Light-emitting assembly, optical system, and lidar

Abstract

A light-emitting assembly, an optical system, and a LiDAR (100). The light-emitting assembly comprises a plurality of regions. Within a light emission cycle of the light-emitting assembly, in a first direction, a certain region among the plurality of regions comprises light-emitting regions and non-light-emitting regions that are continuously arranged, wherein an emission angle of irradiation from the light-emitting regions to an object space is less than the minimum angular resolution of a corresponding receiving assembly. The present application can be applied to intelligent vehicles or electric vehicles, and helps to realize super-resolution that exceeds the minimum angular resolution of the receiving assembly.

Description

Light-emitting components, optical systems, and lidar

[0001] This application claims priority to Chinese patent application filed on July 22, 2024, with application number 202410986601.8 and title "Light Emitting Components, Optical Systems and LiDAR", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the optical field of lidar, and more specifically, to a light-emitting component, an optical system, and a lidar. Background Technology

[0003] The resolution of LiDAR (Light Detection and Ranging) systems has always been a key performance indicator. A traditional approach to improving the angular resolution of a system is to directly increase the angular resolution of the receiving component; however, even this improvement can reach its limits. Summary of the Invention

[0004] This application provides a light-emitting component, an optical system, and a lidar that helps achieve super-resolution beyond the minimum angular resolution of the receiving component.

[0005] In a first aspect, this application provides a light-emitting component, which includes a first region and a second region. During one light-emitting cycle of the light-emitting component, the first region includes a first light-emitting region and a first non-light-emitting region continuously arranged along a first direction, and the second region includes a second light-emitting region. The emission angle of the first light-emitting region illuminating the object space is less than the minimum angular resolution of the corresponding receiving component.

[0006] Based on the above technical solution, by designing the emission beam emitted by the light-emitting regions in different regions within a light emission cycle and the emission angle of the first light-emitting region illuminating the object space, the receiving component can receive light intensity less than the minimum angular resolution of the receiving component. This helps to solve the problem of insufficient resolution caused by the pixel limitation of the receiving component, thereby helping to achieve super-resolution that exceeds the minimum angular resolution of the receiving component.

[0007] In some possible implementations, the first direction is either the vertical direction or the long side direction of the chip.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, during the light emission cycle, the second region further includes a second non-light emission region, and along the first direction, the first light emission region and the second light emission region are arranged alternately, and the first non-light emission region and the second non-light emission region are arranged alternately.

[0009] Based on the above technical solution, since the first luminous region and the second luminous region are arranged alternately along the first direction and the first non-luminous region and the second non-luminous region are arranged alternately, the light beam emitted by the first luminous region and the light beam emitted by the second luminous region can be arranged alternately in the object space, and the sum of the emission angle of the first luminous region illuminating the object space and the emission angle of the second luminous region illuminating the object space is the minimum angular resolution.

[0010] Correspondingly, the receiving component can receive the backlight information after the first emitting region illuminates the object space and the backlight information after the second emitting region illuminates the object space, respectively. In this way, by calculating the backlight information corresponding to the first emitting region and the backlight information corresponding to the second emitting region, super-resolution exceeding the minimum angular resolution of the receiving component can be achieved.

[0011] In some possible implementations, the first luminescent region and the second luminescent region are arranged alternately, and the first non-luminescent region and the second non-luminescent region are arranged alternately. This can also be understood as follows: within one luminescence cycle, the emission angle of the first luminescent region illuminating the object space is less than the minimum angular resolution of the corresponding receiving component, the emission angle of the second luminescent region illuminating the object space is less than the minimum angular resolution of the corresponding receiving component, and the sum of the emission angles of the first luminescent region illuminating the object space and the emission angles of the second luminescent region illuminating the object space is equal to the minimum angular resolution.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the first region includes multiple light-emitting regions and multiple non-light-emitting regions, the second region includes multiple light-emitting regions and multiple non-light-emitting regions, and along the first direction, the light-emitting regions in the first region and the light-emitting regions in the second region are arranged alternately, and the non-light-emitting regions in the first region and the non-light-emitting regions in the second region are arranged alternately.

[0013] Based on the above technical solution, the first region and the second region each include multiple luminescent regions and multiple non-luminescent regions. The luminescent regions in the first region and the non-luminescent regions in the second region are arranged alternately. This allows for super-resolution exceeding the minimum angular resolution of the receiving component by calculating the backlight information corresponding to different luminescent regions within each luminescence cycle.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, in each light emission cycle of the light-emitting component, the ratio of the length of the light-emitting region to the length of the non-light-emitting region in the first region along the first direction is the same, and the ratio of the length of the light-emitting region to the length of the non-light-emitting region in the second region is the same.

[0015] Based on the above technical solution, the ratio of the length of the luminous area to the length of the non-luminous area along the first direction is the same in each luminous cycle. This ensures that the length of both the luminous and non-luminous areas is the same in each region, which helps reduce the difficulty of patching. Simultaneously, the super-resolution angle (or capability) is the same in each luminous cycle, facilitating subsequent calculations.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the ratio of the length of the luminous region to the length of the non-luminous region in the first region along the first direction is 0.5-1.5.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, along the first direction, the first light-emitting region is located on the first side of the second light-emitting region, and the object space illuminated by the first light-emitting region is located on the second side of the object space illuminated by the second light-emitting region, with the first side and the second side being opposite sides.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the light beam illuminating the object space from the first emitting region is reflected and then received by the first receiving region of the first receiving component, the angular resolution of the first receiving region being the minimum angular resolution; the light beam illuminating the object space from the second emitting region is reflected and then received by the second receiving region of the second receiving component, the angular resolution of the second receiving region being the minimum angular resolution; along the first direction, the position of the first receiving region in the first receiving component is the same as the position of the second receiving region in the second receiving component.

[0019] Based on the above technical solution, taking the first direction as vertical as an example, the backlight information of the first emitting region after illuminating the object space and the backlight information of the second emitting region after illuminating the object space can be received by two receiving areas with different horizontal positions but the same vertical position, respectively. In this way, by calculating the backlight information corresponding to the first emitting region and the backlight information corresponding to the second emitting region, super-resolution exceeding the minimum angular resolution of the receiving component can be achieved.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the first region and the second region are spaced apart by a first distance in a second direction, the second direction being perpendicular to the first direction.

[0021] In some possible implementations, the second direction is either horizontal or the short side of the chip.

[0022] In some possible implementations, this first distance is 0.5mm-1mm.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the emission angle of the first emitting region illuminating the object space is half of the minimum angular resolution of the first receiving component.

[0024] Based on the above technical solution, the emission angle of the first emitting region illuminating the object space is half of the minimum angular resolution. Thus, when the first and second emitting regions are arranged alternately, the light beams emitted by the first and second emitting regions can be staggered in the object space, and both the emission angles of the first and second emitting regions illuminating the object space are half of the minimum angular resolution.

[0025] In this way, without increasing the angular resolution of the receiving component, by calculating the backlight information corresponding to the first emitting region and the backlight information corresponding to the second emitting region, the angular resolution of the system can reach half of the minimum angular resolution of the receiving component, thereby achieving super-resolution that surpasses the minimum angular resolution of the receiving component.

[0026] For example, if the first object space illuminated by the first emitting region reflects back light information and the second object space illuminated by the second emitting region reflects back light information, it indicates that objects exist in both the first and second object spaces. Since both the first and second object spaces are object spaces illuminated by emitting regions with emission angles half of the minimum angular resolution, the system resolution can reach half of the minimum angular resolution of the receiving component, thereby achieving super-resolution beyond the minimum angular resolution of the receiving component.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the first region is located in a first laser and the second region is located in a second laser, wherein the wavelength of the beam emitted by the first laser is different from the wavelength of the beam emitted by the second laser.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the first region is located in a first laser and the second region is located in a second laser, wherein the polarization state of the first laser is different from that of the second laser.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the first emitting region and the second emitting region emit beams in a time-sequential manner.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, the first region is located in the middle part of the second region.

[0031] Based on the above technical solution, the first region can be the middle part of the second region, which helps to ensure that super-resolution exceeding the minimum angular resolution of the receiving component is achieved within the range of the intermediate field of view (FOV).

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the second region is a region that emits light continuously.

[0033] In conjunction with the first aspect, in some implementations of the first aspect, the first region and the second region are located in a third laser.

[0034] Based on the above technical solution, the first region and the second region can be located in the same laser. This achieves super-resolution exceeding the minimum angular resolution of the receiving component while simultaneously reducing the cost of the light-emitting component.

[0035] Secondly, this application provides an optical system that includes a light-emitting component in any of the possible implementations of the first aspect described above.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a first beam combining device for combining a first beam emitted from the first emitting region and a second beam emitted from the second emitting region to obtain a combined beam; and an emitting mirror group for collimating the combined beam to obtain a third beam and a fourth beam.

[0037] In some possible implementations, the third beam and the fourth beam are completely combined in the second direction, or the third beam and the fourth beam have a small spacing angle in the second direction.

[0038] The fact that the third and fourth beams are completely combined in the second direction can be understood as meaning that there is no gap angle between the third and fourth beams in the second direction.

[0039] In some possible implementations, the second direction is either horizontal or the short side of the chip.

[0040] In some possible implementations, during the light emission cycle, the second region also includes a second non-light emission region, and along the first direction, the first light emission region and the second light emission region are arranged alternately, as are the first non-light emission region and the second non-light emission region.

[0041] In some possible implementations, along a first direction, the first beam is located on the first side of the second beam, and the third beam is located on the second side of the fourth beam, with the first side and the second side being opposite sides.

[0042] In some possible implementations, the first region is located in a first laser and the second region is located in a second laser, wherein the wavelength of the beam emitted by the first laser is different from the wavelength of the beam emitted by the second laser.

[0043] Based on the above technical solution, by using a beam combiner to combine first and second beams of different wavelengths, the resulting merged beam can be completely combined in the second direction. After the merged beam passes through the transmitting mirror group, a third and fourth beam, completely combined in the horizontal direction, can be obtained. By illuminating the object space with the third and fourth beams, it is possible to separately detect object spaces that are at the same horizontal position but different vertical positions.

[0044] In some possible implementations, the first region includes multiple light-emitting regions and multiple non-light-emitting regions, and the second region includes multiple light-emitting regions and multiple non-light-emitting regions. Along the first direction, the light-emitting regions in the first region and the light-emitting regions in the second region are arranged alternately, and the non-light-emitting regions in the first region and the non-light-emitting regions in the second region are arranged alternately.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a receiving lens group for converging and collecting backlight information reflected from a first object space and a second object space to obtain first backlight information and second backlight information, wherein the first object space is the object space illuminated by the third beam and the second object space is the object space illuminated by the fourth beam; a first beam splitting device for splitting the first backlight information and the second backlight information to obtain third backlight information and fourth backlight information; a first photosensitive chip for receiving the third backlight information; and a second photosensitive chip for receiving the fourth backlight information.

[0046] Based on the above technical solution, after passing through the receiving lens group and the beam splitter, the third and fourth backlight information are received by the first and second photosensitive chips, respectively. The first and second photosensitive chips each receive light intensity equal to half the minimum angular resolution. Based on the calculations of whether corresponding pixels of the first and second photosensitive chips are photosensitive, super-resolution exceeding the minimum angular resolution of the receiving component can be achieved.

