WO2024255520A1 - Optical shaping unit, lidar, and optical transceiver module - Google Patents

Abstract

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

Description

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

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

Background Art

LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. It is an advanced detection method that combines laser technology with photoelectric detection technology. LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration and other fields due to its advantages such as high resolution, good concealment, strong anti-active interference ability, good low-altitude detection performance, small size and light weight.

The laser radar transmits a detection beam through the transmitting unit, receives the echo reflected by the target object through the receiving unit, and calculates the position and distance of the target object relative to the laser radar based on the echo signal. Affected by the number of transmitting units and receiving units, as well as the coordination of lens groups and spectroscopic structures, the laser radar has a large number of optical components, a complex structure, and is difficult to arrange, which makes it impossible to further reduce the size of the laser radar, limiting the miniaturization of the laser radar and its application in small devices. At the same time, the traditional structure makes the production cost of the laser radar too high, which is not conducive to the large-scale production and application of the laser radar. Therefore, it is necessary to improve the laser radar.

In addition, in LiDAR, the high-precision alignment between the transmitting field of view and the receiving field of view directly affects the important performance of LiDAR, such as the distance measurement capability and ranging accuracy. At present, LiDAR has the problem of difficulty in ensuring the alignment of the transmitting field of view and the receiving field of view, mainly because the production process, temperature changes, mechanical deformation and other factors cause the transmitting field of view and the receiving field of view to offset and cannot overlap.

In order to solve the above-mentioned problem of the offset of the transmitting and receiving fields of view, one of the methods currently used is the electronic aperture technology based on the receiving end array photosensitive device. Through this technology, the receiving field of view can be dynamically adjusted so that the receiving field of view always coincides with the transmitting field of view. Moreover, in order to solve the problem of the offset of the transmitting and receiving fields of view in the prior art, it is often necessary to set a larger receiving field of view to ensure that even if there is an offset between the transmitting field of view and the receiving field of view, the light spot is still located in the receiving field of view, thereby avoiding a significant degradation of the laser radar's far-sighted performance. Therefore, better alignment between the transmitting field of view and the receiving field of view can effectively improve the performance of the laser radar.

The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field.

Summary of the invention

In view of one or more defects in the prior art, the present disclosure provides an optical shaping unit for a laser radar, comprising a first lens and a second lens. The first lens is used to receive a detection beam emitted by a transmitting unit of the laser radar, the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface. The second lens, wherein the first lens is located in the optical path between the transmitting unit and the second lens, and the first lens and the second lens are configured to form a reduced light-emitting surface of the light-emitting surface of the transmitting unit. The optical axes of the first lens and the second lens are non-parallel.

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

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

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

Optionally, the first lens, the second lens and the reflective portion are integrally formed. Alternatively, the first lens, the second lens and the reflective portion are separately formed. The optical axes of the first lens and the second lens are perpendicular. The angle between the reflective portion and the optical axis of the first lens is 45°, and the angle between the reflective portion and the optical axis of the second lens is 45°.

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

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

Optionally, the laser radar further comprises a transceiver optical unit, wherein the transceiver optical unit is configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit.

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

Optionally, the laser radar also includes a circuit board, and the transmitting unit and the receiving unit are arranged on the same circuit board.

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

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

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

Optionally, the first lens, the second lens and the reflective portion are integrally formed. Alternatively, the first lens, the second lens and the reflective portion are separately formed. The optical axes of the first lens and the second lens are perpendicular. The angle between the reflective portion and the optical axis of the first lens is 45°, and the angle between the reflective portion and the optical axis of the second lens is 45°.

Optionally, the laser radar also includes a scanner, which is configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar, and reflect the echo to the transceiver optical unit.

Optionally, the transmitting unit includes a laser array arranged on the circuit board. The receiving unit includes a detector array arranged on the circuit board. The laser radar includes a plurality of the optical shaping units and a plurality of the light splitting units. One transceiver optical module includes one optical shaping unit and one light splitting unit. One transceiver optical module corresponds to one laser of the laser array and one detector of the detector array.

Optionally, the transmitting unit includes multiple groups of laser arrays arranged on the circuit board. The receiving unit includes multiple groups of detector arrays arranged on the circuit board. The laser radar includes multiple optical shaping units and multiple spectroscopic units. One transceiver optical module includes one optical shaping unit and one spectroscopic unit. One transceiver optical module corresponds to one group of laser arrays and one group of detector arrays.

Optionally, the transmitting unit includes a plurality of laser arrays arranged on the circuit board. The receiving unit includes a detector arranged on the circuit board. The areas in the detector can be activated individually. The laser radar includes a plurality of optical shaping units and a plurality of light splitting units. A transceiver optical module includes an optical shaping unit and a light splitting unit. A transceiver optical module corresponds to the activation area of the detector, and a group of the laser arrays or a laser in the laser array.

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

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

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

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

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

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

Optionally, the optical shaping unit further comprises a reflecting portion, wherein the reflecting portion is disposed in an optical path between the first lens and the second lens, and wherein the reflecting portion is configured to receive the detection light beam from the first lens and to totally reflect the detection light beam to the second lens.

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

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

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

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

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

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

Optionally, the transmitting unit includes a laser array arranged on the circuit board. The receiving unit includes a detector array arranged on the circuit board. The laser radar includes a plurality of the optical shaping units and a plurality of the light splitting units, and a transceiver optical module includes one optical shaping unit and one light splitting unit. One transceiver optical module corresponds to one laser of the laser array and one detector of the detector array.

Optionally, the transmitting unit includes multiple groups of laser arrays arranged on the circuit board. The receiving unit includes multiple groups of detector arrays arranged on the circuit board. The laser radar includes multiple optical shaping units and multiple spectroscopic units. One transceiver optical module includes one optical shaping unit and one spectroscopic unit. One transceiver optical module corresponds to one group of laser arrays and one group of detector arrays.

