through the optical shaping unit 100 and is incident on the spectroscopic unit 13. The spectroscopic unit 13 guides the detection beam toward the outside of the laser radar 10. After being reflected by an obstacle, the detection beam forms an echo, which is guided by the spectroscopic unit 13 to the corresponding activation area of ​​the receiver, completing a detection process.

[0133] According to the specific structure of the laser radar 10 in another embodiment of the present disclosure, the laser radar 10 includes a transmitting unit 11, an optical shaping unit 100, a receiving unit 12, a spectroscopic unit 13 and a data processing unit 14. The transmitting unit 11 and the receiving unit 12 are the same as the transmitting unit and the receiving unit in the aforementioned embodiment, which are respectively used to transmit a detection beam and receive the echo generated by the reflection on the obstacle, and convert them into electrical signals, which will not be repeated here.

[0134] The laser radar 10 in this embodiment utilizes an optical shaping unit 100 to shape the detection beam emitted by the light-emitting surface of the transmitting unit 11. Specifically, for example, the optical shaping unit in the aforementioned embodiment can increase the power density of the detection beam emitted by the laser radar, thereby enabling the transmitting unit 11 and the receiving unit 12 to share the same transceiver optical unit 16. The optical shaping unit 100 and the spectroscopic unit 13 cooperate with each other to enable the transmitting unit 11 and the receiving unit 12 to use the same lens, simplifying the structure of the optical components in the laser radar 10. At the same time, according to the preferred embodiment of the present disclosure, the optical shaping unit 100 can also be used to change the optical path of the detection beam and adjust the setting position of the transmitting unit 11, which helps to optimize the internal structural layout of the laser radar 10. For example, the transmitting unit 11 and the receiving unit 12 can be set on the same circuit board, as shown in Figure 5. Alternatively, the transmitting unit 11 can be set at another appropriate location within the laser radar 10, which increases the flexibility of the internal component arrangement of the laser radar 10.

[0135] In some embodiments of the present disclosure, a transceiver optical module includes an optical shaping unit 100 and a spectrometer unit 13. Specifically, a transceiver optical module corresponds to a laser and a detector, that is, a laser, an optical shaping unit 100, a spectrometer unit 13 and a detector constitute a detection channel, and a laser radar includes multiple detection channels to meet the requirements of the detection range. Alternatively, a transceiver optical module corresponds to multiple detection channels at the same time, for example, a transceiver optical module covers a group of laser arrays including multiple lasers and a group of detector arrays including multiple detectors, a group of laser arrays corresponds to an optical shaping unit 100, and a group of detector arrays corresponds to a spectrometer unit 13, which together constitute multiple detection channels. Alternatively, the transmitting unit 11 includes a planar array VCSEL, which has multiple individually selectable light-emitting areas, each selected light-emitting area can emit a detection light beam, and the receiving unit 12 includes a SPAD array, wherein each SPAD can be individually selected and activated, and a transceiver optical module corresponds to a selected area in the planar array VCSEL and an activated area in the SPAD array, a selected area of ​​the laser corresponds to an optical shaping unit 100, and an activated area of ​​the detector corresponds to a spectroscopic unit 13, which together constitute multiple detection channels.

[0136] FIG8 shows an embodiment of a transceiver optical module 30 that can be used for a laser radar. The transceiver optical module 30 includes an optical shaping unit 31 and a spectrometer unit 32. Specifically, the optical shaping unit 31 and the spectrometer unit 32 can be configured as described in the previous embodiments. The optical shaping unit 31 is configured to receive the probe beam emitted by the laser radar's transmitting unit 1 and transmit the probe beam to the spectrometer unit 32. The optical shaping unit 31 can also reduce the light-emitting surface of the transmitting unit 1 to increase the power density of the probe beam emitted by the laser radar. Specifically, the optical shaping unit 31 in this embodiment can be the optical shaping unit 100 described in the previous embodiments.

[0137] The spectroscopic unit 32 is configured to receive the probe beam from the optical shaping unit 31 and guide the probe beam to the outside of the laser radar. The spectroscopic unit 32 also receives the echo and guides the echo to the laser radar receiving unit 2. The spectroscopic unit 32 can take the form of any one or more of the spectroscopic units 32 provided in the aforementioned embodiments.

[0138] As shown in Figure 9A, in one embodiment of the present disclosure, the optical shaping unit 31 corresponds one-to-one with the lasers or the laser gating regions in the laser radar's transmitting unit 1, and the spectroscopic unit 32 is similarly configured to correspond one-to-one with the detectors or the detector activation regions in the laser radar's receiving unit 2. Alternatively, as shown in Figure 9B, in another embodiment of the present disclosure, one optical shaping unit 31 corresponds to a group of multiple lasers or multiple gating regions of a laser in the laser radar's transmitting unit 1, and one spectroscopic unit 32 corresponds to a group of multiple detectors or multiple activation regions of a detector in the laser radar's receiving unit 2. For example, if a group of multiple lasers in the transmitting unit 1 is arranged in a strip shape, the light entrance surface of the optical shaping unit 31 can also be configured as a continuous surface to cover the corresponding multiple lasers or multiple gating regions of a laser. Similarly, the light exit surface of the optical shaping unit 31 can also be configured as a continuous surface, and the spectroscopic unit 32 can also be configured as a strip shape to correspond to a group of multiple detectors or multiple activation regions of a detector in the receiving unit 2. The spectroscopic unit 32 can be configured as a single unit or as a combination of multiple separate structures.

[0139] In other embodiments of the present disclosure, the transmitting unit 1 includes multiple laser arrays disposed on a circuit board, each laser array including multiple lasers. Similarly, the receiving unit 2 includes multiple detector arrays disposed on a circuit board, each detector array including multiple detectors. Multiple optical shaping units 31 and multiple spectrometers 32 are also provided. A transceiver optical module 30 includes one optical shaping unit 31 and one spectrometer 32. Each transceiver optical module 30 corresponds to one laser array and one detector array. That is, in this embodiment, one optical shaping unit 31 and its corresponding spectrometer 32, together with one laser array and one detector array, form a detection channel.

[0140] As shown in FIG9B , two groups of laser arrays, two groups of detector arrays and two transceiver optical modules 30 (each transceiver optical module includes an optical shaping unit 31 and a light splitting unit 32 ) are shown. The two transceiver optical modules 30 are staggered.

[0141] According to a specific embodiment of the present disclosure, the laser of the transmitting unit 11 and the detector of the receiving unit 12, as well as the corresponding optical shaping unit 100 and the spectroscopic unit 13, can be packaged together, and the packaged structure can be disposed as a whole on the circuit board 15. Alternatively, the laser of the transmitting unit 11 and the detector of the receiving unit 12 can be disposed separately on the circuit board 15, positioned and installed, and the optical shaping unit 100 and the spectroscopic unit 13 can be disposed at preset positions so that the transceiver optical module corresponds to the laser and the detector. For example, the laser of the transmitting unit 11 and the detector of the receiving unit 12 can be first disposed at different positions on the circuit board 15, and then the optical shaping unit 100 and the spectroscopic unit 13 can be installed at positions corresponding to the laser of the transmitting unit 11 and the detector of the receiving unit 13.