[0047] Taking an example where the first and second light-emitting regions are arranged alternately, and the emission angles of the first and second light-emitting regions illuminating the object space are half of the minimum angular resolution, the system's angular resolution can reach half of the minimum angular resolution of the receiving component by encoding the results of whether the pixels of the first and second photosensitive chips are photosensitive along the second direction, without improving the angular resolution of the receiving component. This allows for super-resolution exceeding the minimum angular resolution of the receiving component.

[0048] In some possible implementations, the first luminescent region and the first non-luminescent region are arranged alternately, and the second region is a continuously luminescent region.

[0049] Based on the above technical solution, when the first light beam emitted by the first light-emitting area is not reflected by the object and the second light beam emitted by the second light-emitting area is reflected by the object, it can be determined that there is an object in the object space other than the object space illuminated by the first light beam in the object space illuminated by the light beam emitted by the light-emitting component. At this time, a resolution exceeding the minimum angular resolution of the receiving component can be differentially determined, thereby achieving super-resolution that exceeds the minimum angular resolution of the receiving component.

[0050] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a second beam combiner for combining a first beam emitted from the first emitting region and a second beam emitted from the second emitting region to obtain a merged beam; and an emitting mirror group for collimating the merged beam to obtain a fifth beam and a sixth beam; wherein the fifth beam and the sixth beam have a first interval angle in a second direction, and the second direction is perpendicular to the first direction.

[0051] In some possible implementations, along the second direction, the spacing angle between the first beam and the second beam before passing through the beam combiner is greater than the spacing angle between the first beam and the second beam after passing through the beam combiner.

[0052] In some possible implementations, the first beam corresponds to the sixth beam, and the second beam corresponds to the fifth beam. Along a first direction, the first beam is located on the first side of the second beam, and the sixth beam is located on the second side of the fifth beam, with the first side and the second side being opposite sides.

[0053] In some possible implementations, the first region is located in a first laser and the second region is located in a second laser, wherein the polarization state of the first laser is different from that of the second laser.

[0054] Based on the above technical solution, by using a beam combiner to combine the first beam and the second beam, the resulting combined beam has a certain interval angle between the first beam and the second beam in the horizontal direction. After passing through the transmitting mirror group, the combined beam becomes the fifth beam and the sixth beam. By illuminating the object space with the fifth beam and the sixth beam, the detection of different object spaces can be achieved.

[0055] In some possible implementations, during the light emission cycle, the second region also includes a second non-light emission region, and along the first direction, the first light emission region and the second light emission region are arranged alternately, as are the first non-light emission region and the second non-light emission region.

[0056] In some possible implementations, the first region includes multiple light-emitting regions and multiple non-light-emitting regions, and the second region includes multiple light-emitting regions and multiple non-light-emitting regions. Along the first direction, the light-emitting regions in the first region and the light-emitting regions in the second region are arranged alternately, and the non-light-emitting regions in the first region and the non-light-emitting regions in the second region are arranged alternately.

[0057] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a receiving lens group for converging and collecting backlight information reflected from the third object space and the fourth object space to obtain fifth backlight information and sixth backlight information, wherein the third object space is the object space illuminated by the fifth beam and the fourth object space is the object space illuminated by the sixth beam; a third photosensitive chip for receiving the fifth backlight information; and a fourth photosensitive chip for receiving the sixth backlight information.

[0058] Taking an example where the first and second light-emitting regions are arranged alternately, and the emission angles of the first and second light-emitting regions illuminating the object space are half of the minimum angular resolution, based on the above technical solution, after passing through the receiving lens group, the fifth and sixth backlight information are received by the third and fourth photosensitive chips, respectively. The third and fourth photosensitive chips each receive light intensity half of the minimum angular resolution. Based on the calculations of whether the corresponding pixels of the third and fourth photosensitive chips are photosensitive, super-resolution exceeding the minimum angular resolution of the receiving component can be achieved.

[0059] For example, without increasing the minimum angular resolution of the receiving component, by encoding the results of whether the pixels of the third and fourth photosensitive chips are photosensitive along the second direction, the angular resolution of the system can reach half of the minimum angular resolution of the receiving component, thereby achieving super-resolution that exceeds the minimum angular resolution of the receiving component.

[0060] In some possible implementations, the third and fourth photosensitive chips can be the same photosensitive chip. For example, when the first interval angle is small, backlight information can be received through different receiving areas of the same photosensitive chip.

[0061] In conjunction with the second aspect, in some implementations of the second aspect, the first region and the second region are located in the same laser, and the optical system further includes: a emitting mirror group for collimating the first light beam emitted by the first emitting region and the second light beam emitted by the second emitting region to obtain a seventh beam and an eighth beam; wherein the seventh beam and the eighth beam have a second spacing angle in a second direction, and the second direction is perpendicular to the first direction.

[0062] In some possible implementations, during the light emission cycle, the second region also includes a second non-light emission region, and along the first direction, the first light emission region and the second light emission region are arranged alternately, as are the first non-light emission region and the second non-light emission region.

[0063] In some possible implementations, the first region is located in a first laser and the second region is located in a second laser, wherein the polarization state of the first laser is different from that of the second laser.

[0064] Based on the above technical solution, since the first and second regions can be located in the same laser, the distance between the first and second regions along the second direction can be relatively short. Thus, without the need for a beam combiner, the seventh and eighth beams obtained after passing through the emitting mirror group have a small interval angle along the second direction. By illuminating the object space with the seventh and eighth beams, detection of different object spaces can be achieved.

[0065] In some possible implementations, the first region includes multiple light-emitting regions and multiple non-light-emitting regions, and the second region includes multiple light-emitting regions and multiple non-light-emitting regions. Along the first direction, the light-emitting regions in the first region and the light-emitting regions in the second region are arranged alternately, and the non-light-emitting regions in the first region and the non-light-emitting regions in the second region are arranged alternately.

[0066] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a receiving lens group for converging and collecting backlight information reflected from the fifth object space and the sixth object space to obtain seventh backlight information and eighth backlight information, wherein the fifth object space is the object space illuminated by the seventh beam and the sixth object space is the object space illuminated by the eighth beam; and a fifth photosensitive chip for receiving the seventh backlight information through a first receiving area and receiving the eighth backlight information through a second receiving area.

[0067] Based on the above technical solution, since the seventh and eighth beams have a certain interval angle in the horizontal direction, the reflected light information can be received by different receiving areas of the same photosensitive chip after passing through the receiving lens group. Thus, by calculating whether the pixels in different receiving areas on the fifth photosensitive chip are photosensitive, super-resolution exceeding the minimum angular resolution of the receiving component can be achieved.

[0068] Taking an example where the first and second light-emitting regions are arranged alternately, and the emission angles of the first and second light-emitting regions illuminating the object space are half of the minimum angular resolution, the system's angular resolution can reach half of the minimum angular resolution of the receiving component by encoding the results of whether the pixels in the first and second receiving regions are photosensitive along the second direction, without improving the angular resolution of the receiving component. This allows for super-resolution exceeding the minimum angular resolution of the receiving component.

[0069] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a third beam combiner for combining the first beam emitted from the first emitting region at a first moment to obtain a first combined beam; an emitting mirror group for collimating the first combined beam to obtain a ninth beam; the third beam combiner is also used for combining the second beam emitted from the second emitting region at a second moment to obtain a second combined beam; the emitting mirror group is also used for collimating the second combined beam to obtain a tenth beam.

[0070] In some possible implementations, during the light emission cycle, the second region also includes a second non-light emission region, and along the first direction, the first light emission region and the second light emission region are arranged alternately, as are the first non-light emission region and the second non-light emission region.

[0071] In some possible implementations, the first emitting region and the second emitting region emit beams in a time-sequential manner.

[0072] Based on the above technical solution, by emitting beams in a time-sequenced manner, the beams obtained by the beam combiner at different time sequences can be completely combined in the horizontal direction. In this way, by illuminating the object space with the ninth and tenth beams emitted by the emitting mirror groups at different time sequences, it is possible to separately detect object spaces that are at the same horizontal position but different vertical positions.

[0073] In some possible implementations, the first region includes multiple light-emitting regions and multiple non-light-emitting regions, and the second region includes multiple light-emitting regions and multiple non-light-emitting regions. Along the first direction, the light-emitting regions in the first region and the light-emitting regions in the second region are arranged alternately, and the non-light-emitting regions in the first region and the non-light-emitting regions in the second region are arranged alternately.

[0074] In conjunction with the second aspect, in some implementations of the second aspect, the optical system further includes: a receiving lens group for converging and collecting backlight information reflected from a seventh object space to obtain ninth backlight information, wherein the seventh object space is the object space illuminated by the ninth beam; a sixth photosensitive chip for receiving the ninth backlight information; the receiving lens group is also used for converging and collecting backlight information reflected from an eighth object space to obtain tenth backlight information, wherein the eighth object space is the object space illuminated by the tenth beam; the sixth photosensitive chip is also used for receiving the tenth backlight information.

[0075] Taking an example where the first and second light-emitting regions are arranged alternately, and the emission angles of the first and second light-emitting regions illuminating the object space are half of the minimum angular resolution, without improving the angular resolution of the receiving component, by encoding the results of whether the pixels in the receiving region of the sixth photosensitive chip are photosensitive along the second direction at different time sequences, the angular resolution of the system can reach half of the minimum angular resolution of the receiving component, thereby achieving super-resolution that surpasses the minimum angular resolution of the receiving component.

[0076] Thirdly, this application provides a lidar that includes a light-emitting component in any possible implementation of the first aspect above, or a light-emitting system in any possible implementation of the second aspect above.

[0077] Fourthly, this application provides a terminal that includes a light-emitting component in any possible implementation of the first aspect, or a light-emitting system in any possible implementation of the second aspect, or a lidar as described in the third aspect.

[0078] In some possible implementations, the terminal is a vehicle. Attached Figure Description

[0079] Figure 1 is a schematic diagram of a lidar.

[0080] Figure 2 is a schematic diagram of the laser radar transmitting and receiving beams.

[0081] Figure 3 is another schematic diagram of the lidar provided in the embodiment of this application.

[0082] Figure 4 is a schematic diagram of the transmitted beam and received return light information provided in an embodiment of this application.

[0083] Figure 5 is a schematic structural diagram of the optical device provided in an embodiment of this application.

[0084] Figure 6 is another schematic structural diagram of the optical device provided in an embodiment of this application.

[0085] Figure 7 is another schematic structural diagram of the optical device provided in an embodiment of this application.

[0086] Figure 8 is a schematic diagram of laser 1 and laser 2 provided in the embodiments of this application.

[0087] Figure 9 is a schematic diagram of super-resolution achieved by receiving backlight information through photosensitive chip 1 and photosensitive chip 2 according to an embodiment of this application.

[0088] Figure 10 is another schematic diagram of laser 1 and laser 2 provided in the embodiments of this application.

[0089] Figure 11 is another schematic diagram of the lidar provided in an embodiment of this application.

[0090] Figure 12 is another schematic diagram of the transmitted beam and received return light information provided in an embodiment of this application.

[0091] Figure 13 is a schematic diagram of the arrangement of the light-emitting and non-light-emitting regions in the laser 3 provided in the embodiment of this application.

[0092] Figure 14 is another schematic diagram of the lidar provided in the embodiment of this application.