Optionally, the transmitting unit includes a plurality of laser arrays arranged on the circuit board. The receiving unit includes a detector arranged on the circuit board. The areas in the detector can be activated individually. The laser radar includes a plurality of optical shaping units and a plurality of light splitting units, and a transceiver optical module includes one optical shaping unit and one light splitting unit. One transceiver optical module corresponds to the activation area of the detector, and a group of the laser arrays or one laser of the laser array.

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

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

Optionally, the optical shaping unit includes the optical shaping unit described above.

The present disclosure also provides a laser radar chip, comprising: a substrate, an array of light emitting devices, an array of light receiving devices, a spectroscopic unit and a packaging body. The array of light emitting devices is located on the substrate. The array of light receiving devices is located on the substrate on one side of the array of light emitting devices. The spectroscopic unit is configured to transmit the detection light generated by the array of light emitting devices. The detection light is reflected by a target to form an echo light; the spectroscopic unit is also configured to transmit the echo light to the array of light receiving devices. The packaging body is located on the substrate and encapsulates the array of light emitting devices, the array of light receiving devices and the spectroscopic unit.

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

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

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

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

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

Optionally, the beam splitter element is a polarization beam splitter.

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

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

Optionally, the focusing element includes a first lens and a second lens. The first lens is located upstream of the light deflection element in the optical path of the detection light to transmit the detection light to be incident on the light deflection element. The second lens is located downstream of the light deflection element in the optical path of the detection light, and the detection light deflected by the light deflection element is transmitted through the second lens and then incident on the spectroscopic element.

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

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

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

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

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

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

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

Optionally, the laser radar includes a plurality of laser radar chipsets arranged along the first direction. The laser radar chipset includes a plurality of laser radar chips, and the plurality of laser radar chips in the same laser radar chipset are arranged along the second direction. The plurality of laser radar chips in one laser radar chipset are staggered with the plurality of laser radar chips in an adjacent laser radar chipset along the second direction.

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

Compared with the prior art, the present invention provides an optical shaping unit for a laser radar, which reduces the size of the light-emitting surface by using the cooperation of a first lens and a second lens, can flexibly control the size of the light-emitting surface, improves the power density of the detection beam emitted by the laser radar, and reduces the laser radar's requirement for the laser power density; At the same time, the first lens and the second lens fold the light path, changing the position of the light-emitting surface, which facilitates the optimization of the layout of other components inside the lidar.

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

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

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

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

In the laser radar, the light emitting device array and the light receiving device array share the optical assembly and the scanning device, which can effectively overcome the influence of the optical axis offset of the lens group in the optical assembly, the position offset of the scanning device, etc. on the alignment accuracy between the emission field of view of the laser in each channel and the receiving field of view of the detector. Therefore, the scheme disclosed in the present invention can effectively improve the alignment accuracy between the emission field of view and the receiving field of view of the laser radar, facilitate the assembly and production of the laser radar, and help reduce the cost of the laser radar, improve the reliability of the laser radar, and realize the high-line-count laser radar.

BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

FIG3 is a system block diagram of a laser radar in one embodiment of the present disclosure;

FIG4 is a schematic diagram of a laser radar including a transceiver optical unit in one embodiment of the present disclosure;

FIG5 is a schematic diagram of a laser radar including an optical shaping unit in one embodiment of the present disclosure;

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

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

FIG8 is a schematic diagram of an optical path of a transceiver optical module in one embodiment of the present disclosure;

9A and 9B are schematic diagrams of structures of transceiver optical modules in different embodiments of the present disclosure;

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

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

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

FIG13 is a schematic diagram of a top view of a light emitting device array and a light emitting device driving module in an embodiment of a laser radar chip disclosed herein;

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

FIG15 is a schematic diagram of the cross-sectional structure of another embodiment of the laser radar chip disclosed in the present invention;

FIG16 is a schematic diagram of the cross-sectional structure of another embodiment of the laser radar chip disclosed in the present invention;

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

FIG18 is a schematic diagram of the structure of an embodiment of a laser radar disclosed herein;

FIG19 is a schematic diagram of an enlarged structure of a plurality of laser radar chips in the laser radar embodiment shown in FIG18 ;

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

Figure 21 is a schematic diagram of the top view structure of multiple laser radar chips on a circuit board in another embodiment of the laser radar disclosed in the present invention.

DETAILED DESCRIPTION

In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and/or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and/or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and/or the use of other materials.

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

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

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

As shown in FIG. 1 , an optical shaping unit 100 for a laser radar includes a first lens 110 and a second lens 120 , wherein a transmitting unit (or light transmitting device) 200 of the laser radar is also schematically shown. It has a light-emitting surface (the upper surface of the transmitting unit 200 in the figure), and the detection beam (or referred to as detection light) is emitted by the light-emitting surface. The transmitting unit 200 can be, for example, a vertical cavity surface emitting laser VCSEL. The first lens 110 is used to receive the detection beam emitted by the transmitting unit 200 of the laser radar. In addition, the detection beam emitted by the transmitting unit 200 can be directly incident on the first lens 110, or it can be incident on the first lens 110 after being shaped by other optical components (such as a microlens or a microlens array).

The first lens 110 is disposed in the optical path between the emitting unit 200 and the second lens 120. The first lens 110 and the second lens 120 cooperate with each other to form the light-emitting surface of the emitting unit 200 into a reduced light-emitting surface 200' (real image), which is equivalent to reducing the size of the light-emitting surface. Therefore, according to the relationship of "transmitting power = light-emitting surface size * power density", when the transmitting power of the emitting unit 200 remains stable, the power density of the detection light beam emitted by the reduced light-emitting surface 200' (equivalent to a virtual light source or a virtual emitting unit) can be increased by reducing the size of the light-emitting surface.

Specifically, the original size of the light-emitting surface of the emitting unit 200 is set to L ₁ , and the size of the reduced light-emitting surface 200 ′ after imaging by the first lens 110 and the second lens 120 is L ₂ , which is calculated by the following formula:
_L2 = N × _L1 .