[0142] In addition, as can be seen from the background art, existing laser radars have problems with alignment between transmitters and receivers. To address this technical problem, the present disclosure provides a laser radar chip, comprising: a substrate; a light emitting device array, the light emitting device array being located on the substrate; a light receiving device array, the light receiving device array being located on one side of the substrate; a spectrometer, the spectrometer configured to transmit probe light generated by the light emitting device array; the probe light being reflected by a target to form echo light; the spectrometer further configured to transmit the echo light to the light receiving device array; and a package, the package being located on the substrate and encapsulating the light emitting device array, the light receiving device array, and the spectrometer.

[0143] In the laser radar chip, the light emitting device array and the light receiving device array are sealed in the same chip. Based on the chip packaging process, the patch accuracy of the light emitting device array and the light receiving device array can be controlled to the micron (μm) level, which can effectively ensure high-precision alignment between the emission field of view of the laser in each channel and the receiving field of view of the detector; and the light emitting device array, the light receiving device array and the spectrometer are all located on the same substrate, which can effectively reduce the assembly accuracy and the impact of temperature changes, mechanical deformation and other processes on the emission field of view and the receiving field of view during the use of the laser radar. In the laser radar, the light emitting device array and the light receiving device array share optical components and scanning devices, which can effectively overcome the impact of the optical axis offset of the lens group in the optical component and the position offset of the scanning device on the alignment accuracy between the emission field of view of the laser in each channel and the receiving field of view of the detector. Therefore, the solution disclosed in the present invention can effectively improve the alignment accuracy of the emission field of view and the receiving field of view of the laser radar, facilitate the assembly and production of the laser radar, and help reduce the cost of the laser radar, improve the reliability of the laser radar and realize high-line-count laser radar.

[0144] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to Figures 10-21.

[0145] Referring to FIG10 , there is shown a schematic cross-sectional structure diagram of an embodiment of a laser radar chip disclosed herein.

[0146] The laser radar chip includes: a substrate 300; a light emitting device array 310 (the light emitting device may be, for example, the emitting unit 11 in the laser radar 10 in the aforementioned embodiment), the light emitting device array 310 being located on the substrate 300; a light receiving device array 320 (the light receiving device array 320 may be, for example, the receiving unit 12 in the laser radar 10 in the aforementioned embodiment), the light receiving device array 320 being located on one side of the substrate 300. On the top; a spectroscopic unit 330, the spectroscopic unit 330 is configured to transmit the detection light 301 generated by the light emitting device array 310 (the spectroscopic unit 330 in this embodiment may, for example, include the spectroscopic unit 13 in the laser radar 10 in the aforementioned embodiment. In other embodiments of the present disclosure, the spectroscopic unit 330 may also include other optical elements, such as the optical shaping unit in the aforementioned embodiment, which will be specifically described in subsequent embodiments); the detection light 301 is reflected by the target to form an echo light 302; the spectroscopic unit 330 is also configured to transmit the echo light 302 to the light receiving device array 320; a package body 340, the package body 340 is located on the substrate 300 and encapsulates the light emitting device array 310, the light receiving device array 320 and the spectroscopic unit 330.

[0147] It should be noted that the optical paths of the detection light 301 and the echo light 302 shown in FIG10 are merely examples, and the present disclosure does not impose any limitation thereto.

[0148] The light emitting device array 310 and the light receiving device array 320 are sealed in the same chip. Based on the chip packaging process, the mounting accuracy of the light emitting device array 310 and the light receiving device array 320 on the substrate can be controlled to the micron (μm) level, which can effectively ensure high-precision alignment of the emission field of view of each channel laser and the receiving field of view of the detector; and the light emitting device array 310, the light receiving device array 320 and the spectrometer unit 330 are all located on the same substrate 300, which can effectively reduce the assembly accuracy and the influence of temperature changes, mechanical deformation and other processes on the emission field of view and the receiving field of view during the use of the laser radar.

[0149] When applied to laser radar, the solution disclosed herein can effectively improve the alignment accuracy of the laser radar's transmitting field of view and receiving field of view, facilitate the assembly and production of the laser radar, and help reduce the cost of the laser radar, improve the reliability of the laser radar, and realize high-line-count laser radar.

[0150] The technical solution of the laser radar chip embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

[0151] The substrate 300 is used to support the components mounted thereon and to achieve electrical connections between the components and external circuits and a circuit board.

[0152] It should be noted that, in some embodiments, the substrate 300 has a conductive structure, and the conductive structure is used to achieve electrical connection.

[0153] The light emitting device array 310 is located on one surface of the substrate 300 to generate detection light 301 . The light receiving device array 320 is located on the substrate 300 on one side of the light emitting device array 310 to receive echo light 302 .

[0154] With reference to Figure 11, in some embodiments of the present disclosure, the light emitting device array 310 includes a plurality of light emitting devices arranged in an array, the light emitting device includes a laser 311, and the plurality of lasers 311 are arranged in an array on the substrate 300; the light receiving device array 320 includes a plurality of detectors 321, and the plurality of detectors 321 are arranged in an array on the substrate 300.

[0155] It should be noted that in some embodiments of the present disclosure, the laser 311 is a vertical cavity surface emitting laser (VCSEL). In some embodiments of the present disclosure, the detector 321 is a single photon detector, such as a single photon avalanche diode (SPAD) or a silicon photomultiplier (SiPM).

[0156] As shown in FIG11 , the plurality of lasers 311 are arranged in a one-dimensional array on the surface of the substrate 300 , and the light emitting device array 310 is arranged in a linear array; the plurality of detectors 321 are arranged in a one-dimensional array on the surface of the substrate 300 , and the light receiving device array 320 is arranged in a linear array.

[0157] Continuing to refer to Figures 10 and 11, in some embodiments of the present disclosure, the laser radar chip also includes: a light emitting device driving module 312, which is located on the substrate 300 and is electrically connected to the light emitting device array 310 and the substrate 300; and a light receiving device driving module 322, which is located on the substrate 300 and is electrically connected to the light receiving device array 320 and the substrate 300.

[0158] In some embodiments shown in Figures 10 and 11 , the light emitting device array 310 and the light emitting device driving module 312 are arranged on a substrate 300 in a tiled structure. Specifically, the light emitting device array 310 and the light emitting device driving module 312 are arranged on the same surface of the substrate 300, and the light emitting device driving module 312 is located on one side of the light emitting device array 310.

[0159] Similarly, the light receiving device array 320 and the light receiving device driving module 322 are arranged on the substrate 300 in a tiled structure. Specifically, the light receiving device array 320 and the light receiving device driving module 322 are arranged on the same surface of the substrate 300, and the light receiving device driving module 322 is located on one side of the light receiving device array 320.

[0160] In some embodiments of the present disclosure, the light emitting device array 310 and the light receiving device array 320 are located between the light emitting device driving module 312 and the light receiving device driving module 322. As shown in Figures 10 and 11, the light emitting device array 310 and the light receiving device array 320 are arranged in parallel on the surface of the substrate 300; the light emitting device driving module 312 is located on the side of the light emitting device array 310 away from the light receiving device array 320; and the light receiving device driving module 322 is located on the side of the light receiving device array 320 away from the light emitting device array 310. In other words, the light emitting device driving module 312, the light emitting device array 310, the light receiving device array 320, and the light receiving device driving module 322 are arranged in sequence on the surface of the substrate 300.

[0161] In some embodiments of the present disclosure, electrical connections between devices are achieved by bonding wires. Specifically, electrical connections are achieved between the light emitting device array 310 and the light emitting device driver module 312, between the light emitting device driver module 312 and the substrate 300, between the light receiving device array 320 and the light receiving device driver module 322, and between the light receiving device driver module 322 and the substrate 300 by bonding wires.