[0093] Figure 15 is another schematic diagram of the emitted beam and received return light information provided in an embodiment of this application.

[0094] Figure 16 is another schematic diagram of laser 1 and laser 2 provided in the embodiments of this application.

[0095] Figure 17 is another schematic diagram of laser 1 and laser 2 provided in the embodiments of this application.

[0096] Figure 18 is a schematic diagram of the light-emitting component provided in an embodiment of this application. Detailed Implementation

[0097] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0098] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0099] Figure 1 shows a schematic diagram of the lidar 100.

[0100] As shown in Figure 1, the lidar 100 may include a transmitting system 110 and a receiving system 120. The transmitting system 110 includes a laser and a transmitting mirror assembly, and the receiving system 120 includes a photosensitive chip and a receiving mirror assembly.

[0101] As mentioned earlier, the resolution of LiDAR has always been a key performance indicator. The traditional approach to improving system resolution is to directly increase the angular resolution of the receiving component (e.g., receiving system 120), but the improvement of the angular resolution of the receiving component also encounters bottlenecks.

[0102] For example, Figure 2 shows a schematic diagram of the LiDAR 100 transmitting and receiving beams.

[0103] As shown in Figure 2, the laser beam emitted by the laser, after passing through the emitting mirror group, illuminates the object space (assuming that objects c and d exist in the object space illuminated by beam a at this time). The beam b, reflected by objects c and d, is converged and collected by the receiving mirror group and received by region 1 of the photosensitive chip (for example, region 1 can be the smallest pixel on the photosensitive chip). Although the photosensitive chip receives the reflected light information and can determine that objects exist in the object space, due to the limitation of the minimum angular resolution of the receiving system 120 in the vertical direction, the information received by the photosensitive chip cannot distinguish whether only object c, only object d, or both objects c and d exist in the object space illuminated by beam a. Alternatively, in the above scenario, the information received by the photosensitive chip cannot separately identify objects c and d.

[0104] For example, Figure 3 shows another schematic diagram of the lidar 100 provided in an embodiment of this application. The transmitting system 110 may include a laser 1, a laser 2, a beam combiner, and a transmitting mirror group, and the receiving system 120 may include a photosensitive chip 1, a photosensitive chip 2, a beam splitter, and a receiving mirror group. In one emission cycle, the laser 1 includes emitting and non-emitting regions arranged vertically, and the laser 2 includes non-emitting and emitting regions arranged vertically. The light beam emitted by the emitting region of the laser 1 is beam 1, and the light beam emitted by the emitting region of the laser 2 is beam 2. Beam 1 and beam 2 are combined into a beam after passing through the beam combiner. The combined beam is then combined into beam 3 and beam 4 after passing through the transmitting mirror group. After exiting the transmitting mirror group, beam 3 illuminates object space 1, and beam 4 illuminates object space 2. The reflected light information after passing through object space 1 and object space 2 is divided into reflected light information 3 and reflected light information 4 after passing through the receiving lens group and the beam splitter. Among them, reflected light information 3 is received by photosensitive chip 1 and reflected light information 4 is received by photosensitive chip 2.

[0105] The laser 1 and laser 2 in the emission system 110 shown in Figure 3 above can form the light-emitting component in the emission system 110.

[0106] Figure 4 shows a schematic diagram of the emitted beam and received return light information provided in an embodiment of this application. As shown in Figure 4, laser 1 and laser 2 are 1 mm apart in the horizontal direction.

[0107] Within one emission cycle, beam 1 emitted from emission region 1 of laser 1 and beam 2 emitted from emission region 2 of laser 2 are combined into a single beam after passing through a beam combiner. In this combined beam, beams 1 and 2 are completely combined in the horizontal direction. After passing through the emitting mirror group, the combined beam becomes beam 3 and beam 4, where beam 1 corresponds to beam 4 and beam 2 corresponds to beam 3. After reflection from object space 1 and object space 2 and reception by the receiving mirror group, backlight information 1 and backlight information 2 are obtained. Backlight information 1 corresponds to the backlight information of beam 1, and backlight information 3 corresponds to the backlight information of beam 2. After passing through a beam splitter, backlight information 1 and backlight information 2 are received by receiving region 1 in photosensitive chip 1 and receiving region 2 in photosensitive chip 2, respectively.

[0108] The above embodiments illustrate the example of beams 1 and 2 in a merged beam being completely combined in the horizontal direction. In actual production, considering the error of patch installation, beams 1 and 2 in a merged beam may not be completely combined in the horizontal direction.

[0109] This application provides an optical device that can serve as a beam combiner and / or beam splitter. Exemplarily, Figures 5 and 6 show schematic structural diagrams of the optical device 200. Referring to Figures 5 and 6, the optical device 200 includes a functional surface 10, a third surface 11, a first reflecting surface 12, a fourth surface 13, a second reflecting surface 21, and a fifth surface 22. The fourth surface 13 is perpendicular to the functional surface 10, forming an angle called a first right angle (denoted as θ1 in Figure 6). The third surface 11 and the first reflecting surface 12 are opposite to the first right angle θ1. The fifth surface 22 is also perpendicular to the functional surface 10, forming an angle called a second right angle (denoted as θ2 in Figure 6). The second reflecting surface 21 is opposite to the second right angle θ2. The functional surface 10 is used for beam combining and / or beam splitting.

[0110] As a schematic diagram of a beam combining scenario, the light beam incident on the functional surface 10 by the first reflecting surface 12 is reflected by the functional surface 10, while the light beam incident on the functional surface 10 by the second reflecting surface 21 is transmitted through the functional surface 10. This allows the light beams from the first reflecting surface 11 and the second reflecting surface 12 to be combined into a single beam (called a combined beam), which can then exit from the third surface 11. In this case, the optical device 200 can be called a beam combining device, and the functional surface 10 can be called a beam combining surface. Thus, in the optical device 200, both incident beams undergo reflection by a reflecting surface once, resulting in similar, or even symmetrical, propagation paths for the two beams entering the beam combining surface.

[0111] As an illustration of a beam splitting scenario, a light beam incident on the functional surface 10 from the third surface 11 is split into two beams by the functional surface 10. That is, the functional surface 10 reflects and transmits the light beam incident on the third surface 11, resulting in a reflected beam and a transmitted beam. In this case, the optical device 200 can be called a beam splitter, the functional surface 10 can be called a beam splitting surface, and the third surface 11 can be called an incident surface. Further, the first reflecting surface 12 is used to reflect the light beam reflected by the functional surface 10 and exits from the fourth surface 13, and the second reflecting surface 21 is used to reflect the light beam transmitted by the functional surface 10 and exits from the fifth surface 22. Thus, in the optical device 200, the light beams reflected and transmitted by the functional surface 10 have both undergone one reflection by the reflecting surface, making the two beams split by the functional surface 10 have similar, or even identical, propagation paths.

[0112] In one possible implementation, the optical device 200 can be a prism. Using a prism to achieve light splitting and reflection makes it easier to fix and shape the surfaces, and stabilizes the angular relationships between the surfaces, which helps improve manufacturing efficiency and the reliability of the optical device.

[0113] For example, Figure 7 shows a schematic structural diagram of the optical device 200 provided in an embodiment of this application. Referring to Figure 7, the optical device 200 includes two beam-splitting prisms, namely a first prism 101 and a second prism 102. The first prism 101 includes a third surface 11, a first surface 14, a first reflecting surface 12, and a fourth surface 13. The second prism 102 includes a second surface 23, a second reflecting surface 21, and a fifth surface 22. The first surface 14 of the first prism 101 and the second surface 23 of the second prism 102 are bonded together to form a functional surface 10. Forming the optical device 200 by bonding two separately arranged beam-splitting prisms helps to reduce manufacturing difficulty and cost.

[0114] Optionally, the wavelengths of the laser emitted by laser 1 and laser 2 are different. For example, the wavelength of the laser emitted by laser 1 is 905 nm, and the wavelength of the laser emitted by laser 2 is 950 nm. After being combined by a beam combiner, the laser is collimated and emitted through a beam-emitting mirror group.

[0115] Optionally, within one emission cycle, the emission regions in laser 1 and laser 2 are arranged alternately, and the non-emission regions in laser 1 and laser 2 are arranged alternately.

[0116] Optionally, in each emission cycle, the ratio of the length of the emitting region to the length of the non-emitting region in laser 1 is 0.5-1.5.

[0117] For example, Figure 8 shows a schematic diagram of laser 1 and laser 2 provided in an embodiment of this application. Laser 1 and laser 2 shown in Figure 8 can correspond to laser 1 and laser 2 shown in Figure 3, respectively.

[0118] For example, laser 1 has a length of 12mm (or a vertical length of 12mm) and a width of 0.082mm (or a horizontal length of 0.082mm), and laser 2 has a length of 12mm (or a vertical length of 12mm) and a width of 0.082mm (or a horizontal length of 0.082mm).

[0119] As shown in Figure 8, laser 1 is arranged in sequence with emitting and non-emitting regions, wherein the length of both the emitting and non-emitting regions is 15 μm within one emission cycle. Laser 2 is arranged in sequence with non-emitting and emitting regions, wherein the length of both the non-emitting and emitting regions is 15 μm within one emission cycle.

[0120] Optionally, laser 1 includes multiple light-emitting regions and multiple non-light-emitting regions, and laser 2 includes multiple light-emitting regions and multiple non-light-emitting regions. In the vertical direction, the light-emitting regions in laser 1 and laser 2 are arranged alternately, and the non-light-emitting regions in laser 1 and laser 2 are arranged alternately.

[0121] As shown in Figure 8, in laser 1, the emitting and non-emitting regions are arranged sequentially along the vertical direction, with each region having a length of 15 μm; in laser 2, the non-emitting and emitting regions are also arranged sequentially, with each region having a length of 15 μm. This arrangement ensures that, along the vertical direction, the emitting and non-emitting regions of laser 1 and laser 2 are staggered.

[0122] Optionally, within one emission cycle, the emission angle of the emission region of laser 1 illuminating the object space is less than the minimum angular resolution of the corresponding receiving component (such as receiving system 120).

[0123] Optionally, within one emission cycle, the emission angle of the emission region of laser 1 illuminating the object space is half of the minimum angular resolution of the receiving component, and the emission angle of the emission region of laser 2 illuminating the object space is half of the minimum angular resolution of the receiving component.

[0124] For example, the minimum angular resolution of the receiving system 120 is 0.05°. Taking the structures of laser 1 and laser 2 shown in Figure 8 as an example, within one emission cycle, for a 15µm emitting region in laser 1, the emission angle of the emitting region illuminating the object space can be 0.025°; for a 15µm emitting region in laser 2, the emission angle of the emitting region illuminating the object space can also be 0.025°.

[0125] The emission angle of the light-emitting area of ​​laser 1 illuminating the object space is 0.025°, which can be understood as the emission angle of beam 4 being 0.025°. The emission angle of the light-emitting area of ​​laser 2 illuminating the object space is 0.025°, which can be understood as the emission angle of beam 3 being 0.025°.

[0126] The above description uses an example where the emission angle of a 15μm emitting region in laser 1 illuminating the object space is 0.025°. However, the embodiments of this application are not limited to this. For example, the emission angle of a 20μm or 40μm emitting region in laser 1 illuminating the object space can also achieve an emission angle of 0.025°.