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

In addition, the optical axes of the first lens 110 and the second lens 120 in this embodiment are non-parallel. For example, as shown in FIG1 , the optical axis of the first lens 110 is approximately in the vertical direction in FIG1 , and the optical axis of the second lens 120 is approximately in the horizontal direction in FIG1 . Of course, in different embodiments of the present disclosure, the angle between the optical axis of the first lens 110 and the optical axis of the second lens 120 may be other angles. Preferably, an optical element for changing the propagation direction of the detection light beam, such as a reflective element, a diffraction element or a grating, may be provided between the first lens 110 and the second lens 120 to achieve a non-parallel arrangement of the optical axes of the first lens 110 and the second lens 120.

According to the specific structural design of the laser radar, by adjusting the position of the first lens 110 and the second lens 120, and the angle between the optical axes of the two, the position of the transmitting unit 200 and the reduced light-emitting surface 200' and the size of the reduced light-emitting surface 200' can be changed. At the same time, since the size of the reduced light-emitting surface 200' is smaller than the size of the light-emitting surface of the transmitting unit 200, the power density of the detection beam emitted by the reduced light-emitting surface 200' is increased, that is, the power density of the detection beam emitted by the laser radar is increased, which is conducive to improving the distance measurement capability of the laser radar. In addition, when applied to the laser radar, the optical shaping unit 100 allows the position of the optical components such as the splitter unit and the lens group located downstream of the optical path to be adjusted more flexibly, which is convenient for optimizing the arrangement of other components inside the laser radar, which is conducive to reducing the number of laser radar components and reducing the volume of the laser radar, reducing costs, and having a simple structure and facilitating mass production. It will be described in detail below.

In addition, after an object is imaged once through a lens, the spatial domain and the angular domain will be interchanged. For example, a laser with a rectangular light-emitting surface and a circular symmetrical divergence angle will transform into a circular shape and a rectangular distribution after being imaged once through a lens. In the application of LiDAR, the light-emitting surface of the laser in the transmitting unit is usually set to a rectangle or square. In order to effectively match the emission field of view of the LiDAR laser and the receiving field of view of the detector, it is preferred to set the divergence angle of the detection beam to a circular symmetrical distribution. If the image is only formed through a lens once, the light-emitting surface of the laser needs to be set to a circle and have a rectangular distribution of divergence angles. This laser Optical devices are difficult to realize through engineering methods, and the processing costs are not easy to control. Therefore, in order to reduce the cost of lidar and realize mass production, a laser with a rectangular light-emitting surface can be used in the transmitting unit, and the transmitting unit can be imaged by lens twice to ensure effective matching between the laser's transmitting field of view and the detector's receiving field of view.

In order to facilitate the provision of the detection beam required by the laser radar, this embodiment proposes to perform two lens imaging on the transmitting unit. According to a preferred embodiment of the present disclosure, the first lens 110 and the second lens 120 are both convex lenses, and the focal length of the first lens 110 is greater than the focal length of the second lens 120, and the reduced light-emitting surface 200' is formed on the side of the second lens 120 opposite to the first lens 110, that is, the detection beam emitted by the transmitting unit 200 passes through the first lens 110 and the second lens 120 in sequence, and converges on the other side of the second lens 120.

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

This is equivalent to emitting the entire luminous power of the transmitting unit 200 from a smaller luminous surface, and the power density of the detection beam emitted by the laser radar will increase to 1/ ^N2 times of the original.

As shown in FIG. 1 , according to a preferred embodiment of the present disclosure, the optical shaping unit 100 further includes a reflecting portion 130 , which is disposed in the optical path between the first lens 110 and the second lens 120 , and is disposed according to the angle between the first lens 110 and the second lens 120 in the direction of the optical axis. The reflecting portion 130 is configured to receive a detection beam from the first lens 110 and reflect the detection beam to the second lens 120 .

According to an embodiment of the present disclosure, the first lens 110, the second lens 120 and the reflective portion 130 can be integrated into an integral optical component (for example, by an integral molding method) and arranged in a lens barrel, wherein the first lens 110 and the second lens 120 can be respectively arranged as convex surfaces of the optical component at the light entrance position and the light exit position, so as to play a role in converging light beams, and a reflective film is attached to the position of the reflective portion 130. Alternatively, the reflective portion 130 is formed by total reflection inside the medium, for example, by selecting the material of the optical shaping unit 100, and by adjusting the angle at which the detection light beam emitted by the emitting unit 200 is incident on the reflective portion 130 after passing through the first lens 110, so that the incident angle is greater than the critical angle (the critical angle is related to the refractive index of the material and the refractive index of the external medium (for example, air)), so the detection light beam incident on the reflective portion 130 will be totally reflected to the second lens 120. In this case, there is no need to provide a separate reflective film.

In different embodiments of the present disclosure, as shown in FIG. 2 , the first lens 110, the second lens 120 and the reflecting portion 130 may also be formed separately and separately disposed in the lens barrel 140. For example, the first lens 110 and the second lens 120 are independent convex lenses, respectively fixed at the light incident position and the light emitting position of the lens barrel 140, and the reflecting portion 130 may be a reflecting mirror fixed at a specific position in the lens barrel 140.

Furthermore, the optical axis of the first lens 110 and the optical axis of the second lens 120 are arranged to be perpendicular to each other. As shown in FIG. 1 and FIG. 2 , the reflector 130 is arranged to form an angle of 45° with the optical axis of the first lens 110. The angle between the optical axis of the second lens 120 and the optical axis of the second lens 120 is 45°. The first lens 110 and the second lens 120 are arranged so that the optical axes are perpendicular to each other, which is only a preferred embodiment. The first lens 110, the second lens 120 and the reflector 130 can also be arranged at other angles to meet the specific optical path requirements and installation requirements in the laser radar. In addition, the reflector 130 can also be arranged as a curved reflector to further optimize the optical shaping effect, and cooperate with the first lens 110 and the second lens 120 to form a reduced light-emitting surface 200′ from the light-emitting surface of the transmitting unit 200.