[0162] Specifically, the multiple lasers 311 of the light emitting device array 310, the multiple detectors 321 of the light receiving device array 320, and the light emitting device driving module 312 and the light receiving device driving module 322 are respectively mounted on the surface of the substrate 300; then, the bonding pads of the multiple lasers 311 and the light emitting device driving module 312 and the bonding pads of the multiple detectors 121 and the light receiving device driving module 322 are respectively connected through bonding wires; similarly, the light emitting device driving module 312 and the substrate 300, as well as the light receiving device driving module 322 and the substrate 300, are respectively connected through bonding wires.

[0163] Continuing to refer to FIG. 10 and FIG. 11 , the optical splitting unit 330 of the laser radar chip is used to transmit the detection light 301 and the echo light 302 and to separate the optical paths of the detection light 301 and the echo light 302 .

[0164] In some embodiments of the present disclosure, the light-emitting surface of the light-emitting device array 310 is arranged to face away from the substrate 300, and the photosensitive surface of the light-receiving device array 320 is also arranged to face away from the substrate 300; the detection light 301 generated by the light-emitting device array 310 is emitted from the light-emitting surface along a direction A facing away from the substrate 300, and the echo light 302 formed by the reflection of the detection light 301 by the target outside the laser radar is incident on the photosensitive surface along a direction toward the substrate 300; the spectroscopic unit 330 is located on the side of the light-emitting device array 310 and the light-receiving device array 320 away from the substrate 300, for transmitting the detection light 301 and the echo light 302, and covering the light-emitting surface of the light-emitting device array 310 and the photosensitive surface of the light-receiving device array 320, that is, on the surface of the substrate 300, the projection of the light-emitting surface and the projection of the photosensitive surface are both within the projection range of the spectroscopic unit 330.

[0165] It should be noted that, in some specific embodiments as shown in Figure 10, the laser radar chip also includes: a light-transmitting adhesive portion 350, which is located on the side of the spectroscopic unit 330 facing the substrate 300; the spectroscopic unit 330 is fixedly connected to the light receiving device array 320 and the light emitting device array 310 through the light-transmitting adhesive portion 350.

[0166] The transparent adhesive portion 350 is located between the light receiving device array 320 and the light emitting device array 310 to achieve a fixed connection between the light splitting unit 330, the light receiving device array 320 and the light emitting device array 310. Specifically, the transparent adhesive portion 350 can be made of a transparent adhesive material.

[0167] Continuing to refer to FIG10 and in combination with FIG12 , the spectroscopic unit 330 includes: a spectroscopic element 331 (the spectroscopic element 331 can be, for example, the spectroscopic unit 13 in the laser radar 10 in the embodiment shown in FIG1-FIG7D ), the spectroscopic element 331 being configured to separate the optical path of the detection light 301 (indicated by the white arrow in FIG12 ) from the optical path of the echo light 302 (indicated by the black arrow in FIG12 ). Specifically, the optical path of the detection light 301 between the light emitting device array 310 and the spectroscopic element 331 is separated from the optical path of the echo light 302 between the light receiving device array 320 and the spectroscopic element 331, and the spectroscopic element 331 is a polarization spectrometer. According to another embodiment of the present disclosure, the spectroscopic element 331 can also be a polarization spectrometer prism ( FIG7A ), polarizer spectrometer ( FIG7B ), pinhole spectrometer ( FIG7C ), partial reflector spectrometer ( FIG7D ), and other different methods.

[0168] In some embodiments as shown in Figure 12, the detection light 301 is emitted from the light emitting device array 310 along a direction perpendicular to the surface of the substrate 300; the echo light 302 is incident on the light receiving device array 320 along a direction perpendicular to the surface of the substrate 300; the spectrometer unit 330 also includes: a light deflection element 332 (for example, it can be the reflecting part 130 in the aforementioned embodiment), the light deflection element 332 is located in the optical path of the detection light 301, and the light deflection element 332 is configured to deflect the detection light 301 to the spectrometer element 331.

[0169] The light deflection element 332 is located on one side of the beam splitter element 331 and deflects the probe light 301 so that the optical path of the probe light 301 and the optical path of the echo light 302 are partially parallel. Specifically, the optical path of the probe light 301 between the light emitting device array 310 and the light deflection element 332 is parallel to the optical path of the echo light 302 between the light receiving device array 320 and the beam splitter element 331. Furthermore, both the probe light 301 and the echo light 302 are perpendicular to the surface of the substrate 300. This allows the multiple lasers 311 in the light emitting device array 310 and the multiple detectors 321 in the light receiving device array 320 to be disposed on the substrate 300 and located on the same side of the beam splitter element 330. Specifically, the light deflection element 332 is a prism.

[0170] As shown in Figure 12, the detection light 301 incident on the light deflection element 332 is totally reflected on the surface 332a to be projected onto the spectroscopic element 331; the spectroscopic element 331 folds the detection light 301 again, thereby realizing the emission of the detection light 301; the echo light 302 formed by the reflection of the detection light 301 by the target outside the laser radar is incident on the spectroscopic element 331 along the optical path coaxial with the emitted detection light 301, and the echo light 302 directly transmits the spectroscopic element 331 and is projected onto the light receiving device array 320 to realize detection.

[0171] It should be noted that, in some embodiments as shown in Figure 12, the light deflection element 332 is located in the optical path of the detection light 301 to deflect the detection light 301, so the position of the light deflection element 332 corresponds to the positions of the multiple lasers 311 in the light emitting device array 310. Specifically, as shown in the figure, the light deflection element 332 is located above the laser 311 in the light emitting device array 310; the echo light 302 directly transmits the spectroscopic element 331, that is, the optical path direction of the echo light 302 does not change, so the position of the spectroscopic element 331 corresponds to the position of the detector 321 of the light receiving device array 320. Specifically, as shown in the figure, the spectroscopic element 331 is located above the detector 321 of the light receiving device array 320.

[0172] It should also be noted that the spectroscopic element 331 deflects part of the detection light 301 to achieve the emission of the detection light 301; a light absorbing layer is provided on the surface of the spectroscopic element 331 facing away from the light deflection element 332 to absorb the detection light 301 that transmits the spectroscopic element 331.

[0173] Continuing with reference to FIG12 , in some embodiments of the present disclosure, the spectroscopic unit 330 further includes: a focusing element (the focusing element may be, for example, the first lens 110 and / or the second lens 120 in the optical shaping unit 100 in the aforementioned embodiment), the focusing element being located in the optical path of the detection light 301 and suitable for adjusting the focal length, and the focusing element being configured so that both the light emitting device array 310 and the light receiving device array 320 are disposed on the substrate 300 .

[0174] By setting a focusing element in the optical path of the detection light 301, the focal length of the optical system in the optical path of the detection light 301 is changed (specifically extended), so that the focal length of the optical system in the optical path of the detection light 301 (specifically the focal length of the optical system including the common lens group and the focusing element) is different from the focal length of the optical system in the optical path of the echo light 302, and then the focal length is reasonably adjusted by the focusing element, so that the light emitting device array 310 and the light receiving device array 320 are both set on the substrate 300.