[0127] The above description uses the example that the emission angles of the light-emitting areas of laser 1 and laser 2 illuminating the object space are both half of the minimum angular resolution of the receiving component. The embodiments of this application are not limited to this.

[0128] For example, the minimum angular resolution of the receiving system 120 is 0.05°. Laser A is arranged with emitting and non-emitting regions in sequence, wherein the lengths of the emitting and non-emitting regions are 16 μm and 14 μm, respectively, within one emission cycle. Laser 2 is arranged with non-emitting and emitting regions in sequence, wherein the lengths of the non-emitting and emitting regions are 16 μm and 14 μm, respectively, within one emission cycle. Thus, within one emission cycle, for the 16 μm emitting region of laser 1, the emission angle illuminating the object space can be 0.027°; for the 14 μm emitting region of laser 2, the emission angle illuminating the object space can be 0.023°.

[0129] For example, the minimum angular resolution of the receiving system 120 is 0.05°. Laser A is arranged with emitting and non-emitting regions in sequence, wherein the lengths of the emitting and non-emitting regions are 17 μm and 13 μm, respectively, within one emission cycle. Laser 2 is arranged with non-emitting and emitting regions in sequence, wherein the lengths of the non-emitting and emitting regions are 17 μm and 13 μm, respectively, within one emission cycle. Thus, within one emission cycle, for the 17 μm emitting region of laser 1, the emission angle illuminating the object space can be 0.03°; for the 13 μm emitting region of laser 2, the emission angle illuminating the object space can be 0.02°.

[0130] The above description uses the minimum angular resolution of the receiving system 120 as an example of 0.05°, but the embodiments of this application are not limited thereto.

[0131] For example, the minimum angular resolution of the receiving system 120 is 0.1°. As shown in FIG8, within one emission cycle, for a 15µm emitting region in laser 1, the emission angle of the emitting region illuminating the object space can be 0.05°. For a 15µm emitting region in laser 2, the emission angle of the emitting region illuminating the object space can also be 0.05°.

[0132] Optionally, super-resolution of object space information can be achieved by calculating whether the corresponding pixels of photosensitive chip 1 and photosensitive chip 2 are photosensitive.

[0133] For example, after beams 3 and 4 are reflected by the object space and collected by the receiving mirror group, backlight information 1 and backlight information 2 can be obtained. Backlight information 1 and backlight information 2 are then separated into backlight information 3 and backlight information 4 by a beam splitter. Backlight information 3 and backlight information 4 are received by receiving area 1 in photosensitive chip 1 and receiving area 2 in photosensitive chip 2, respectively.

[0134] Optionally, receiving area 1 and receiving area 2 are in the same position along the vertical direction, but are in different positions along the horizontal direction.

[0135] Taking an example where, within one emission cycle, the emission angle of the emitting region of laser 1 illuminating the object space is half the minimum angular resolution of the receiving component, and the emission angle of the emitting region of laser 2 illuminating the object space is also half the minimum angular resolution of the receiving component, since the backlight information 1 and backlight information 2 are respectively received and sensed by their corresponding photosensitive chips, and the emission angles of beams 1 and 2 illuminating the object space are both half the minimum angular resolution of the receiving component, photosensitive chips 1 and 2 respectively receive light intensity half of the minimum angular resolution. Based on the calculation of whether the corresponding pixels of photosensitive chips 1 and 2 are sensed, it helps to achieve super-resolution exceeding the minimum angular resolution of the receiving system 120.

[0136] For example, Figure 9 shows a schematic diagram of super-resolution achieved by receiving backlight information through photosensitive chip 1 and photosensitive chip 2 according to an embodiment of this application.

[0137] As shown in Figure 9, receiving area 1 and receiving area 2 are the smallest pixels in receiving system 120, respectively. For example, the calculation method for whether a pixel in photosensitive chip 1 and photosensitive chip 2 is photosensitive can be the following binary calculation method. Taking the encoding result of the photosensitive chip expressed in binary as an example, 1 indicates that the photosensitive chip has received backlight information, and 0 indicates that the photosensitive chip has not received backlight information. Table 1 shows the encoding results of photosensitive chip 1 and photosensitive chip 2 provided in the embodiments of this application.

[0138] Table 1

[0139] For example, as shown in Figure 9(a), if the encoding result of receiving area 1 is 1 and the encoding result of receiving area 2 is 0, it means that the backlight information reflected by the object is received in receiving area 1 and the backlight information reflected by the object is not received in receiving area 2; or, it means that only object 2 exists in the object space (or, it means that object 2 exists at a specific distance or at a specific time), or, only object space 2 exists.

[0140] For example, as shown in Figure 9(b), if the encoding result of receiving area 1 is 0 and the encoding result of receiving area 2 is 1, it means that no backlight information reflected by the object is received in receiving area 1 and the backlight information reflected by the object is received in receiving area 2; or, it means that only object 1 exists in the object space, or that only object 1 exists in object space 1.

[0141] For example, as shown in Figure 9(c), if the encoding result of receiving area 1 is 1 and the encoding result of receiving area 2 is 1, it means that the backlight information reflected by the object is received in receiving area 1 and the backlight information reflected by the object is received in receiving area 2; or, it means that there are objects 1 and 2 in the object space, or that there are objects in both object space 1 and object space 2.

[0142] For example, if the encoding result of receiving area 1 is 0 and the encoding result of receiving area 2 is 0, it means that no backlight information reflected by the object was received in receiving area 1 and no backlight information reflected by the object was received in receiving area 2; or, it means that there is no object 1 and object 2 in the object space.

[0143] The encoding of receiving area 1 and receiving area 2 above can be understood as encoding for the vertical direction (or, the long side direction of the chip).

[0144] In one embodiment, in the emission system 110 shown in FIG3, the laser 2 can also be designed as a continuously emitting laser, and the laser 1 is a laser with alternating emitting and non-emitting regions.

[0145] For example, Figure 10 shows another schematic diagram of laser 1 and laser 2 provided in an embodiment of this application. Laser 1 and laser 2 shown in Figure 10 can correspond to laser 1 and laser 2 shown in Figure 3, respectively.

[0146] As shown in Figure 10, within one emission cycle, the beam 1 emitted by laser 1 can illuminate object space 2, and the beam 2 emitted by laser 2 can illuminate both object space 1 and object space 2. Taking the minimum angular resolution of the receiving system 120 as 0.05° as an example, when the beam emitted by laser 1 is not reflected by any object in object space and the beam emitted by laser 2 is reflected by any object in object space, it can be determined that only object space 1 contains an object, and the system can achieve a resolution of 0.025°.

[0147] When the beam emitted by laser 1 is reflected by an object in the object space, and the beam emitted by laser 2 is also reflected by an object in the object space, it can be determined that objects exist in both object space 1 and object space 2, or that an object exists only in object space 2. In this case, the system can still only achieve a resolution of 0.05°.

[0148] The laser design shown in Figure 10 can, in some cases, achieve super-resolution exceeding the minimum angular resolution of the receiving system 120, thereby improving the angular resolution of the system.

[0149] Figure 11 shows another schematic diagram of the lidar 100 provided in an embodiment of this application.

[0150] As shown in Figure 11, the transmitting system 110 may include a laser 1, a laser 2, a beam combiner, and a transmitting mirror group; the receiving system 120 may include a photosensitive chip 3 and a receiving mirror group. During one emission cycle, laser 1 includes emitting and non-emitting regions arranged vertically, and laser 2 includes non-emitting and emitting regions arranged vertically. The light beam emitted by the emitting region of laser 1 is beam 1, and the light beam emitted by the emitting region of laser 2 is beam 2. Beams 1 and 2 are combined into a single beam after passing through the beam combiner. The combined beam is then passed through the transmitting mirror group to obtain beams 5 and 6. After exiting the transmitting mirror group, beam 5 illuminates object space 3, and beam 6 illuminates object space 4. The reflected light information after passing through object space 3 and object space 4 is then passed through the receiving mirror group to obtain reflected light information 5 and reflected light information 6. Reflected light information 5 is received by receiving area 3 in the photosensitive chip 3, and reflected light information 6 is received by receiving area 4 in the photosensitive chip 3.

[0151] The laser 1 and laser 2 in the emission system 110 shown in Figure 11 above can form the light-emitting component in the emission system 110.

[0152] Figure 12 shows another schematic diagram of the emitted beam and received return light information provided in the embodiment of this application. As shown in Figure 12, laser 1 and laser 2 are 1 mm apart in the horizontal direction. During one emission cycle, the beam 1 emitted by laser 1 and the beam 2 emitted by laser 2 are combined into a beam after passing through a beam combining device. In the combined beam, beam 1 and beam 2 have a first interval angle (e.g., 0.33°) in the horizontal direction, or beam 1 and beam 2 are separated by a first distance (e.g., 0.1 mm) in the direction. After the combined beam passes through the emitting mirror group, beam 5 and beam 6 are obtained, where beam 1 corresponds to beam 6 and beam 2 corresponds to beam 5. After being reflected by object space 3 and object space 4 and received by the receiving mirror group, return light information 5 and return light information 6 are obtained, where return light information 5 is the return light information corresponding to beam 1 and return light information 6 is the return light information corresponding to beam 2. Return light information 5 and return light information 6 are received by receiving area 3 and receiving area 4 in the photosensitive chip 3, respectively.

[0153] Optionally, the wavelength of the laser emitted by laser 1 is the same as that of the laser emitted by laser 2, but the polarization states of laser 1 and laser 2 are different.

[0154] For example, the wavelength of the laser emitted by laser 1 and the wavelength of the laser emitted by laser 2 are both 905 nm.

[0155] For example, the polarization state of laser 1 is P and the polarization state of laser 2 is S.

[0156] Within one emission cycle, beam 1 emitted by laser 1 and beam 2 emitted by laser 2, after passing through a beam combiner and a beam-emitting mirror group, result in beam 5 and beam 6. Beams 5 and 6 are not completely combined in the horizontal direction, resulting in a certain gap angle (e.g., 0.33°) between them. This gap angle allows the return light information received by the receiving system 120 to be directly separated into return light information 5 and return light information 6 after passing through the receiving mirror group. Return light information 5 and return light information 6 can be received by different receiving areas on the photosensitive chip 3.

[0157] Optionally, within one emission cycle, the emission regions in laser 1 and laser 2 are arranged alternately, and the non-emission regions in laser 1 and laser 2 are arranged alternately.

[0158] Optionally, laser 1 includes multiple light-emitting regions and multiple non-light-emitting regions, and laser 2 includes multiple light-emitting regions and multiple non-light-emitting regions. In the vertical direction, the light-emitting regions in laser 1 and laser 2 are arranged alternately, and the non-light-emitting regions in laser 1 and laser 2 are arranged alternately.

[0159] Optionally, in each emission cycle, the ratio of the length of the emitting region to the length of the non-emitting region in laser 1 is 0.5-1.5.

[0160] Optionally, within one emission cycle, the emission angle of the emission region of laser 1 illuminating the object space is less than the minimum angular resolution of the corresponding receiving component (such as receiving system 120).

[0161] Optionally, within one emission cycle, the emission angle of the emission region of laser 1 illuminating the object space is half of the minimum angular resolution of the receiving component, and the emission angle of the emission region of laser 2 illuminating the object space is half of the minimum angular resolution of the receiving component.