In a specific embodiment of the present disclosure, the ratio of the focal length of the first lens 110 to the focal length of the second lens 120 is determined according to the size of the light-emitting surface of the transmitting unit 200 and the reduced light-emitting surface 200' thereof. When applied to a laser radar, the ratio of the focal length of the first lens 110 to the focal length of the second lens 120 can be determined according to the above formula based on the actual light-emitting surface size of the transmitting unit 200 of the laser radar and the ideal light-emitting surface size expected for the transmitting unit as the size of the reduced light-emitting surface 200'.

When applied to laser radar, since the optical shaping unit can reduce the size of the light-emitting surface of the transmitting unit and improve the power density, it will be able to significantly improve the distance measurement performance of the laser radar. In addition, in the laser radar, the size of the light-emitting surface of the transmitting unit 200 affects the focal length of the transmitting lens group (the actual transmitting unit and the receiving unit share the lens group) that subsequently shapes the detection beam. The focal length of the transmitting lens = the size of the light-emitting surface/the angle of the far-field spot. The size of the reduced light-emitting surface 200' of the transmitting unit 200 is used as the size of the light-emitting surface, and the focal length of the transmitting lens group set downstream of the reduced light-emitting surface 200' is also adjusted accordingly. Specifically, according to the focal length and position of the transmitting lens group, the predetermined position and size of the reduced light-emitting surface 200' are determined, and then according to the actual size of the light-emitting surface of the transmitting unit 200, the focal lengths and positions of the first lens 110 and the second lens 120 are determined, so that the light-emitting surface of the transmitting unit 200 is formed into the reduced light-emitting surface 200' at the predetermined position. Finally, the transmitting unit and the receiving unit can share a set of lenses, which can reduce the number of optical components in the laser radar and simplify the structure of the laser radar. In addition, when the focal length of the transmitting and receiving lens or the transmitting and receiving lens group is determined, the transmitting unit 200 and the receiving unit can be integrated on the same circuit board, further simplifying the internal structure of the laser radar and reducing the difficulty of designing and processing the laser radar.

FIG3 shows a system structure of a laser radar 10 according to an embodiment of the present disclosure. The laser radar 10 will be described below in conjunction with FIG3 .

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

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

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

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

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

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

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

FIG6 shows a transmitting unit 11, an optical shaping unit 100, a spectroscopic unit 13, and a receiving unit 12 of a laser radar 10 according to a specific embodiment of the present disclosure, wherein the optical shaping unit 100 includes a first lens 110, a second lens 120, and a reflector 130, wherein the first lens 110 is located in the optical path between the transmitting unit 11 and the second lens 120, wherein the first lens 110 is used to receive the detection beam emitted by the transmitting unit 11, and emit the detection beam to the second lens 120, wherein the detection beam is emitted through the second lens 120, and forms a reduced light-emitting surface 11′ of the transmitting unit 11 downstream of the optical path, and the reduced light-emitting surface 11′ is regarded as a virtual transmitting unit, thereby reducing the size of the light-emitting surface of the transmitting unit and improving the power density. The detection beam emitted from the second lens 120 can pass through the spectroscopic unit 13 and be emitted to the outside of the laser radar 10. According to different embodiments of the present disclosure, during the transmission of the detection beam from the first lens 110 to the second lens 120, its propagation direction can be changed by an optical device for changing the direction of the beam, for example, by the reflector 130. In this embodiment, when the luminous power of the transmitting unit 11 does not change, the optical shaping unit 100 is used to form a reduced luminous surface 11′ of the transmitting unit 11, that is, to reduce the size of the luminous surface. Accordingly, the optical shaping unit 100 can increase the power density of the detection beam emitted by the laser radar.

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

In different embodiments of the present disclosure, different structures of the spectroscopic unit 13 can be selected. For example, as shown in FIG. 7A-FIG. 7D, the spectroscopic unit 13 can be set to different methods such as polarization spectroscopic prism (FIG. 7A), polarizing plate spectroscopic (FIG. 7B), pinhole spectroscopic (FIG. 7C), and local reflector spectroscopic (FIG. 7D) to guide the detection beam to the outside of the laser radar 10 and guide the echo to the receiving unit 12. When different structures of the spectroscopic unit 13 are selected, the optical paths of the detection beam and the echo will also change accordingly. The structural form of the spectroscopic unit 13 can be matched with the position of the transmitting unit 11, the reduced light-emitting surface 11′ of the transmitting unit 11, and the receiving unit 12. The specific structure of the spectroscopic unit 13 is not limited in different embodiments of the present disclosure.

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

In a preferred embodiment of the present disclosure, the transmitting unit 11 includes a laser array composed of a plurality of lasers, and the laser array is arranged on a circuit board 15. The laser may be a VCSEL (vertical cavity surface emitting laser). Correspondingly, the receiving unit 12 also includes a detector array composed of a plurality of detectors, which are also arranged on the circuit board 15. The detector may be a single photon detector, such as a SPAD (single photon avalanche diode) or a Si PM (silicon photomultiplier tube). The laser radar 10 includes a plurality of optical shaping units 100 and a plurality of light splitting units 13, wherein one of the transceiver optical modules includes an optical shaping unit 100 and a light splitting unit 13, and one of the transceiver optical modules corresponds to a laser in the laser array and a detector in the detector array. In order to improve the detection range and detection efficiency of the laser radar 10, the plurality of lasers in the transmitting unit 11 may correspond one-to-one with the plurality of detectors in the receiving unit 12 to form a plurality of detection channels, each detection channel corresponding to a detection direction, for example, to cover the detection range of the laser radar 10.