[0175] In some specific embodiments as shown in FIG12 , the focusing element includes: a first lens 333 a (the first lens 333 a may be, for example, the first lens 110 in the optical shaping unit 100 in the aforementioned embodiment), the first lens 333 a being located upstream of the light deflection element 332 in the optical path of the detection light 301 so as to transmit the detection light 301 to be incident on the light deflection element 332; and a second lens 333 b (the second lens 333 b may be, for example, the second lens 120 in the optical shaping unit 100 in the aforementioned embodiment), the second lens 333 b being located downstream of the light deflection element 332 in the optical path of the detection light 301. The detection light 301 deflected by the light deflection element 332 is incident on the beam splitting element 331 after passing through the second lens 333 b.

[0176] Specifically, the first lens 333a is a gradient index lens; the second lens 333b is a gradient index lens. A gradient index lens, also known as a self-focusing lens, is a cylindrical optical lens whose internal material refractive index distribution gradually changes along the radial direction. Therefore, in some embodiments as shown in Figure 12, the surfaces on which the light beam enters and exits the gradient index lens are both flat.

[0177] Therefore, in some specific embodiments, the spectroscopic element 330 is in a combined form, that is, the first lens 333a and the second lens 333b are both gradient refractive index lenses, and the first lens 333a, the light deflection element 332, the second lens 333b and the spectroscopic element 331 are integrally formed.

[0178] Continuing to refer to FIG10 , the package body 340 is suitable for packaging all components within the laser radar chip to achieve encapsulation, placement, fixation and protection of each component.

[0179] The material of the package body 340 may be a light-proof adhesive. Specifically, in some embodiments as shown in FIG10 , the material of the package body 340 may be a polymer. The package body 340 may be formed by a T-Mold or C-Mold process to achieve overall packaging.

[0180] Specifically, the package body 340 is located on the substrate 300 and covers all components on the substrate 300. As shown in FIG10 , the package body 340 is filled between the light emitting device array 310, the light receiving device array 320, the light splitting unit 330, the light emitting device driving module 312, and the light receiving device driving module 322, and covers their respective surfaces.

[0181] It should be noted that the package body 340 encapsulates the light emitting device array 310, the light receiving device array 320, the spectrometer unit 330, the light emitting device driving module 312 and the light receiving device driving module 322; in order to ensure the transmission of the detection light 301 and the echo light 302, the package body 340 does not cover the surface of the spectrometer unit 330 used to transmit the detection light 301 and the echo light 302.

[0182] All components are encapsulated by the package body 340, so that the light emitting device array 310 and the light receiving device array 320 are set on the same substrate 300, and the patch accuracy of the light emitting device array 310 and the light receiving device array 320 is controlled to the micron (μm) level, which can effectively ensure high-precision alignment of the emitting field of view of the laser in each channel and the receiving field of view of the detector; the package body 340 fills the space between the components to fix the distance between the components, and the laser radar chip is used as a whole, which can effectively reduce the assembly accuracy and the influence of temperature changes, mechanical deformation and other processes on the emitting field of view and the receiving field of view during the use of the laser radar.

[0183] It should be noted that, in some embodiments shown in FIG. 11 and FIG. 13 , the light emitting device array 310 and the light receiving device array 320 are both arranged in a linear array.

[0184] In some embodiments as shown in FIG12 , the plurality of lasers (not shown in the figure) of the light emitting device array 410 are arranged in a single row on the surface of a substrate (not shown in the figure), and the light emitting device array 410 is arranged in a linear array; the light emitting device driving modules 412 are located on both sides of the light emitting device array 410, and the light emitting device driving modules 412 on both sides are electrically connected to both sides of the light emitting device array 410, respectively.

[0185] It should be noted that, in some embodiments, the arrangement of the multiple detectors of the light receiving device array can refer to the arrangement of the multiple lasers of the light emitting device array 410 shown in FIG13 . The only difference is the arrangement and gating method of the light receiving device driver module and the light emitting device driver module 412.

[0186] In other embodiments of the present disclosure, the multiple lasers of the light emitting device array and the multiple detectors of the light receiving device array may also be arranged in a planar array.

[0187] In some specific embodiments as shown in FIG14 , the multiple lasers 511 of the light emitting device array 510 constitute multiple emitter groups arranged along a first direction X, and each emitter group includes multiple lasers 511 arranged along a second direction Y; in the second direction Y, each laser 511 of an emitter group is located between two lasers 511 of adjacent emitter groups.

[0188] It should be noted that the arrangement of the two emitter groups in the array of light emitting devices arranged in a planar array along the first direction X in FIG14 is merely an example. In other embodiments of the present disclosure, a larger number of emitter groups may be arranged along the first direction X, and the lasers of adjacent emitter groups along the first direction X are staggered along the second direction Y, that is, along the second direction Y, each laser of one emitter group is located between two lasers of adjacent emitter groups.

[0189] In addition, the staggered arrangement of two emitter groups in the light emitting device array shown in FIG14 and a larger number of emitter groups in other embodiments to form an irregular matrix is ​​merely an example. In other embodiments of the present disclosure, multiple emitter groups in the light emitting device array arranged in a planar array may also be regularly arranged to form a regular matrix.

[0190] In some embodiments, the arrangement of the multiple detectors of the light receiving device array can refer to the arrangement of the multiple lasers 511 of the light emitting device array 510 shown in Figure 14. The only difference is the arrangement and gating method of the light receiving device driver module and the light emitting device driver module 512. Specifically, the multiple detectors of the light receiving device array constitute multiple receiver groups arranged along a first direction X, and each receiver group includes multiple detectors arranged along a second direction Y. In the second direction Y, each detector of a receiver group is located between two detectors of an adjacent receiver group.

[0191] It should also be noted that in some specific embodiments shown in Figures 10 and 11, a light emitting device array 310, a light receiving device array 320, a light emitting device driver module 312, and a light receiving device driver module 322 are arranged in a tiled structure on a substrate 300. In other embodiments of the present disclosure, the light emitting device array and the light emitting device driver module, as well as the light receiving device array and the light receiving device driver module, may also be arranged in a stacked structure.

[0192] In some embodiments as shown in FIG. 15 , the light emitting device driving module 612 and the light emitting device array 610 are stacked sequentially on the surface of the substrate 600 ; the light receiving device driving module 622 and the light receiving device array 620 are stacked sequentially on the surface of the substrate 600 .

[0193] In some embodiments of the present disclosure, electrical connections between components in a stacked structure are achieved through contacting bonding surfaces. Specifically, as shown in FIG15 , electrical connections can be achieved between the light emitting device driver module 612 and the light emitting device array 610, between the light emitting device driver module 612 and the substrate 600, between the light receiving device driver module 622 and the light receiving device array 620, and between the light receiving device driver module 622 and the substrate 600 through insulating bonding or metal bonding.

[0194] Referring to FIG16 , there is shown a schematic cross-sectional structure diagram of another embodiment of the laser radar chip disclosed herein.

[0195] The present disclosure will not reiterate the details of the aforementioned embodiments. The difference from the aforementioned embodiments is that, in some embodiments, the light emitting device array and the light receiving device array are located on either side of the light emitting device driver module and the light receiving device driver module, thereby increasing the distance between the lasers of the light emitting device array and the detectors of the light receiving device array, thereby reducing the difficulty of chip manufacturing.

[0196] In some embodiments of the present disclosure, the light emitting device driving module 712 and the light receiving device driving module 722 are located between the light emitting device array 710 and the light receiving device array 720 .