[0162] For example, the structural schematic diagrams of laser 1 and laser 2 in Figure 11 can be referred to the structural schematic diagrams of laser 1 and laser 2 in Figure 8 above.

[0163] For example, when the horizontal spacing angle between beams 5 and 6 is small, different receiving areas of a single photosensitive chip can be used to receive the backlight information 5 and 6 respectively. For instance, when the horizontal spacing angle between beams 5 and 6 is [0.5°, 1.5°], different receiving areas of a single photosensitive chip can be used to receive the backlight information 5 and 6 respectively.

[0164] For example, when the horizontal spacing angle between beams 5 and 6 is large, two photosensitive chips can be used to receive the backlight information 5 and 6 respectively. For instance, when the horizontal spacing angle between beams 5 and 6 is (1.5°, 3°), photosensitive chip 3a and photosensitive chip 3b can be used to receive the backlight information 5 and 6 respectively.

[0165] Optionally, by calculating whether the corresponding pixels in receiving areas 3 and 4 of the photosensitive chip 3 are photosensitive, super-resolution exceeding the minimum angular resolution of the receiving system 120 can be achieved. This calculation method can refer to the calculation process for whether the corresponding pixels in receiving areas 1 and 2 are photosensitive, and will not be elaborated here.

[0166] Optionally, receiving area 3 and receiving area 4 are in the same position along the vertical direction, but are in different positions along the horizontal direction.

[0167] Taking the example that, within one emission cycle, the emission angle of the emitting area of ​​laser 1 illuminating the object space is half of the minimum angular resolution of the receiving component, and the emission angle of the emitting area of ​​laser 2 illuminating the object space is half of the minimum angular resolution of the receiving component, since the backlight information 5 and the backlight information 6 are respectively received and sensed by the corresponding receiving areas, and the emission angles of beam 1 and beam 2 illuminating the object space are both half of the minimum angular resolution of the receiving component, the receiving areas 3 and 4 respectively receive half the light intensity of the minimum angular resolution. Based on the calculation of whether the corresponding pixels of receiving areas 3 and 4 are sensed, it helps to achieve super-resolution that exceeds the minimum angular resolution of the receiving system 120.

[0168] The calculation of whether the corresponding pixels of receiving area 3 and receiving area 4 are light-sensitive can be referred to the calculation process of whether the corresponding pixels of receiving area 1 and receiving area 2 are light-sensitive in the above embodiment, and will not be repeated here.

[0169] In one embodiment, the lidar 100 shown in FIG11 may use only one laser 3, which has two columns of regions, for example, region 1 and region 2. The light-emitting regions of region 1 and region 2 are arranged alternately, and the non-light-emitting regions of region 1 and region 2 are arranged alternately.

[0170] For example, Figure 13 shows a schematic diagram of the arrangement of the light-emitting and non-light-emitting regions of region 1 and region 2 in the laser 3 provided in the embodiment of this application.

[0171] As shown in Figure 13, region 1 is arranged in sequence with luminescent and non-luminescent regions, each with a length of 15 μm; region 2 is also arranged in sequence with non-luminescent and luminescent regions, each with a length of 15 μm. For example, taking a minimum angular resolution of 0.5° for the receiving system 120, beams 1' and 2', after being collimated by the emitting mirror group, have a certain interval angle (e.g., 0.33°) in the horizontal direction. In the vertical direction, based on the periodicity of the luminescent regions, beams 1 and 2 illuminate the object space at an emission angle of 0.025°. The beams emitted from the emitting mirror group, after reflection by the object space and reception by the receiving mirror group, can be received by different receiving regions on the photosensitive chip 3. In this embodiment, two regions (region 1 and region 2) are set in the same laser, and the beams emitted from regions 1 and 2 are not combined by a beam combiner, which reduces the complexity of the transmitting system 110.

[0172] Figure 14 shows another schematic diagram of the lidar 100 provided in an embodiment of this application. The transmitting system 110 may include a laser 1, a laser 2, a beam combiner, and a transmitting mirror assembly; the receiving system 120 may include a photosensitive chip and a receiving mirror assembly. During one emission cycle, laser 1 includes emitting and non-emitting regions arranged vertically, and laser 2 includes non-emitting and emitting regions arranged vertically. The light beam emitted by the emitting region of laser 1 is beam 1, and the light beam emitted by the emitting region of laser 2 is beam 2.

[0173] Laser 1 and laser 2 in the emission system 110 shown in Figure 14 above can form the light-emitting component in the emission system 110.

[0174] Optionally, laser 1 and laser 2 emit beams in a time-division manner.

[0175] For example, T within one emission cycle a At a certain moment, the laser beam 1 emitted by laser 1 passes through the beam combiner to obtain a combined beam. The combined beam passes through the emitting mirror group to obtain beam 7. After exiting the emitting mirror group, beam 7 illuminates the object space 6. After being reflected by the object space 6 and passing through the receiving mirror group, the resulting backlight information 7 is received by the photosensitive chip 4.

[0176] In T b At a certain moment, the laser beam 2 emitted by laser 2 passes through the beam combiner to obtain a combined beam. The combined beam passes through the emitting mirror group to obtain beam 8. After exiting the emitting mirror group, beam 8 illuminates the object space 5. After being reflected by the object space 5 and passing through the receiving mirror group, the resulting backlight information 8 is received by the photosensitive chip 4.

[0177] Figure 15 shows another schematic diagram of the emitted beam and received return light information provided in an embodiment of this application. As shown in Figure 15, laser 1 and laser 2 are 1 mm apart in the horizontal direction. Within one emission cycle, T... a At a certain moment, the beam 1 emitted by laser 1 passes through the beam combiner to obtain a combined beam, in which beam 1 is located at horizontal position 1 in the horizontal direction. After passing through the transmitting mirror group, the combined beam becomes beam 7. After being reflected by the object space 6 and received by the receiving mirror group, the reflected light information 7 is obtained. The reflected light information 7 is received by the receiving area 5 in the photosensitive chip 4.

[0178] In T b At a certain moment, the beam 2 emitted by laser 2 passes through the beam combiner to obtain a combined beam, in which beam 2 is located at horizontal position 1 in the horizontal direction. After passing through the emitting mirror group, the combined beam becomes beam 8. After being reflected by the object space 5 and received by the receiving mirror group, the reflected light information 8 is obtained. The reflected light information 8 is received by the receiving area 5 in the photosensitive chip 4.

[0179] Under different timing conditions, the combined beam obtained by beam 1 after passing through the beam combiner and the combined beam obtained by beam 2 after passing through the beam combiner have the same horizontal position. This can also be understood as the combined beam obtained by beam 1 after passing through the beam combiner and the combined beam obtained by beam 2 after passing through the beam combiner being completely combined in the horizontal direction.

[0180] Optionally, the wavelength of the laser emitted by laser 1 is different from the wavelength of the laser emitted by laser 2.

[0181] For example, laser A emits a laser with a wavelength of 905 nm, and laser B emits a laser with a wavelength of 950 nm.

[0182] Optionally, within one emission cycle, the emission regions in laser 1 and laser 2 are arranged alternately, and the non-emission regions in laser 1 and laser 2 are arranged alternately.

[0183] Optionally, laser 1 includes multiple light-emitting regions and multiple non-light-emitting regions, and laser 2 includes multiple light-emitting regions and multiple non-light-emitting regions. In the vertical direction, the light-emitting regions in laser 1 and laser 2 are arranged alternately, and the non-light-emitting regions in laser 1 and laser 2 are arranged alternately.

[0184] Optionally, in each emission cycle, the ratio of the length of the emitting region to the length of the non-emitting region in laser 1 is 0.5-1.5.

[0185] Optionally, within one emission cycle, the emission angle of the emission region of laser 1 illuminating the object space is less than the minimum angular resolution of the corresponding receiving component (such as receiving system 120).

[0186] Optionally, within one emission cycle, the emission angle of the emission region of laser 1 illuminating the object space is half of the minimum angular resolution of the receiving component, and the emission angle of the emission region of laser 2 illuminating the object space is half of the minimum angular resolution of the receiving component.

[0187] For example, the structural schematic diagrams of laser 1 and laser 2 in Figure 14 can be referred to the structural schematic diagrams of laser 1 and laser 2 in Figure 8 above.

[0188] Optionally, laser 1 is located in the middle part of laser 2 in the vertical direction.

[0189] For example, Figure 16 shows a schematic diagram of laser 1 and laser 2 provided in an embodiment of this application. Laser 1 and laser 2 shown in Figure 16 can correspond to laser 1 and laser 2 shown in Figure 14, respectively.

[0190] As shown in Figure 16, laser 2 has a length of 12 mm (or a vertical length of 12 mm) and a width of 0.082 mm (or a horizontal length of 0.082 mm), while laser 1 has a length of 6 mm and a width of 0.082 mm. Laser 1 is arranged with emitting and non-emitting regions, each region having a length of 15 μm. Laser 2 is also arranged with non-emitting and emitting regions, each region having a length of 15 μm. Vertically, laser 1 can be located in the middle of laser 2.

[0191] In this embodiment, since laser 1 and laser 2 are staggered in the middle 6mm light-emitting area, the objects in the object space are staggered in the illumination, so that the photosensitive chip can receive the light intensity corresponding to half of the minimum resolution at different times. Therefore, super-resolution exceeding the minimum angular resolution of the receiving system 120 can be achieved within the middle FOV range.

[0192] Optionally, based on the calculation of whether the corresponding pixel in the receiving area 5 of the photosensitive chip 4 is photosensitive or not under different time sequences, super-resolution of object space information can be achieved.

[0193] Taking an example where, within one emission cycle, the emission angle of the emitting region of laser 1 illuminating the object space is half the minimum angular resolution of the receiving component, and the emission angle of the emitting region of laser 2 illuminating the object space is also half the minimum angular resolution of the receiving component. Since the backlight information 7 corresponding to beam 1 and the backlight information 8 of beam 2 are received and sensed by the receiving area 5 in the photosensitive chip 4 at different time sequences, and the emission angles of beams 1 and 2 illuminating the object space are both half the minimum angular resolution of the receiving component, the receiving area 5 receives half the light intensity of the minimum angular resolution at different time sequences. Based on the calculation of whether the corresponding pixel of the receiving area 5 is sensed at different time sequences, it helps to achieve super-resolution that exceeds the minimum angular resolution of the receiving system 120.

[0194] The above calculation of whether the corresponding pixel in receiving area 5 is photosensitive under different time sequences to achieve super-resolution of object space information can be referred to in the above embodiment for the calculation of whether the corresponding pixel in receiving area 1 and receiving area 2 is photosensitive, and will not be repeated here.

[0195] In one embodiment, the lidar 100 shown in FIG11 may use only one laser 3, which has two columns of regions, for example, region 1 and region 2. The light-emitting regions of region 1 and region 2 are arranged alternately, and the non-light-emitting regions of region 1 and region 2 are arranged alternately.

[0196] In one embodiment, the laser 2 in the emission system 110 shown in FIG14 can emit light continuously, and the emitting area and the non-emitting area in the laser 1 are arranged alternately.

[0197] For example, Figure 17 shows another schematic diagram of laser 1 and laser 2 provided in an embodiment of this application. Laser 1 and laser 2 shown in Figure 17 can correspond to laser 1 and laser 2 shown in Figure 14, respectively.