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

According to other embodiments of the present disclosure, the transmitting unit 11 includes multiple groups of laser arrays arranged on the circuit board 15, and the receiving unit 12 includes multiple groups of detector arrays arranged on the circuit board 15. The laser radar 10 also includes multiple optical shaping units 100 and multiple light splitting units 13. One transceiver optical module includes one optical shaping unit 100 and one light splitting unit 13. The light splitting unit 13 is arranged downstream of the (detection) optical path of the corresponding optical shaping unit 100. One transceiver optical module corresponds to a group of laser arrays and a group of detector arrays, for example, a group of laser arrays. The multiple lasers in the column correspond to one optical shaping unit 100. After the emitted detection beam passes through the optical shaping unit 100, it forms multiple reduced light-emitting surfaces and is emitted to the outside of the laser radar through the light splitting unit 13. The corresponding echo is received by the light splitting unit 13 and guided to the corresponding detector array, for example, to the multiple detectors in the corresponding detector array, to complete a detection process. In addition, multiple lasers in a group of laser arrays can also be emitted in time division, and the corresponding echo is received by the corresponding detector to complete a detection process.

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

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

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

The laser radar 10 in this embodiment uses the optical shaping unit 100 to shape the detection light beam emitted by the light-emitting surface of the transmitting unit 11. For example, the optical shaping unit in the aforementioned embodiment can improve the power density of the detection light beam emitted by the laser radar, thereby enabling the transmitting unit 11 and the receiving unit 12 to share the same transceiver optical unit 16. The optical shaping unit 100 and the spectroscopic unit 13 cooperate with each other, so that the transmitting unit 11 and the receiving unit 12 can use the same lens, simplifying the structure of optical components in the laser radar 10. At the same time, according to the preferred embodiment of the present disclosure, the optical shaping unit 100 can also be used to change the optical path of the detection light beam, and can adjust the setting position of the transmitting unit 11, which helps to optimize the internal structural layout of the laser radar 10. For example, the transmitting unit 11 and the receiving unit 12 can be set in the same circuit. As shown in FIG. 5 , the transmitting unit 11 may also be disposed at other appropriate positions inside the laser radar 10 , thereby increasing the flexibility of the arrangement of components inside the laser radar 10 .

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

FIG8 shows an embodiment of a transceiver optical module 30 that can be used for a laser radar, wherein the transceiver optical module 30 includes an optical shaping unit 31 and a spectroscopic unit 32. Specifically, the optical shaping unit 31 and the spectroscopic unit 32 can be structures as described in the above embodiments, and the optical shaping unit 31 is configured to receive a detection beam emitted by a transmitting unit 1 of the laser radar and emit the detection beam to the spectroscopic unit 32. At the same time, the optical shaping unit 31 can also form a reduced light-emitting surface of the transmitting unit 1 to improve the power density of the detection beam emitted by the laser radar. Specifically, the optical shaping unit 31 in this embodiment can be the optical shaping unit 100 in the above embodiments.

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

As shown in FIG9A, in one embodiment of the present disclosure, the optical shaping unit 31 corresponds to the laser or the laser gating area in the transmitting unit 1 of the laser radar, and the spectroscopic unit 32 is also set to correspond to the detector or the activation area of the detector in the receiving unit 2 of the laser radar. Or as shown in FIG9B, in another embodiment of the present disclosure, an optical shaping unit 31 corresponds to a group of multiple lasers or multiple gating areas of a laser in the transmitting unit 1 of the laser radar, and a spectroscopic unit 32 corresponds to a group of multiple detectors or multiple activation areas of a detector in the receiving unit 2 of the laser radar. For example, a group of multiple lasers in the transmitting unit 1 are arranged in strips, and the light incident surface in the optical shaping unit 31 can also be set as a continuous surface to cover the corresponding multiple lasers or multiple gating areas of a laser. Similarly, the light exit surface of the optical shaping unit 31 can also be set as a continuous surface, and the spectroscopic unit 32 can also be set as a strip to correspond to a group of multiple detectors or multiple activation areas of a detector in the receiving unit 2. The spectroscopic unit 32 can be set as a whole or a combination of multiple split structures.

In some other embodiments of the present disclosure, the transmitting unit 1 includes multiple groups of laser arrays arranged on a circuit board, each group of laser arrays includes multiple lasers, and similarly, the receiving unit 2 includes multiple groups of detector arrays arranged on a circuit board, each group of detector arrays includes multiple detectors. The optical shaping unit 31 and the light splitting unit 32 also have multiple, and a transceiver optical module 30 includes an optical shaping unit 31 and a light splitting unit 32, One transceiver optical module 30 corresponds to a group of laser arrays and a group of detector arrays. That is, in this embodiment, one optical shaping unit 31 and its corresponding light splitting unit 32, a group of laser arrays and a group of detector arrays form a detection channel.

As shown in FIG. 9B , two groups of laser arrays, two groups of detector arrays and two transceiver optical modules 30 (each transceiver optical module includes an optical shaping unit 31 and a light splitting unit 32 ) are shown, and the two transceiver optical modules 30 are staggered.

According to a specific embodiment of the present disclosure, the laser of the transmitting unit 11 and the detector of the receiving unit 12 and the corresponding optical shaping unit 100 and the spectroscopic unit 13 can be packaged together, and the packaged structure is set as a whole on the circuit board 15. The laser of the transmitting unit 11 and the detector of the receiving unit 12 can also be set on the circuit board 15 respectively, and positioned and installed, and the optical shaping unit 100 and the spectroscopic unit 13 are set at a preset position, so that the transceiver optical module corresponds to the laser and the detector. For example, the laser of the transmitting unit 11 and the detector of the receiving unit 12 are first set at different positions of the circuit board 15, and then the optical shaping unit 100 and the spectroscopic unit 13 are installed at positions corresponding to the laser of the transmitting unit 11 and the detector of the receiving unit 13.