[0197] Specifically as shown in Figure 16, the light emitting device array 710 and the light receiving device array 720 are arranged in parallel on the surface of the substrate 700; the light emitting device driving module 712 is located on the side of the light emitting device array 710 close to the light receiving device array 720; the light receiving device driving module 722 is located on the side of the light receiving device array 720 close to the light emitting device array 710, that is, the light emitting device array 710, the light emitting device driving module 712, the light receiving device driving module 722 and the light receiving device array 720 are arranged in sequence on the surface of the substrate 700.

[0198] In addition, in some specific embodiments shown in FIG16 , electrical connections between devices are achieved through bonding wires. Bonding wires are provided between the light emitting device array 710 and the light emitting device driver module 712 and the substrate 700 for electrical connection; and bonding wires are provided between the light receiving device array 720 and the light receiving device driver module 722 and the substrate 700 for electrical connection.

[0199] Specifically, the light emitting device array 710, the light receiving device array 720, the light emitting device driving module 712, and the light receiving device driving module 722 are respectively mounted on the surface of the substrate 700; then, the bonding wires formed by the ultra-low wire arc bonding (bonding wire low arc bonding) process are used to connect the bonding pads of the laser, the detector, the light emitting device driving module 712, and the light receiving device driving module 722 to the substrate 700.

[0200] It should be noted that in some embodiments shown in FIG10 , the lasers of the light emitting device array 310 are electrically connected to the light emitting device driver module 312 and then electrically connected to the substrate 300 through the light emitting device driver module 312. Unlike some embodiments shown in FIG10 , in some embodiments shown in FIG16 , the lasers of the light emitting device array 710 are directly electrically connected to the substrate 700 through bonding wires.

[0201] Another difference from the previous embodiment is that the spectrometer is a separate unit. As shown in Figure 17 , in the spectrometer 730 , the first lens 733a and the second lens 733b are convex lenses. The first lens 733a, the light deflection element 732, and the second lens 733b are integrally formed and separate from the spectrometer 731.

[0202] Correspondingly, the present disclosure also provides a laser radar. Referring to Figure 18, the laser radar includes: a laser radar chip 810, an optical component 820 and a scanning device 830, wherein the laser radar chip 810 includes: a substrate; a light emitting device array, the light emitting device array is located on the substrate; a light receiving device array, the light receiving device array is located on the substrate on one side of the light emitting device array; a spectroscopic unit, the spectroscopic unit is configured to transmit the detection light generated by the light emitting device array; the detection light is reflected by the target to form an echo light 302; the spectroscopic unit is also configured to transmit the echo light 302 to the light receiving device array; a package body, the package body is located on the substrate and encapsulates the light The optical component 820 transmits the detection light emitted by the laser radar chip 810, and the detection light transmitted by the optical component 820 is reflected by the scanning device 830 and then emitted from the laser radar (the optical component 820 can be, for example, the transceiver optical unit 16 in the laser radar 10 in the aforementioned embodiment); the target 840 reflects the detection light to form an echo light 302, and the echo light 302 reflected by the scanning device 830 is transmitted to the laser radar chip 810 via the optical component 820 (the scanning device 830 can be, for example, the scanner 18 in the laser radar 10 in the aforementioned embodiment).

[0203] 10 to 12 , a schematic structural diagram of the laser radar chip in the laser radar embodiment shown in FIG18 is shown.

[0204] As shown in Figures 10 to 12, the laser radar chip includes: a substrate 300; a light emitting device array 310, the light emitting device array 310 is located on the substrate 300; a light receiving device array 320, the light receiving device array 320 is located on the substrate 300 on one side of the light emitting device array 310; a spectroscopic unit 330, the spectroscopic unit 330 is configured to transmit the detection light generated by the light emitting device array 310; the detection light is reflected by the target to form echo light 302; the spectroscopic unit 330 is also configured to transmit the echo light 302 to the light receiving device array 320; a package body 340, the package body 340 is located on the substrate 300 and encapsulates the light emitting device array 310, the light receiving device array 320 and the spectroscopic unit 330.

[0205] In some specific embodiments, the laser radar chip 810 is the laser radar chip disclosed in the present invention. Therefore, the specific technical solution of the laser radar chip 810 refers to the specific embodiment of the aforementioned laser radar chip, and the present invention will not repeat it here.

[0206] The light emitting device array 310, the light receiving device array 320 and the spectroscopic unit 330 are all located on the same substrate 300 and are encapsulated in the package body 340 to constitute the laser radar chip 810. The laser radar chip 810 is used as a whole, which can effectively reduce the impact of the assembly process on the optical path between the light emitting device array 310, the light receiving device array 320 and the spectroscopic unit 330, effectively improve the alignment accuracy of the laser radar's transmitting field of view and the receiving field of view, facilitate the assembly and production of the laser radar, and is conducive to reducing the cost of the laser radar, improving the reliability of the laser radar and the realization of a high-line-count laser radar.

[0207] The laser radar also includes a circuit board 811, which is electrically connected to the laser radar chip 810. The laser radar chip 810 is fixed to the surface of the circuit board 811 and electrically connected to the circuit board 811. Specifically, the laser radar chip 810 is electrically connected to the circuit board 811 via solder balls 812 (as shown in Figure 10).

[0208] In some specific embodiments as shown in FIG. 19 , the laser radar includes a plurality of the laser radar chips 810 ; the plurality of the laser radar chips 810 are fixed and electrically connected to the same circuit board 811 .

[0209] With reference to FIG20 , a schematic diagram of the top view structure of multiple laser radar chips 810 on the circuit board 811 in the laser radar embodiment shown in FIG18 is shown.

[0210] In some specific embodiments, the laser radar includes: a plurality of laser radar chipsets 813, wherein the plurality of laser radar chipsets 813 are arranged along a first direction X; the laser radar chipset 813 includes a plurality of laser radar chips 810, and the plurality of laser radar chips 810 in the same laser radar chipset 813 are arranged along a second direction Y. The plurality of laser radar chips 810 in one laser radar chipset are staggered with the plurality of laser radar chips 810 in an adjacent laser radar chipset along the second direction Y. As shown in FIG. 20 , the laser radar includes: a laser radar chipset 813a and a laser radar chipset 813b, wherein the laser radar chipset 813a and the laser radar chipset 813b are adjacently arranged along the first direction X, i.e., no other laser radar chips are arranged between the laser radar chipset 813a and the laser radar chipset 813b.

[0211] It should be noted that in other embodiments of the present disclosure, the multiple laser radar chips of the laser radar chips group can also be arranged flush with the multiple laser radar chips of the adjacent laser radar chips group along the second direction, that is, the multiple laser radar chips of one laser radar chips group are arranged flush with the multiple laser radar chips of the adjacent laser radar chips group along the second direction Y.

[0212] The multiple laser radar chips 810 of the laser radar chips group 813a and the multiple laser radar chips 810 of the laser radar chips group 813b are staggered along the second direction Y, that is, along the second direction Y, the laser radar chip 810 of the laser radar chips group 813a is located between the two adjacent laser radar chips 810 of the laser radar chips group 813b, and each laser radar chip 810 of the laser radar chips group 813b is located between the two adjacent laser radar chips 810 of the laser radar chips group 813a.

[0213] It should be noted that the arrangement of the two lidar chipsets in FIG20 along the first direction X is merely an example. In other embodiments of the present disclosure, a larger number of lidar chipsets may be arranged along the first direction X. Furthermore, the lidar chips of adjacent lidar chipsets along the first direction X are staggered along the second direction Y. That is, along the second direction Y, each lidar chip of one lidar chipset is located between two lidar chips of an adjacent lidar chipset.