[0198] As shown in Figure 17, within one emission cycle, the beam 1 emitted by laser 1 can illuminate object space 6, and the beam 2 emitted by laser 2 can illuminate both object space 5 and object space 6. Taking the minimum angular resolution of the receiving system 120 as 0.05° as an example, when the beam emitted by laser 1 is not reflected by any object in object space and the beam emitted by laser 2 is reflected by any object in object space, it can be determined that only object space 5 contains an object, and the system can achieve a resolution of 0.025°.

[0199] When the beam emitted by laser 1 is reflected by an object in the object space, and the beam emitted by laser 2 is also reflected by an object in the object space, it can be determined that objects exist in object space 5 and object space 6, or that an object exists only in object space 6. In this case, the system can still only achieve a resolution of 0.05°.

[0200] The laser design shown in Figure 17 can, in some cases, achieve super-resolution exceeding the minimum angular resolution of the receiving system 120, thereby improving the angular resolution of the system.

[0201] Figure 18 shows a schematic diagram of a light-emitting component 1800 provided in an embodiment of this application. The light-emitting component 1800 includes a first region 1810 and a second region 1820. During one light-emitting cycle of the light-emitting component 1800, the first region 1810 includes a first light-emitting region 1811 and a first non-light-emitting region 1812 continuously arranged along a first direction. The second region includes a second light-emitting region 1821. The emission angle of the first light-emitting region 1811 illuminating the object space is less than the minimum angular resolution of the corresponding receiving component.

[0202] For example, the light-emitting component 1800 can be composed of laser 1 and laser 2 in the emission system shown in FIG3. For instance, the structure of laser 1 and laser 2 shown in FIG3 can be as shown in FIG8, where the first region 1810 can be located in laser 1 shown in FIG8, and the second region 1820 can be located in laser 2 shown in FIG8. As another example, the structure of laser 1 and laser 2 shown in FIG3 can be as shown in FIG10, where the first region 1810 is located in laser 1 shown in FIG10, and the second region 1820 can be located in laser 2 shown in FIG10.

[0203] For example, the light-emitting component 1800 may be composed of laser 1 and laser 2 in the emission system shown in FIG11. For example, the structure of laser 1 and laser 2 shown in FIG11 may be as shown in FIG8, where the first region 1810 may be located in laser 1 shown in FIG8 and the second region 1820 may be located in laser 2 shown in FIG8.

[0204] For example, the light-emitting component 1800 can be composed of laser 1 and laser 2 in the emission system shown in FIG. 14. For instance, the structure of laser 1 and laser 2 shown in FIG. 14 can be as shown in FIG. 8, where the first region 1810 can be located in laser 1 as shown in FIG. 8, and the second region 1820 can be located in laser 2 as shown in FIG. 8. As another example, the structure of laser 1 and laser 2 shown in FIG. 14 can be as shown in FIG. 16, where the first region 1810 can be located in laser 1 as shown in FIG. 16, and the second region 1820 can be located in laser 2 as shown in FIG. 16. In this embodiment, by designing the emission beams emitted from the light-emitting regions in different regions within one emission cycle and the emission angle of the first light-emitting region illuminating the object space, the receiving component can receive light intensity less than the minimum angular resolution of the receiving component. This helps to solve the problem of insufficient resolution caused by the pixel limitation of the receiving component, thereby helping to achieve super-resolution exceeding the minimum angular resolution of the receiving component.

[0205] For example, the receiving component can be the receiving system shown in Figure 3, Figure 11 or Figure 14.

[0206] Optionally, the first direction is either the vertical direction or the direction of the long side of the chip.

[0207] Optionally, within one emission cycle, the emission angle of the first and second emission regions illuminating the object space is less than or equal to the minimum angular resolution of the receiving component.

[0208] Optionally, during the light emission cycle, the second region 1820 further includes a second non-light emission region 1822. Along the first direction, the first light emission region 1811 and the second light emission region 1821 are arranged alternately, and the first non-light emission region 1812 and the second non-light emission region 1822 are arranged alternately.

[0209] For example, as shown in Figure 8, in one emission cycle, the emission regions in laser 1 and laser 2 are arranged alternately, and the non-emission regions in laser 1 and laser 2 are arranged alternately.

[0210] In this embodiment, since the first emitting region and the second emitting region are arranged alternately along the first direction, and the first non-emitting region and the second non-emitting region are also arranged alternately, the light beams emitted by the first emitting region and the second emitting region are interleaved in the object space, and the sum of the emission angles of the first emitting region and the second emitting region illuminating the object space equals the minimum angular resolution. Thus, without improving the angular resolution of the receiving component, super-resolution exceeding the minimum angular resolution of the receiving component can be achieved by calculating the backlight information corresponding to the first emitting region and the backlight information corresponding to the second emitting region.

[0211] Optionally, the emission angle of the first emitting region illuminating the object space is half of the minimum angular resolution of the first receiving component.

[0212] For example, as shown in Figure 8, the first region can be a region in laser 1, and the minimum angular resolution of the receiving system 120 is 0.05°. Within one emission cycle, the length of the emitting region in laser 1 is 15 μm. For a 15 μm emitting region in laser 1, the emission angle illuminating the object space is 0.025°.

[0213] In this embodiment, the emission angle of the first emitting region illuminating the object space is half of the minimum angular resolution. Thus, when the first and second emitting regions are arranged alternately, the light beams emitted by the first and second emitting regions intersect in the object space, and both the emission angles of the first and second emitting regions illuminating the object space are half of the minimum angular resolution. Without improving the angular resolution of the receiving component, by calculating the backlight information corresponding to the first and second emitting regions, the system's angular resolution can reach half of the minimum angular resolution of the receiving component, thereby achieving super-resolution exceeding the minimum angular resolution of the receiving component.

[0214] Optionally, the first region 1810 includes multiple light-emitting regions and multiple non-light-emitting regions, and the second region 1820 includes multiple light-emitting regions and multiple non-light-emitting regions. Along the first direction, the light-emitting regions in the first region and the light-emitting regions in the second region are arranged alternately, and the non-light-emitting regions in the first region and the non-light-emitting regions in the second region are arranged alternately.

[0215] For example, as shown in Figure 8, laser 1 includes multiple emitting regions and multiple non-emitting regions, and laser 2 includes multiple emitting regions and multiple non-emitting regions. The emitting regions in laser 1 and laser 2 are arranged alternately, as are the non-emitting regions in laser 1 and laser 2.

[0216] For example, in each light emission cycle of the light-emitting component, the ratio of the length of the light-emitting region to the length of the non-light-emitting region in the first region along the first direction is the same, and the ratio of the length of the light-emitting region to the length of the non-light-emitting region in the second region is the same.

[0217] For example, the ratio of the length of the luminescent region to the length of the non-luminescent region in the first region along the first direction is 0.5-1.5.

[0218] For example, as shown in Figure 8, the ratio of the length of the emitting region to the length of the non-emitting region in laser 1 along the vertical direction is 1, and the ratio of the length of the emitting region to the length of the non-emitting region in laser 2 is 1.

[0219] Optionally, along the first direction, the first light-emitting area is located on the first side of the second light-emitting area, and the object space illuminated by the first light-emitting area is located on the second side of the object space illuminated by the second light-emitting area, with the first side and the second side being opposite sides.

[0220] For example, as shown in Figure 4, the first light-emitting area can be light-emitting area 1, and the second light-emitting area can be light-emitting area 2. In the vertical direction, light-emitting area 1 is located above light-emitting area 2, and the object space 2 illuminated by light-emitting area 1 is located below the object space 1 of light-emitting area 2.

[0221] Optionally, the light beam illuminating the object space from the first emitting region is reflected and then received by the first receiving region of the first receiving component, the angular resolution of which is the minimum angular resolution; the light beam illuminating the object space from the second emitting region is reflected and then received by the second receiving region of the second receiving component, the angular resolution of which is the minimum angular resolution; along the first direction, the position of the first receiving region in the first receiving component is the same as the position of the second receiving region in the second receiving component.

[0222] For example, the first receiving component and the second receiving component may be the receiving system shown in FIG3, FIG11 or FIG14.

[0223] For example, as shown in Figures 9(a)-(c), the first receiving area can be receiving area 1, and the second receiving area can be receiving area 2. Receiving area 1 and receiving area 2 are the minimum angular resolutions of the receiving system 120, respectively. As can be seen from Figures 9(a)-(c), receiving area 1 and receiving area 2 are located at the same position along the vertical direction (or, the long side direction of the chip).

[0224] Optionally, the first region and the second region are spaced apart by a first distance in a second direction, the second direction being perpendicular to the first direction.

[0225] For example, the second direction is the horizontal direction or the short side direction of the chip.

[0226] For example, as shown in Figure 4, the first region can be a region in laser 1, and the second region can be a region in laser 2. The first region and the second region are 1 mm apart in the horizontal direction.

[0227] Optionally, the first region is located in a first laser, and the second region is located in a second laser, wherein the wavelength of the beam emitted by the first laser is different from the wavelength of the beam emitted by the second laser.

[0228] For example, as shown in Figure 8, the first laser can be laser 1, and the second laser can be laser 2. The wavelength of the laser emitted by laser 1 is 905 nm, and the wavelength of the laser emitted by laser 2 is 950 nm.

[0229] Optionally, the first region is located in a first laser, and the second region is located in a second laser, wherein the polarization state of the first laser is different from that of the second laser.

[0230] For example, as shown in Figure 8, the first laser can be laser 1, and the second laser can be laser 2. The polarization state of laser 1 is P, and the polarization state of laser 2 is S.

[0231] Optionally, the first emitting region and the second emitting region emit beams in a time-sequential manner.

[0232] For example, as shown in Figure 14, the first emitting region can be the emitting region in laser 1, and the second emitting region can be the emitting region in laser 2. In T a At time T, light is emitted from the light-emitting region in laser 1; at time T... b At any given moment, light is emitted from the light-emitting region in laser 2.

[0233] Optionally, the first region is located in the middle part of the second region.

[0234] For example, as shown in Figure 16, the first region can be a region in laser 1, and the second region can be a region in laser 2. Laser 1 can be located in the middle part of laser 2.

[0235] Optionally, the second region is a region of continuous light emission.

[0236] For example, as shown in Figure 10, the second region is a region in the laser 2, which can be a region that emits light continuously.

[0237] Optionally, the first region and the second region are located in a third laser.

[0238] For example, as shown in Figure 13, the first region is region 1 and the second region is region 2. Region 1 and region 2 can both be located in the laser 3.

[0239] This application also provides an optical system, which includes the light-emitting component 1800 described above.

[0240] For example, the optical system may consist of the transmitting system and the receiving system shown in Figure 3 above.

[0241] Optionally, the optical system further includes: a first beam combiner for combining a first beam emitted from the first emitting region and a second beam emitted from the second emitting region to obtain a combined beam; and an emitting mirror group for collimating the combined beam to obtain a third beam and a fourth beam.

[0242] For example, the first emitting region can be emitting region 1 as shown in Figure 4, the second emitting region can be emitting region 2 as shown in Figure 4, the first beam can be beam 1 as shown in Figure 3 or Figure 4, the second beam can be beam 2 as shown in Figure 3 or Figure 4, the third beam can be beam 3 as shown in Figure 3 or Figure 4, the fourth beam can be beam 4 as shown in Figure 3 or Figure 4, the first beam combining device can be the beam combining device shown in Figure 3, and the emitting mirror group can be the emitting mirror group shown in Figure 3. The beam combining device can combine beam 1 and beam 2 to obtain a combined beam. After the combined beam passes through the emitting mirror group, beams 3 and 4 are obtained.