In addition, it can be known from the background technology that the laser radar of the prior art has the problem of alignment between transmission and reception. In order to solve the technical problem, the present disclosure provides a laser radar chip, including: a substrate; an array of light emitting devices, the array of light emitting devices is located on the substrate; an array of light receiving devices, the array of light receiving devices is located on the substrate on one side of the array of light emitting devices; a spectroscopic unit, the spectroscopic unit is configured to transmit the detection light generated by the array of light emitting devices; the detection light is reflected by the target to form echo light; the spectroscopic unit is also configured to transmit the echo light to the array of light receiving devices; a package body, the package body is located on the substrate and encapsulates the array of light emitting devices, the array of light receiving devices and the spectroscopic unit.

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

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

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

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

It should be noted that the optical paths of the detection light 301 and the echo light 302 shown in FIG10 are only an example, and the present disclosure does not limit this.

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

When applied to laser radar, the scheme disclosed in the present invention can effectively improve the alignment accuracy of the laser radar's transmitting field of view and receiving field of view, facilitate the assembly and production of the laser radar, and is beneficial to reducing the cost of the laser radar, improving the reliability of the laser radar, and realizing high-line-count laser radar.

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

The substrate 300 is used to carry the devices disposed thereon, and is also used to realize electrical connection between the devices and external circuits and circuit boards.

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

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

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

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

As shown in FIG. 11 , the plurality of lasers 311 are arranged in a one-dimensional array on the surface of the substrate 300 , and the light emitting device array 310 is arranged in a linear array; the plurality of detectors 321 are arranged in a one-dimensional array on the surface of the substrate 300 , and the light receiving device array 320 is arranged in a linear array.

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

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

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

In some embodiments of the present disclosure, the light emitting device array 310 and the light receiving device array 320 are located between the light emitting device driving module 312 and the light receiving device driving module 322. As shown in FIG10 and FIG11 , the light emitting device array 310 and the light receiving device array 320 are arranged in parallel on the surface of the substrate 300; the light emitting device driving module 312 is located on the side of the light emitting device array 310 away from the light receiving device array 320; the light receiving device driving module 322 is located on the side of the light receiving device array 320 away from the light emitting device array 310, that is, the light emitting device driving module 312, the light emitting device array 310, the light receiving device array 320 and the light receiving device driving module 322 are arranged on the surface of the substrate 300 in sequence.

In some embodiments of the present disclosure, electrical connection between devices is achieved by means of bonding wires. Specifically, electrical connection is achieved between the light emitting device array 310 and the light emitting device driver module 312, between the light emitting device driver module 312 and the substrate 300, between the light receiving device array 320 and the light receiving device driver module 322, and between the light receiving device driver module 322 and the substrate 300 by means of bonding wires.

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

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

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

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

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

Continuing to refer to FIG. 10 , in combination with FIG. 12 , the spectroscopic unit 330 includes: a spectroscopic element 331 (the spectroscopic element 331 can be, for example, the spectroscopic unit 13 in the laser radar 10 in the embodiment shown in the aforementioned FIG. 1 to FIG. 7D ), the spectroscopic element 331 is configured to separate the optical path of the detection light 301 (indicated by the white arrow in FIG. 12 ) from the optical path of the echo light 302 (indicated by the black arrow in FIG. 12 ), specifically, the optical path of the detection light 301 between the light emitting device array 310 and the spectroscopic element 331 is separated from the optical path of the echo light 302 between the light receiving device array 320 and the spectroscopic element 331, and the spectroscopic element 331 is a polarization spectrometer. According to another embodiment of the present disclosure, the spectroscopic element 331 can also be a polarization spectroscopic prism (FIG. 7A), polarizer spectroscopic (FIG. 7B), pinhole spectroscopic (FIG. 7C), local reflector spectroscopic (FIG. 7D), and other different methods.

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

The light deflection element 332 is located on one side of the light splitting element 331, and the light deflection element 332 is used to deflect the detection light 301, so that the optical path of the detection light 301 and the optical path of the echo light 302 are partially parallel, specifically, the optical path of the detection light 301 between the light emitting device array 310 and the light deflection element 332 is parallel to the optical path of the echo light 302 between the light receiving device array 320 and the light splitting element 331, and the detection light 301 and the echo light 302 are both perpendicular to the surface of the substrate 300, so that the multiple lasers 311 in the light emitting device array 310 and the multiple detectors 321 in the light receiving device array 320 are arranged on the substrate 300 and are located on the same side of the light splitting element 330. Specifically, the light deflection element 332 is a prism.

As shown in FIG12 , the detection light 301 incident on the optical deflection element 332 is totally reflected on the surface 332a to be projected onto the spectroscopic element 331; the spectroscopic element 331 folds the detection light 301 again to achieve the emission of the detection light 301; the echo light 302 formed by the reflection of the detection light 301 by the target outside the laser radar is incident on the spectroscopic element 331 along an optical path coaxial with the emitted detection light 301, and the echo light 302 directly transmits the spectroscopic element 331 and is projected onto the optical receiving device array 320 to achieve detection.

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

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

Continuing to refer to FIG. 12 , in some embodiments of the present disclosure, the spectroscopic unit 330 further includes: a focusing element (the focusing element may be, for example, the first lens 110 and/or the second lens 120 in the optical shaping unit 100 in the aforementioned embodiment), the focusing element being located in the optical path of the detection light 301 and suitable for adjusting the focal length, and the focusing element being configured so that the light emitting device array 310 and the light receiving device array 320 are both disposed on the substrate 300 .

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

In some specific embodiments as shown in FIG. 12 , the focusing element includes: a first lens 333a (the first lens 333a may be, for example, the first lens 110 in the optical shaping unit 100 in the aforementioned embodiment), the first lens 333a being located upstream of the light deflection element 332 in the optical path of the detection light 301 to transmit the detection light 301 to be incident on the light deflection element 332; a second lens 333b (the second lens 333b may be, for example, the second lens 120 in the optical shaping unit 100 in the aforementioned embodiment), the second lens 333b being located downstream of the light deflection element 332 in the optical path of the detection light 301, and the detection light 301 deflected by the light deflection element 332 is transmitted through the second lens 333b and then incident on the beam splitting element 331.