[0214] In some embodiments shown in Figures 18 and 20, the light emitting device array of each LiDAR chip 810 has 32 lasers, and the light receiving device array has 32 detectors, that is, each LiDAR chip 810 has 32 channels. Eight LiDAR chips 810 constitute 256 channels. While ensuring that 256 channels are provided on the circuit board, the arrangement shown in Figure 20 can effectively reduce the size of the circuit board.

[0215] In some specific embodiments, the laser radar is a vehicle-mounted laser radar. The detection range of the vehicle-mounted laser radar is mainly concentrated on the ground and the area near it. The circuit board is arranged perpendicular to the horizontal plane; the arrangement shown in Figure 20 can effectively reduce the height of the laser radar.

[0216] Continuing to refer to FIG18 , the laser radar further includes: an optical component 820 and a scanning device 830 for transmitting and receiving the detection light and the echo light.

[0217] Specifically, the detection light emitted by the laser radar chip 810 is transmitted to the scanning device 830 by the optical component 820, and the scanning device 830 reflects the detection light to realize the emission of the detection light; the echo light formed by the reflection of the detection light by the target 840 is received by the scanning device 830, and the scanning device 830 reflects the echo light to the optical component 820, and the echo light is transmitted to the laser radar chip 810 via the optical component 820.

[0218] In some embodiments of the present disclosure, multiple laser radar chips 810 share an optical component 820 and a scanning device 830. The light emitting device array 310 and the light receiving device array 320 share an optical component 820 and a scanning device 830, which can effectively overcome the effects of the optical axis offset of the lens group in the optical component, the position offset of the scanning device, etc. on the alignment accuracy between the transmitting field of view of the laser in each channel and the receiving field of view of the detector. Therefore, the solution of the present disclosure can effectively improve the alignment accuracy of the transmitting field of view and the receiving field of view of the laser radar, facilitate the assembly and production of the laser radar, and help reduce the cost of the laser radar, improve the reliability of the laser radar, and realize high-line-count laser radar.

[0219] In some specific embodiments, multiple laser radar chips 810 share one optical component 820 and one scanning device 830. However, the present disclosure does not limit the number of optical components 820 and scanning devices 830 included in the laser radar.

[0220] In some embodiments of the present disclosure, the scanning device 830 causes the detection light to scan along the first direction X; the plurality of laser radar chips 810 are arranged in an array along the second direction Y, with the second direction Y being perpendicular to the first direction X. In some specific embodiments, the laser radar is a vehicle-mounted laser radar, and the detection range of the vehicle-mounted laser radar is primarily concentrated on the ground and its vicinity. The first direction X is parallel to the horizontal plane, and the second direction Y is perpendicular to the horizontal plane.

[0221] It should be noted that the first direction X is the scanning direction of the scanning device 830, and the second direction is the arrangement direction of the multiple laser radar chips 810. The selection of the first direction X and the second direction Y is related to the field of view of the laser radar. That is, when the field of view of the laser radar changes, the scanning direction of the scanning device 830 and the arrangement direction of the multiple laser radar chips 810 will also change accordingly. The present disclosure does not limit the scanning direction of the scanning device and the arrangement direction of the multiple laser radar chips. It should also be noted that in some embodiments shown in Figures 18 and 20, the multiple laser radar chips of one laser radar chipset are staggered with the multiple laser radar chips of the adjacent laser radar chipset along the second direction Y. In other embodiments of the present disclosure, the multiple laser radar chipsets may also be arranged in other ways, such as arranging more laser radar chipsets along the first direction X, or arranging the multiple laser radar chips 810 in a row along the second direction, or arranging the multiple laser radar chips 810 in a manner consistent with the arrangement of the multiple lasers described above.

[0222] In some specific embodiments as shown in Figure 21, at least a portion of the lasers in the light emitting device array of the laser radar chip of one laser radar chip group and at least a portion of the lasers in the light emitting device array of the laser radar chip of an adjacent laser radar chip group are staggered along the second direction Y.

[0223] In other embodiments of the present disclosure, at least a portion of the detectors in the light receiving device array of the laser radar chip of one laser radar chipset are staggered along the second direction Y with at least a portion of the detectors in the light receiving device array of the laser radar chip of an adjacent laser radar chipset.

[0224] Specifically, the laser radar includes: a first laser radar chipset and a second laser radar chipset, the first laser radar chipset and the second laser radar chipset are adjacently arranged along a first direction, that is, no other laser radar chips are arranged between the first laser radar chipset and the second laser radar chipset.

[0225] At least a portion of the lasers in the multiple laser radar chips 910a of the first laser radar chip group and at least a portion of the lasers in the multiple laser radar chips 910b of the second laser radar chip group are staggered along the second direction Y, that is, along the second direction Y, each laser of the laser radar chip 910a in the first laser radar chip group is located between two adjacent lasers of the adjacent laser radar chip 910b in the second laser radar chip group.

[0226] Specifically, in some embodiments shown in Figure 21, the center line 911b of the laser of the laser radar chip 910b in the second laser radar chipset along the second direction Y is located between the center line 911a of the laser of the laser radar chip 910a in the first laser radar chipset along the second direction Y and the center line 912a of the laser of the laser radar chip 910a in the first laser radar chipset along the second direction Y.

[0227] It should be noted that, in some embodiments, the arrangement of the multiple detectors in the light receiving device array of the laser radar can refer to the arrangement of the multiple lasers in the light emitting device array shown in Figure 21. Only the arrangement and gating method of the light receiving device driver module and the light emitting device driver module are different. Specifically, at least part of the detectors in the multiple laser radar chips of the first laser radar chipset and at least part of the detectors in the multiple laser radar chips of the second laser radar chipset are staggered along the second direction Y, that is, along the second direction, the detector of the laser radar chip in the first laser radar chipset is located between the two adjacent detectors of the adjacent laser radar chips in the second laser radar chipset.

[0228] In summary, the light emitting device array and the light receiving device array are sealed in the same chip. Based on the chip packaging process, the patch accuracy of the light emitting device array and the light receiving device array can be controlled to the micron (μm) level, which can effectively ensure high-precision alignment between the emission field of view of the laser in each channel and the receiving field of view of the detector; and the light emitting device array, the light receiving device array and the spectroscopic unit are all located on the same substrate, which can effectively reduce the assembly accuracy and the impact of temperature changes, mechanical deformation and other processes on the emission field of view and the receiving field of view during the use of the laser radar. In the laser radar, the light emitting device array and the light receiving device array share optical components and scanning devices, which can effectively overcome the impact of the optical axis offset of the lens group in the optical component, the position offset of the scanning device, etc. on the alignment accuracy between the emission field of view of the laser in each channel and the receiving field of view of the detector. Therefore, the solution disclosed in the present invention can effectively improve the alignment accuracy of the emission field of view and the receiving field of view of the laser radar, facilitate the assembly and production of the laser radar, and help reduce the cost of the laser radar, improve the reliability of the laser radar and realize high-line-count laser radar.

[0229] Finally, it should be noted that the above descriptions are merely examples of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned examples, those skilled in the art will be able to modify the technical solutions described in the aforementioned examples or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. An optical shaping unit for laser radar, include: A first lens is used to receive a detection beam emitted by a transmitting unit of the laser radar, wherein the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface; and a second lens, wherein the first lens is located in the optical path between the emitting unit and the second lens, and the first lens and the second lens are configured to form a reduced emitting surface of the emitting unit, The optical axes of the first lens and the second lens are non-parallel.