[0243] Optionally, the third and fourth beams are fully combined in the second direction.

[0244] Optionally, the second direction is either the horizontal direction or the short side direction of the chip.

[0245] For example, as shown in Figure 4, beams 3 and 4 are completely combined in the horizontal direction.

[0246] The fact that the third and fourth beams are completely combined in the second direction can be understood as meaning that there is no gap angle between the third and fourth beams in the second direction.

[0247] Optionally, the first region is located in a first laser, and the second region is located in a second laser, wherein the wavelength of the beam emitted by the first laser is different from the wavelength of the beam emitted by the second laser.

[0248] For example, as shown in Figure 3 or Figure 4, the laser emitted by laser 1 has a wavelength of 905 nm, and the laser emitted by laser 2 has a wavelength of 950 nm.

[0249] Optionally, the optical system further includes: a receiving lens group for converging and collecting the backlight information reflected from the first object space and the second object space to obtain first backlight information and second backlight information, wherein the first object space is the object space illuminated by the third beam and the second object space is the object space illuminated by the fourth beam; a first beam splitting device for splitting the first backlight information and the second backlight information to obtain third backlight information and fourth backlight information; a first photosensitive chip for receiving the third backlight information; and a second photosensitive chip for receiving the fourth backlight information.

[0250] For example, the receiving mirror group can be the receiving mirror group shown in Figure 3, the first object space can be object space 1 shown in Figure 3 or Figure 4, the second object space can be object space 2 shown in Figure 3 or Figure 4, the first beam splitter can be the beam splitter shown in Figure 3, the first backlight information can be backlight information 1 shown in Figure 4, the second backlight information can be backlight information 2 shown in Figure 4, the third backlight information can be backlight information 3 shown in Figure 3 or Figure 4, the fourth backlight information can be backlight information 4 shown in Figure 3 or Figure 4, the first photosensitive chip can be photosensitive chip 1 shown in Figure 3 or Figure 4, and the second photosensitive chip can be photosensitive chip 2 shown in Figure 3 or Figure 4. After beams 3 and 4 are emitted from the transmitting mirror group, reflected by object spaces 1 and 2, and converged and collected by the receiving mirror group, backlight information 1 and backlight information 2 can be obtained. Backlight information 1 and backlight information 2 can be obtained after passing through the beam splitter to obtain backlight information 3 and backlight information 4. The backlight information 3 can be received by the photosensitive chip 1 and the backlight information 4 can be received by the photosensitive chip 2.

[0251] Taking an example where, within one emission cycle, the emission angle of the first emitting region illuminating the object space is half the minimum angular resolution of the receiving component, and the emission angle of the second emitting region illuminating the object space is also half the minimum angular resolution of the receiving component, the system achieves a system angular resolution that is half the minimum angular resolution of the receiving component. Since the first and second backlight information are received and sensed by the first and second photosensitive chips respectively, and the emission angles of both the first and second beams illuminating the object space are half the minimum angular resolution of the receiving component, the first and second photosensitive chips receive light intensity equal to half the minimum angular resolution. Based on the calculation of whether corresponding pixels of the first and second photosensitive chips are sensed, the system's angular resolution can reach half the minimum angular resolution of the receiving component, thus achieving super-resolution exceeding the minimum angular resolution of the receiving component.

[0252] Optionally, the first luminescent region and the first non-luminescent region are arranged alternately, and the second region is a continuously luminescent region.

[0253] For example, as shown in Figure 10, laser 2 can also be designed as a continuously emitting laser, and laser 1 can be a laser with non-emitting and emitting regions arranged sequentially. Within one emission cycle, the beam 1 emitted by laser 1 can illuminate object space 2, and the beam 2 emitted by laser 2 can illuminate both object space 1 and object space 2. Taking a minimum angular resolution of 0.05° for the receiving system 120 as an example, when the beam emitted by laser 1 is not reflected by an object in object space and the beam emitted by laser 2 is reflected by an object in object space, it can be determined that only object space 1 contains an object, and the system can achieve a resolution of 0.025°. Thus, even when the beam emitted by laser 1 is not reflected by an object in object space, super-resolution exceeding the minimum angular resolution of the receiving system 120 can be achieved, resulting in a certain improvement in the system's angular resolution.

[0254] For example, the optical system may consist of the transmitting system and the receiving system shown in Figure 11 above.

[0255] Optionally, the optical system further includes: a second beam combiner for combining the first beam emitted by the first emitting region and the second beam emitted by the second emitting region to obtain a combined beam; and an emitting mirror group for collimating the combined beam to obtain a fifth beam and a sixth beam; wherein the fifth beam and the sixth beam have a first interval angle in a second direction, and the second direction is perpendicular to the first direction.

[0256] For example, the first emitting region can be emitting region 1 as shown in Figure 12, the second emitting region can be emitting region 2 as shown in Figure 12, the first beam can be beam 1 as shown in Figure 11 or Figure 12, the second beam can be beam 2 as shown in Figure 11 or Figure 12, the fifth beam can be beam 5 as shown in Figure 11 or Figure 12, the sixth beam can be beam 6 as shown in Figure 11 or Figure 12, the second beam combining device can be the beam combining device shown in Figure 11, and the emitting mirror group can be the emitting mirror group shown in Figure 11. The beam combining device can combine beam 1 and beam 2 to obtain a combined beam. After the combined beam passes through the emitting mirror group, beams 5 and 6 are obtained, wherein beams 5 and 6 have a 0.33° interval angle in the horizontal direction.

[0257] Optionally, the spacing angle between the first beam and the second beam before passing through the beam combiner is greater than the spacing angle between the first beam and the second beam after passing through the beam combiner.

[0258] Optionally, the first beam corresponds to the sixth beam, the second beam corresponds to the fifth beam, and along the first direction, the first beam is located on the first side of the second beam, and the sixth beam is located on the second side of the fifth beam, with the first side and the second side being opposite sides.

[0259] For example, as shown in Figure 12, in the vertical direction, beam 1 is located above beam 2 and beam 6 is located below beam 5.

[0260] Optionally, the first region is located in a first laser, and the second region is located in a second laser, wherein the polarization state of the first laser is different from that of the second laser.

[0261] For example, as shown in Figure 8, the first laser can be laser 1, and the second laser can be laser 2. The polarization state of laser 1 is P, and the polarization state of laser 2 is S.

[0262] Optionally, the optical system further includes: a receiving lens group for converging and collecting the backlight information reflected from the third object space and the fourth object space to obtain fifth backlight information and sixth backlight information, wherein the third object space is the object space illuminated by the fifth beam and the fourth object space is the object space illuminated by the sixth beam; a third photosensitive chip for receiving the fifth backlight information; and a fourth photosensitive chip for receiving the sixth backlight information.

[0263] For example, the receiving mirror group can be the receiving mirror group shown in Figure 11 or Figure 12, the third object space can be object space 3 shown in Figure 11 or Figure 12, the fourth object space can be object space 4 shown in Figure 11 or Figure 12, the fifth backlight information can be backlight information 5 shown in Figure 11 or Figure 12, the sixth backlight information can be backlight information 6 shown in Figure 11 or Figure 12, the third photosensitive chip can be photosensitive chip 3 shown in Figure 11 or Figure 12, and the fourth photosensitive chip can be photosensitive chip 4 shown in Figure 11 or Figure 12. After beams 5 and 6 are emitted through the transmitting mirror group, reflected by object spaces 1 and 2, and then converged and collected by the receiving mirror group, backlight information 5 and backlight information 6 can be obtained. Backlight information 5 and backlight information 6 are received by photosensitive chip 3 and photosensitive chip 4, respectively.

[0264] Taking an example where, within one emission cycle, the emission angle of the first emitting region illuminating the object space is half the minimum angular resolution of the receiving component, and the emission angle of the second emitting region illuminating the object space is also half the minimum angular resolution of the receiving component, the fifth and sixth backlight information are received and sensed by the corresponding third and fourth photosensitive chips, respectively. Since the emission angles of the first and second beams illuminating the object space are both half the minimum angular resolution of the receiving component, the third and fourth photosensitive chips each receive light intensity half the minimum angular resolution. Based on the calculation of whether the corresponding pixels of the third and fourth photosensitive chips are sensed, the angular resolution of the system can reach half the minimum angular resolution of the receiving component, thus achieving super-resolution exceeding the minimum angular resolution of the receiving component.

[0265] Optionally, the third and fourth photosensitive chips can be the same photosensitive chip. For example, when the first spacing angle is small, backlight information can be received through different receiving areas of the same photosensitive chip.

[0266] Optionally, the first region and the second region are located in the same laser, and the optical system further includes: a emitting mirror group for collimating the first light beam emitted by the first emitting region and the second light beam emitted by the second emitting region to obtain a seventh beam and an eighth beam; wherein the seventh beam and the eighth beam have a second spacing angle in a second direction, and the second direction is perpendicular to the first direction.

[0267] For example, the first region is region 1 in the laser 3 shown in Figure 13, and the second region is region 2 in the laser 3 shown in Figure 13. Within one emission cycle, the light beams emitted from the emitting regions in region 1 and region 2, after being collimated by the emitting mirror group, yield beam 1' and beam 2', wherein beam 1' and beam 2' are spaced at a certain angle (e.g., 0.33°) in the horizontal direction. After being collimated by the emitting mirror group, beams 1' and 2' emitted from the emitting mirror group are spaced at a certain angle in the horizontal direction. Beams 1' and 2' emitted from the emitting mirror group, after being reflected in object space and converged and collected by the receiving mirror group, can be received by different receiving regions on the photosensitive chip 3.

[0268] Optionally, the optical system further includes: a receiving lens group for converging and collecting the backlight information reflected from the fifth object space and the sixth object space to obtain seventh backlight information and eighth backlight information, wherein the fifth object space is the object space illuminated by the seventh beam and the sixth object space is the object space illuminated by the eighth beam; and a fifth photosensitive chip for receiving the seventh backlight information through a first receiving area and receiving the eighth backlight information through a second receiving area.

[0269] For example, the light beams 1' and 2' emitted from the emitting mirror group, after being reflected in the object space and collected by the receiving mirror group, can be received by different receiving areas on the photosensitive chip 3.

[0270] For example, the optical system may consist of the transmitting system and the receiving system shown in Figure 14 above.

[0271] Optionally, the optical system further includes: a third beam combiner for combining the first beam emitted by the first emitting region at a first moment to obtain a first combined beam; an emitting mirror group for collimating the first combined beam to obtain a ninth beam; the third beam combiner is also used for combining the second beam emitted by the second emitting region at a second moment to obtain a second combined beam; and the emitting mirror group is also used for collimating the second combined beam to obtain a tenth beam.

[0272] For example, the first light-emitting area can be the light-emitting area 1 shown in Figure 15, the second light-emitting area can be the light-emitting area 2 shown in Figure 15, the first beam can be the beam 1 shown in Figure 14 or Figure 15, the second beam can be the beam 2 shown in Figure 14 or Figure 15, the ninth beam can be the beam 7 shown in Figure 14 or Figure 15, the tenth beam can be the beam 8 shown in Figure 14 or Figure 15, the third beam combining device can be the beam combining device shown in Figure 14 or Figure 15, and the emitting mirror group can be the emitting mirror group shown in Figure 14 or Figure 15.