Specifically, the first lens 333a is a gradient refractive index lens; the second lens 333b is a gradient refractive index lens. A gradient refractive index lens, also known as a self-focusing lens, is a cylindrical optical lens whose internal material refractive index distribution gradually changes along the radial direction. Therefore, in some embodiments shown in FIG. 12, in a gradient refractive index lens, the surfaces on which the light beams are incident and emergent are both planes.

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

Continuing to refer to FIG. 10 , the package body 340 is suitable for packaging all components within the laser radar chip to achieve encapsulation, placement, fixation and protection of each component.

The material of the package body 340 may be a light-proof adhesive. Specifically, in some embodiments as shown in FIG. 10 , the material of the package body 340 may be a polymer. The package body 340 may be formed by a T-Mo l d or C-Mo l d process to achieve overall packaging.

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

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

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

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

In some embodiments as shown in FIG. 12 , the plurality of lasers (not shown in the figure) of the light emitting device array 410 are arranged in a single row on the surface of a substrate (not shown in the figure), and the light emitting device array 410 is arranged in a linear array; the light emitting device driving modules 412 are located on both sides of the light emitting device array 410, and the light emitting device driving modules 412 on both sides are electrically connected to the two sides of the light emitting device array 410, respectively.

It should be noted that, in some embodiments, the arrangement of the multiple detectors of the light receiving device array can refer to the arrangement of the multiple lasers of the light emitting device array 410 shown in FIG13. Only the arrangement and gating method of the light receiving device driving module and the light emitting device driving module 412 are different.

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

In some specific embodiments as shown in FIG. 14 , the multiple lasers 511 of the light emitting device array 510 constitute a plurality of emitter groups arranged along a first direction X, and each emitter group includes a plurality of lasers 511 arranged along a second direction Y; in the second direction Y, each laser 511 of an emitter group is respectively located between two lasers 511 of adjacent emitter groups.

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

In addition, the two emitter groups in the light emitting device array shown in FIG. 14 and the arrangement of more emitter groups in other embodiments in an interlaced manner to form an irregular matrix are only examples. In other embodiments of the present disclosure, multiple emitter groups in the light emitting device array arranged in a planar array may also be regularly arranged to form a regular matrix.

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

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

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

In some embodiments of the present disclosure, in a stacked structure, electrical connection between components is achieved through contacting bonding surfaces. Specifically, as shown in FIG. 15 , electrical connection can be achieved between the light emitting device driver module 612 and the light emitting device array 610, between the light emitting device driver module 612 and the substrate 600, between the light receiving device driver module 622 and the light receiving device array 620, and between the light receiving device driver module 622 and the substrate 600 by means of insulating bonding or metal bonding.

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

The present disclosure will not repeat the same points as the above embodiments. The difference from the above embodiments is that in some embodiments, the light emitting device array and the light receiving device array are located on both sides of the light emitting device driving module and the light receiving device driving module to increase the distance between the laser of the light emitting device array and the detector of the light receiving device array, thereby reducing the difficulty of chip manufacturing process.

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

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

In addition, in some specific embodiments shown in FIG. 16 , electrical connection between devices is achieved by bonding wires. The light emitting device array 710 and the light emitting device driving module 712 are both provided with bonding wires to achieve electrical connection with the substrate 700; the light receiving device array 720 and the light receiving device driving module 722 are both provided with bonding wires to achieve electrical connection with the substrate 700.

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

It should be noted that, in some embodiments shown in FIG10, the laser of the light emitting device array 310 is electrically connected to the light emitting device driving module 312, and then electrically connected to the substrate 300 through the light emitting device driving module 312. Different from some embodiments shown in FIG10, in some embodiments shown in FIG16, the laser of the light emitting device array 710 is directly electrically connected to the substrate 700 through a bonding wire.

In addition, another difference from the previous embodiment is that the light splitting unit is in a split form. As shown in FIG17 , in the light splitting unit 730 , the first lens 733 a and the second lens 733 b are convex lenses; the first lens 733 a , the light deflection element 732 and the second lens 733 b are integrally formed and separated from the light splitting element 731 .

Correspondingly, the present disclosure also provides a laser radar. Referring to FIG18 , the laser radar includes: a laser radar chip 810, an optical component 820, and a scanning device 830, wherein the laser radar chip 810 includes: a substrate; an array of light emitting devices, the array of light emitting devices is located on the substrate; an array of light receiving devices, the array of light receiving devices is located on the substrate on one side of the array of light emitting devices; a spectroscopic unit, the spectroscopic unit is configured to transmit the detection light generated by the array of light emitting devices; the detection light is reflected by the target to form an echo light 302; the spectroscopic unit is also configured to transmit the echo light 302 to the array of light receiving devices; a package body, the package body is located on the substrate and packages the light The optical component 820 transmits the detection light emitted by the laser radar chip 810, and the detection light transmitted by the optical component 820 is reflected by the scanning device 830 and then emitted from the laser radar (the optical component 820 can be, for example, the transceiver optical unit 16 in the laser radar 10 in the aforementioned embodiment); the target 840 reflects the detection light to form an echo light 302, and the echo light 302 reflected by the scanning device 830 is transmitted to the laser radar chip 810 via the optical component 820 (the scanning device 830 can be, for example, the scanner 18 in the laser radar 10 in the aforementioned embodiment).

With reference to Figures 10 to 12, a schematic diagram of the structure of the laser radar chip described in the laser radar embodiment shown in Figure 18 is shown.

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

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

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

The laser radar further includes: a circuit board 811, and the circuit board 811 is electrically connected to the laser radar chip 810. The laser radar chip 810 is fixed to the surface of the circuit board 811 and electrically connected to the circuit board 811. Specifically, the laser radar chip 810 is electrically connected to the circuit board 811 through a solder ball 812 (as shown in FIG. 10 ).