2. The optical shaping unit according to claim 1, wherein the first lens and the second lens are both convex lenses, the focal length of the first lens is greater than the focal length of the second lens, and the reduced light-emitting surface is formed on a side of the second lens opposite to the first lens.

3. The optical shaping unit according to claim 2, wherein an optical distance between the first lens and the second lens is the sum of a focal length of the first lens and a focal length of the second lens.

4. The optical shaping unit according to any one of claims 1 to 3, further comprising a reflecting portion, wherein the reflecting portion is disposed between the first lens and the second lens, and wherein the reflecting portion is configured to receive the detection beam from the first lens and reflect the detection beam to the second lens.

5. The optical shaping unit according to claim 4, wherein the first lens, the second lens and the reflecting portion are integrally formed, or the first lens, the second lens and the reflecting portion are separately formed, the optical axes of the first lens and the second lens are perpendicular, the angle between the reflecting portion and the optical axis of the first lens is 45°, and the angle between the reflecting portion and the optical axis of the second lens is 45°.

6. The optical shaping unit according to any one of claims 1 to 3, wherein a ratio of the focal lengths of the first lens and the second lens is determined according to a size of the reduced light-emitting surface, and the optical shaping unit is configured to increase a power density of a detection beam emitted from the laser radar.

7. A laser radar, include: An emitting unit configured to emit a detection light beam, the emitting unit having a light emitting surface, the detection light beam being emitted by the light emitting surface; an optical shaping unit, configured to form the light-emitting surface of the emitting unit into a reduced light-emitting surface, the optical shaping unit being disposed in the light path between the emitting unit and the light-splitting unit; a receiving unit configured to receive an echo generated by the detection light beam being reflected on an obstacle and convert the echo into an electrical signal; The light splitting unit is configured to guide the detection beam to the outside of the laser radar and guide the echo to the receiving unit; and The data processing unit is coupled to the receiving unit and is configured to obtain the information of the obstacle according to the electrical signal.

8. The laser radar according to claim 7 further includes a transceiver optical unit, which is configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit.

9. The laser radar according to claim 7, wherein the optical shaping unit comprises a first lens and a second lens, wherein the first lens is used to receive the detection light beam emitted by the transmitting unit, the first lens is located in the optical path between the transmitting unit and the second lens, the first lens and the second lens are configured to form the light-emitting surface of the transmitting unit into the reduced light-emitting surface, wherein the optical axes of the first lens and the second lens are non-parallel.

10. The laser radar according to any one of claims 7-9, further comprising a circuit board, wherein the transmitting unit and the receiving unit are arranged on the same circuit board.

11. The laser radar according to claim 9, wherein the first lens and the second lens are both convex lenses, the focal length of the first lens is greater than the focal length of the second lens, and the reduced light-emitting surface is formed on the side of the second lens opposite to the first lens.

12. The laser radar according to claim 11, wherein the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens.

13. The laser radar according to claim 9, 11 or 12, wherein the optical shaping unit further comprises a reflecting portion, the reflecting portion being disposed between the first lens and the second lens, the reflecting portion being configured to receive the detection beam from the first lens and reflect the detection beam to the second lens.

14. The laser radar according to claim 13, wherein the first lens, the second lens and the reflecting part are integrally formed, or the first lens, the second lens and the reflecting part are separately formed, the optical axes of the first lens and the second lens are perpendicular, the angle between the reflecting part and the optical axis of the first lens is 45°, and the angle between the reflecting part and the optical axis of the second lens is 45°.

15. The laser radar according to claim 8, further comprising a scanner, which is configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar, and reflect the echo to the transceiver optical unit.

16. The laser radar according to claim 10, wherein the transmitting unit includes a laser array arranged on the circuit board, the receiving unit includes a detector array arranged on the circuit board, the laser radar includes a plurality of the optical shaping units and a plurality of the spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to a laser of the laser array and a detector of the detector array.

17. The laser radar according to claim 10, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes multiple groups of detector arrays arranged on the circuit board, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, and one of the transceiver optical modules corresponds to one group of laser arrays and one group of detector arrays.

18. The laser radar according to claim 10, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes a detector arranged on the circuit board, and the area in the detector can be activated individually, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to the activation area of ​​the detector, and a group of the laser arrays or one laser of the laser array.

19. A laser radar, include: An emitting unit configured to emit a detection light beam, the emitting unit having a light emitting surface, the detection light beam being emitted by the light emitting surface; a receiving unit configured to receive an echo generated by the detection light beam being reflected on an obstacle and convert the echo into an electrical signal; a spectroscopic unit configured to direct the detection beam to the outside of the laser radar and direct the echo to the receiving unit; a data processing unit, coupled to the receiving unit and configured to obtain information about the obstacle according to the electrical signal; and A circuit board, wherein the transmitting unit and the receiving unit are arranged on the same circuit board.

20. The laser radar according to claim 19, further comprising a transceiver optical unit, which is configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit.

21. The laser radar according to claim 19 further includes an optical shaping unit, which is arranged in the optical path between the transmitting unit and the spectroscopic unit, and is configured to adjust the spot shape of the detection light beam emitted by the transmitting unit to form the light-emitting surface of the transmitting unit into a reduced light-emitting surface.

22. The laser radar according to claim 21, wherein the optical shaping unit comprises a first lens and a second lens, wherein the first lens is located in the optical path between the transmitting unit and the second lens, and wherein the first lens receives the detection beam and emits the detection beam to the second lens.

23. According to the laser radar of claim 22, the first lens and the second lens are both convex lenses, the focal length of the first lens is greater than the focal length of the second lens, and the reduced light-emitting surface is formed on the side of the second lens opposite to the first lens.

24. The laser radar according to claim 23, wherein the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens.

25. According to any one of claims 22-24, the optical shaping unit also includes a reflecting part, which is arranged in the optical path between the first lens and the second lens, and the reflecting part is configured to receive the detection beam from the first lens and totally reflect the detection beam to the second lens.

26. The laser radar according to claim 25, wherein the first lens, the second lens and the reflecting part are integrally formed, or the first lens, the second lens and the reflecting part are separately formed.

27. The laser radar according to claim 25, wherein the optical axes of the first lens and the second lens are perpendicular, the angle between the reflecting portion and the optical axis of the first lens is 45°, and the angle between the reflecting portion and the optical axis of the second lens is 45°.

28. A laser radar according to any one of claims 22-24, wherein the ratio of the focal lengths of the first lens and the second lens is determined according to the size of the reduced light-emitting surface.

29. The laser radar according to any one of claims 21-24, wherein the optical shaping unit is configured to increase the power density of the detection beam emitted from the laser radar.

30. The laser radar according to any one of claims 19-24, wherein the splitting unit is configured to guide the detection beam and the echo in a polarization splitting, pinhole splitting, or partial reflector splitting manner.

31. The laser radar according to claim 20 further includes a scanner, which is configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar and reflect the echo to the transceiver optical unit.

32. The laser radar according to any one of claims 22-24, wherein the transmitting unit includes a laser array arranged on the circuit board, the receiving unit includes a detector array arranged on the circuit board, the laser radar includes a plurality of the optical shaping units and a plurality of the spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to a laser of the laser array and a detector of the detector array.

33. The laser radar according to any one of claims 21-24, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes multiple groups of detector arrays arranged on the circuit board, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, and one of the transceiver optical modules corresponds to one group of laser arrays and one group of detector arrays.