[0273] T within one emission cycle a At time T, the beam 1 emitted by laser 1 passes through the beam combiner to obtain a combined beam. The combined beam then passes through the emitting mirror group to obtain beam 7. b At a certain moment, the beam 2 emitted by laser 2 passes through the beam combiner to obtain a combined beam. The combined beam then passes through the emitting mirror group to obtain beam 8.

[0274] Optionally, the optical system further includes: a receiving lens group for converging and collecting the backlight information reflected from the seventh object space to obtain the ninth backlight information, wherein the seventh object space is the object space illuminated by the ninth beam; a sixth photosensitive chip for receiving the ninth backlight information; the receiving lens group is also used for converging and collecting the backlight information reflected from the eighth object space to obtain the tenth backlight information, wherein the eighth object space is the object space illuminated by the tenth beam; the sixth photosensitive chip is also used for receiving the tenth backlight information.

[0275] For example, the seventh object space can be the object space 5 shown in Figure 14 or Figure 15, the eighth object space can be the object space 6 shown in Figure 14 or Figure 15, the ninth backlight information can be the backlight information 7 shown in Figure 14 or Figure 15, the tenth backlight information can be the backlight information 8 shown in Figure 14 or Figure 15, and the sixth photosensitive chip can be the photosensitive chip 4 shown in Figure 14 or Figure 15.

[0276] After exiting the emitting lens group, the light beam 7 illuminates the object space 6. After being reflected by the object space 6 and collected by the receiving lens group, the resulting backlight information 7 is received by the photosensitive chip 4. After exiting the emitting lens group, the light beam 8 illuminates the object space 5. After being reflected by the object space 5 and collected by the receiving lens group, the resulting backlight information 8 is received by the photosensitive chip 4.

[0277] Taking an example where, within one emission cycle, the emission angle of the first emitting region illuminating the object space is half the minimum angular resolution of the receiving component, and the emission angle of the second emitting region illuminating the object space is also half the minimum angular resolution of the receiving component. Since the ninth backlight information corresponding to the first beam and the tenth backlight information corresponding to the second beam are received and sensed by the sixth photosensitive chip at different time sequences, and the emission angles of both the first and second beams illuminating the object space are half the minimum angular resolution of the receiving component, the sixth photosensitive chip receives half the light intensity of the minimum angular resolution at different time sequences. Based on the calculation of whether the corresponding pixel of the sixth photosensitive chip is sensed at different time sequences, the angular resolution of the system can reach half the minimum angular resolution of the receiving component, thereby achieving super-resolution exceeding the minimum angular resolution of the receiving component.

[0278] Optionally, the first luminescent region and the first non-luminescent region are arranged alternately, and the second region is a continuously luminescent region.

[0279] For example, as shown in Figure 17, the first region can be a region in laser 1, and the second region can be a region in laser 2. Within one emission cycle, the beam 1 emitted by laser 1 can illuminate object space 6, and the beam 2 emitted by laser 2 can illuminate both object space 5 and object space 6. Taking a minimum angular resolution of 0.05° for the receiving system 120 as an example, when the beam emitted by laser 1 is not reflected by an object in object space, but the beam emitted by laser 2 is reflected by an object in object space, it can be determined that only object space 5 contains an object, and the system can achieve a resolution of 0.025°. Thus, even when the beam emitted by laser 1 is not reflected by an object in object space, super-resolution exceeding the minimum angular resolution of the receiving system 120 can be achieved, thereby improving the system's angular resolution.

[0280] This application also provides a lidar, which includes the above-described light-emitting component 1800, or the above-described optical system.

[0281] This application embodiment also provides a terminal, which includes the above-mentioned light-emitting component 1800, or the above-mentioned optical system, or the above-mentioned lidar.

[0282] Optionally, the terminal is a vehicle.

[0283] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

A light emitting assembly characterized in that The light emitting component comprises a first region and a second region, in a light emitting period of the light emitting component, the first region comprises first light emitting regions and first non-light emitting regions arranged continuously along a first direction, and the second region comprises second light emitting regions, wherein, An emission angle of the first light emitting regions to an object space is less than a minimum angular resolution of a corresponding receiving component. The light emitting assembly according to claim 1, characterized in that In the light emitting period, the second region further comprises second non-light emitting regions, Along the first direction, the first light emitting regions and the second light emitting regions are arranged alternately, and the first non-light emitting regions and the second non-light emitting regions are arranged alternately. The light emitting component according to claim 1 or 2, characterized in that The first region comprises a plurality of light emitting regions and a plurality of non-light emitting regions, and the second region comprises a plurality of light emitting regions and a plurality of non-light emitting regions, Along the first direction, the light emitting regions in the first region and the light emitting regions in the second region are arranged alternately, and the non-light emitting regions in the first region and the non-light emitting regions in the second region are arranged alternately. The light emitting assembly according to claim 3, characterized in that In each light emitting period of the light emitting component, a ratio of a length of the light emitting regions to a length of the non-light emitting regions in the first region along the first direction is the same, and a ratio of a length of the light emitting regions to a length of the non-light emitting regions in the second region along the first direction is the same. The light emitting component according to claim 4, wherein, The ratio of the length of the light emitting regions to the length of the non-light emitting regions in the first region along the first direction is 0.5-1.

5. The light emitting component according to any one of claims 1-5, wherein, Along the first direction, the first light emitting regions are located on a first side of the second light emitting regions, and an object space irradiated by the first light emitting regions is located on a second side of an object space irradiated by the second light emitting regions, the first side and the second side being opposite sides. The light emitting assembly according to any one of claims 1 to 6, characterized in that The light beams irradiated by the first light emitting regions to the object space are received by a first receiving region of a first receiving component after reflection, and an angular resolution of the first receiving region is the minimum angular resolution; The light beams irradiated by the second light emitting regions to the object space are received by a second receiving region of a second receiving component after reflection, and an angular resolution of the second receiving region is the minimum angular resolution; Along the first direction, a position of the first receiving region in the first receiving component is the same as a position of the second receiving region in the second receiving component. The light emitting assembly according to any one of claims 1 to 7, characterized in that The first region and the second region are spaced apart by a first distance along a second direction, and the second direction is perpendicular to the first direction. The light emitting assembly according to any one of claims 1 to 8, characterized in that An emission angle of the first light emitting regions to the object space is half of the minimum angular resolution of the first receiving component. The light emitting assembly according to any one of claims 1 to 9, characterized in that The first region is located in a first laser, and the second region is located in a second laser, wherein, A wavelength of the light beams emitted by the first laser is different from a wavelength of the light beams emitted by the second laser. The light emitting assembly according to any one of claims 1 to 9, characterized in that The first region is located in a first laser, and the second region is located in a second laser, wherein, A polarization state of the first laser is different from a polarization state of the second laser. The light emitting assembly according to any one of claims 1 to 9, characterized in that The first light emitting regions and the second light emitting regions emit light beams in time sequence. The light emitting assembly according to claim 12, characterized in that The first region is located in a middle portion of the second region. The light emitting assembly according to claim 1, characterized in that The second region is a continuously emitting region. The light emitting assembly according to any one of claims 1 to 9, characterized in that The first region and the second region are located in a third laser. An optical system characterized by comprising: The light emitting assembly according to any one of claims 1-15. The optical system according to claim 16, characterized in that The optical system according to any one of claims 1-10, 14, further comprising: a first beam combining device configured to combine a first light beam emitted by the first light emitting region and a second light beam emitted by the second light emitting region to obtain a combined light beam; a transmitting mirror set configured to collimate the combined light beam to obtain a third light beam and a fourth light beam. The optical system according to claim 17, characterized in that The optical system further comprises: a receiving mirror set configured to converge and collect return light information reflected by a first object space and a second object space to obtain first return light information and second return light information, the first object space being an object space irradiated by the third light beam, and the second object space being an object space irradiated by the fourth light beam; a first light splitting device configured to split the first return light information and the second return light information to obtain third return light information and fourth return light information; a first photosensitive chip configured to receive the third return light information; a second photosensitive chip configured to receive the fourth return light information. The optical system according to claim 16, characterized in that The optical system according to any one of claims 1-9, 11, further comprising: a second beam combining device configured to combine a first light beam emitted by the first light emitting region and a second light beam emitted by the second light emitting region to obtain a combined light beam; a transmitting mirror set configured to collimate the combined light beam to obtain a fifth light beam and a sixth light beam; wherein the fifth light beam and the sixth light beam have a first interval angle in a second direction, the second direction being perpendicular to the first direction. The optical system according to claim 19, characterized in that The optical system further comprises: a receiving mirror set configured to converge and collect return light information reflected by a third object space and a fourth object space to obtain fifth return light information and sixth return light information, the third object space being an object space irradiated by the fifth light beam, and the fourth object space being an object space irradiated by the sixth light beam; a third photosensitive chip configured to receive the fifth return light information; a fourth photosensitive chip configured to receive the sixth return light information. The optical system according to claim 16, characterized in that The optical system according to any one of claims 1-9, 15, further comprising: a transmitting mirror set configured to collimate a first light beam emitted by the first light emitting region and a second light beam emitted by the second light emitting region to obtain a seventh light beam and an eighth light beam; wherein the seventh light beam and the eighth light beam have a second interval angle in a second direction, the second direction being perpendicular to the first direction. The optical system according to claim 21, characterized in that The optical system further comprises: a receiving mirror set configured to converge and collect return light information reflected by a fifth object space and a sixth object space to obtain seventh return light information and eighth return light information, the fifth object space being an object space irradiated by the seventh light beam, and the sixth object space being an object space irradiated by the eighth light beam; a fifth photosensitive chip configured to receive the seventh return light information through a first receiving region and to receive the eighth return light information through a second receiving region. The optical system according to claim 16, characterized in that The optical system comprises the light emitting assembly according to any one of claims 1-9, 12-14, and further comprises: a third beam combining device configured to combine the first light beams emitted by the first light emitting region at a first time to obtain a first combined light beam; a transmitting mirror group configured to collimate the first combined light beam to obtain a ninth light beam; the third beam combining device is further configured to combine the second light beams emitted by the second light emitting region at a second time to obtain a second combined light beam; the transmitting mirror group is further configured to collimate the second combined light beam to obtain a tenth light beam. The optical system according to claim 23, characterized in that The optical system further comprises: a receiving mirror group configured to converge and collect the back light information reflected by a seventh object space to obtain ninth back light information, the seventh object space being an object space irradiated by the ninth light beam; a sixth light sensing chip configured to receive the ninth back light information; the receiving mirror group is further configured to converge and collect the back light information reflected by an eighth object space to obtain tenth back light information, the eighth object space being an object space irradiated by the tenth light beam; the sixth light sensing chip is further configured to receive the tenth back light information. A lidar, characterized in that The laser radar comprises the light emitting assembly according to any one of claims 1-15, or the optical system according to any one of claims 16-24. A terminal, characterized by comprising: The terminal comprises the light emitting assembly according to any one of claims 1-15, or the optical system according to any one of claims 16-24, or the laser radar according to claim 25. The terminal according to claim 26, characterized in that The terminal is a vehicle.

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