34. The laser radar according to any one of claims 21-24, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes a detector arranged on the circuit board, and the areas in the detector can be activated individually, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to the activation area of ​​the detector, and a group of the laser arrays or one laser of the laser array.

35. A transceiver optical module for a laser radar, comprising an optical shaping unit and a spectroscopic unit, wherein the optical shaping unit is configured to receive a detection beam emitted by a transmitting unit of the laser radar and transmit the detection beam to the spectroscopic unit, the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface, the spectroscopic unit is configured to receive the detection beam from the optical shaping unit and guide the detection beam to the outside of the laser radar, and is configured to receive an echo and guide the echo to the receiving unit of the laser radar, wherein the optical shaping unit is configured to form the light-emitting surface of the transmitting unit into a reduced light-emitting surface.

36. The transceiver optical module according to claim 35, wherein the optical shaping unit corresponds one-to-one to one or more lasers of the transmitting unit in the laser radar, and the spectroscopic unit corresponds one-to-one to one detector, multiple detectors and one of the activation areas of the detector of the receiving unit in the laser radar.

37. The transceiver optical module according to claim 35, wherein the optical shaping unit comprises the optical shaping unit according to any one of claims 1-6.

38. A laser radar chip, It is characterized in that include: substrate; a light emitting device array, the light emitting device array being located on the substrate; A light receiving device array, the light receiving device array being located on a substrate on one side of the light emitting device array; a spectroscopic unit, the spectroscopic unit being configured to transmit the detection light generated by the light emitting device array; the detection light is reflected by a target to form an echo light; the spectroscopic unit is also configured to transmit the echo light to the light receiving device array; A packaging body is located on the substrate and packages the light emitting device array, the light receiving device array and the light splitting unit.

39. The laser radar chip as claimed in claim 38, It is characterized in that The light emitting device array includes a plurality of lasers, and the plurality of lasers are arranged in an array on the substrate; The light receiving device array includes a plurality of detectors, and the plurality of detectors are arranged in an array on the substrate.

40. The laser radar chip as claimed in claim 38, It is characterized in that Also includes: A light emitting device driving module, the light emitting device driving module is located on the substrate and is electrically connected to the light emitting device array and the substrate; The light receiving device driving module is located on the substrate and is electrically connected to the light receiving device array and the substrate.

41. The laser radar chip as claimed in claim 40, It is characterized in that The light emitting device driving module and the light receiving device driving module are located between the light emitting device array and the light receiving device array; Alternatively, the light emitting device array and the light receiving device array are located between the light emitting device driving module and the light receiving device driving module.

42. The laser radar chip as claimed in claim 38, It is characterized in that Also includes: a light-transmitting adhesive portion, the light-transmitting adhesive portion being located on a side of the light-splitting unit facing the substrate; The light splitting unit is fixed to the light receiving device array and the light emitting device array through the light-transmitting adhesive portion.

43. The laser radar chip as claimed in claim 38, It is characterized in that The light splitting unit comprises: A spectroscopic element is configured to separate an optical path of the probe light from an optical path of the echo light.

44. The laser radar chip as claimed in claim 43, It is characterized in that The beam splitting element is a polarization beam splitter.

45. The laser radar chip as claimed in claim 43, It is characterized in that The detection light is emitted from the light emitting device array in a direction perpendicular to the substrate surface; The echo light is incident on the light receiving device array along a direction perpendicular to the substrate surface; The spectroscopic unit further includes: a light deflection element, which is located in the optical path of the detection light and is configured to deflect the detection light to the spectroscopic element.

46. ​​The laser radar chip as claimed in claim 45, It is characterized in that The spectroscopic unit further includes a focusing element, which is located in the optical path of the detection light and is configured so that both the light emitting device array and the light receiving device array are disposed on the substrate.

47. The laser radar chip as claimed in claim 46, It is characterized in that The focusing element comprises: a first lens, the first lens being located upstream of the light deflection element in the optical path of the detection light so as to transmit the detection light to be incident on the light deflection element; The second lens is located downstream of the light deflection element in the optical path of the detection light. The detection light deflected by the light deflection element is transmitted through the second lens and then incident on the beam splitter element.

48. The laser radar chip as claimed in claim 47, It is characterized in that The first lens, the light deflection element and the second lens are integrally formed.

49. The laser radar chip as claimed in claim 48, It is characterized in that The first lens is a convex lens or a gradient refractive index lens; the second lens is a convex lens or a gradient refractive index lens.

50. The laser radar chip as claimed in claim 49, It is characterized in that The second lens is a gradient refractive index lens, and the first lens, the light deflection element, the second lens and the light splitting element are integrally formed.

51. The laser radar chip as claimed in claim 43, It is characterized in that The light splitting unit further comprises an optical shaping unit as claimed in any one of claims 1 to 6, wherein the optical shaping unit is arranged in the optical path between the light splitting element and the light emitting device array.

52. A laser radar, It is characterized in that include: A laser radar chip, an optical component and a scanning device, wherein the laser radar chip comprises: substrate; a light emitting device array, the light emitting device array being located on the substrate; A light receiving device array, the light receiving device array being located on a substrate on one side of the light emitting device array; a spectroscopic unit, the spectroscopic unit being configured to transmit the detection light generated by the light emitting device array; the detection light is reflected by a target to form an echo light; the spectroscopic unit is also configured to transmit the echo light to the light receiving device array; A packaging body, the packaging body is located on the substrate and packages the light emitting device array, the light receiving device array and the light splitting unit; The optical component transmits the detection light emitted by the laser radar chip, and the detection light transmitted by the optical component is reflected by the scanning device and then emitted; the echo light reflected by the scanning device is transmitted to the laser radar chip through the optical component.

53. The laser radar as claimed in claim 52, It is characterized in that Also includes: A circuit board is electrically connected to the laser radar chip.

54. The laser radar as claimed in claim 52, It is characterized in that A plurality of the laser radar chips are fixed and electrically connected to the same circuit board; A plurality of the laser radar chips share the optical component and the scanning device.

55. The laser radar as claimed in claim 53, It is characterized in that The scanning device causes the detection light to scan along a first direction; The plurality of laser radar chips are arranged in an array along a second direction, and the second direction is perpendicular to the first direction.

56. The laser radar as claimed in claim 55, It is characterized in that include: A plurality of laser radar chipsets arranged along the first direction, the laser radar chipsets comprising a plurality of the laser radar chips, and the plurality of the laser radar chips in the same laser radar chipset are arranged along the second direction; The multiple laser radar chips of one of the laser radar chips groups are arranged alternately with the multiple laser radar chips of an adjacent laser radar chips group along the second direction.

57. The laser radar as claimed in claim 55, It is characterized in that include: A plurality of laser radar chipsets arranged along the first direction, the laser radar chipsets comprising a plurality of the laser radar chips, and the plurality of the laser radar chips in the same laser radar chipset are arranged along the second direction; At least a portion of the lasers in the light emitting device array or at least a portion of the detectors in the light receiving device array in the laser radar chip of one of the laser radar chips groups are alternately arranged along the second direction with at least a portion of the lasers in the light emitting device array or at least a portion of the detectors in the light receiving device array in the laser radar chip of an adjacent laser radar chip group.

58. The laser radar chip as claimed in claim 52, It is characterized in that The light splitting unit further comprises an optical shaping unit as claimed in any one of claims 1 to 6, wherein the optical shaping unit is arranged in the optical path between the light splitting element and the light emitting device array.

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