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

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

In some specific embodiments, the laser radar includes: a plurality of laser radar chipsets 813, the plurality of laser radar chipsets 813 are arranged along a first direction X, the laser radar chipset 813 includes a plurality of laser radar chips 810, and the plurality of laser radar chips 810 in the same laser radar chipset 813 are arranged along the second direction Y. Among them, the plurality of laser radar chips 810 of a laser radar chipset and the plurality of laser radar chips 810 of an adjacent laser radar chipset are arranged alternately along the second direction Y. As shown in FIG. 20 , the laser radar includes: a laser radar chipset 813a and a laser radar chipset 813b, the laser radar chipset 813a and the laser radar chipset 813b are arranged adjacent to each other along the first direction X, that is, no other laser radar chips are arranged between the laser radar chipset 813a and the laser radar chipset 813b.

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

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

It should be noted that the arrangement of the two laser radar chipsets in FIG. 20 along the first direction X is only an example. In other embodiments of the present disclosure, a larger number of laser radar chipsets may be arranged along the first direction X. And the laser radar chips of adjacent laser radar chipsets along the first direction X are staggered along the second direction Y, that is, along the second direction Y, each laser radar chip of one laser radar chipset is located between two laser radar chips of adjacent laser radar chipsets.

In some embodiments shown in FIG. 18 and FIG. 20 , the light emitting device array of each laser radar chip 810 has 32 lasers, and the light receiving device array has 32 detectors, that is, each laser radar chip 810 has 32 channels. Eight laser radar chips 810 constitute 256 channels. Under the premise of ensuring that 256 channels are set on the circuit board, the arrangement shown in FIG. 20 can effectively reduce the size of the circuit board.

In some specific embodiments, the laser radar is a vehicle-mounted laser radar. The detection range of the vehicle-mounted laser radar is mainly concentrated on the ground and its vicinity, and the circuit board is arranged vertically to the horizontal plane; the arrangement shown in FIG20 can effectively reduce the height of the laser radar.

Continuing to refer to FIG. 18 , the laser radar further includes: an optical component 820 and a scanning device 830 for transmitting and receiving the detection light and the echo light.

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

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

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

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

It should be noted that the first direction X is the scanning direction of the scanning device 830, and the second direction is the arrangement direction of the plurality of laser radar chips 810. The selection of the first direction X and the second direction Y is related to the field of view of the laser radar, that is, when the field of view of the laser radar changes, the scanning direction of the scanning device 830 and the arrangement direction of the plurality of laser radar chips 810 will also change accordingly. The present disclosure does not limit the scanning direction of the scanning device and the arrangement direction of the plurality of laser radar chips. It should also be noted that in some embodiments shown in Figures 18 and 20, the plurality of laser radar chips of a laser radar chips group and the plurality of laser radar chips of an adjacent laser radar chips group are staggered along the second direction Y. In other embodiments of the present disclosure, the plurality of laser radar chips groups may also be arranged in other ways, such as arranging more laser radar chips groups along the first direction X, or arranging the plurality of laser radar chips 810 in a row along the second direction, or arranging the plurality of laser radar chips 810 in the same way as the arrangement of the plurality of lasers.

In some specific embodiments as shown in Figure 21, at least a portion of the lasers in the light emitting device array of the lidar chip of one lidar chips group are staggered along the second direction Y with at least a portion of the lasers in the light emitting device array of the lidar chip of an adjacent lidar chips group.

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

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

At least part of the lasers in the multiple laser radar chips 910a of the first laser radar chipset and at least part of the lasers in the multiple laser radar chips 910b of the second laser radar chipset are arranged along the first The two directions Y are staggered, that is, along the second direction Y, each laser of the laser radar chip 910a in the first laser radar chipset is located between two adjacent lasers of the adjacent laser radar chip 910b in the second laser radar chipset.

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

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

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

Finally, it should be noted that the above is only an embodiment of the present disclosure and is not intended to limit the present disclosure. Although the present disclosure is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims (58)

An optical shaping unit for a laser radar, comprising: A first lens is used to receive a detection beam emitted by a transmitting unit of the laser radar, wherein the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface; and a second lens, wherein the first lens is located in the optical path between the emitting unit and the second lens, and the first lens and the second lens are configured to form a reduced emitting surface of the emitting unit, The optical axes of the first lens and the second lens are non-parallel. The optical shaping unit according to claim 1, wherein the first lens and the second lens are both convex lenses, the focal length of the first lens is greater than the focal length of the second lens, and the reduced light-emitting surface is formed on a side of the second lens opposite to the first lens. The optical shaping unit according to claim 2, wherein the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens. The optical shaping unit according to any one of claims 1 to 3, further comprising a reflecting portion, the reflecting portion being disposed between the first lens and the second lens, the reflecting portion being configured to receive the detection beam from the first lens and reflect the detection beam to the second lens. The optical shaping unit according to claim 4, wherein the first lens, the second lens and the reflecting portion are integrally formed, or the first lens, the second lens and the reflecting portion are separately formed, the optical axes of the first lens and the second lens are perpendicular, the angle between the reflecting portion and the optical axis of the first lens is 45°, and the angle between the reflecting portion and the optical axis of the second lens is 45°. The optical shaping unit according to any one of claims 1 to 3, wherein the ratio of the focal lengths of the first lens and the second lens is determined according to the size of the reduced light-emitting surface, and the optical shaping unit is configured to increase the power density of the detection beam emitted from the laser radar. A laser radar, comprising: An emitting unit configured to emit a detection light beam, the emitting unit having a light emitting surface, the detection light beam being emitted by the light emitting surface; an optical shaping unit, configured to form the light-emitting surface of the emitting unit into a reduced light-emitting surface, the optical shaping unit being disposed in the light path between the emitting unit and the light-splitting unit; a receiving unit configured to receive an echo generated by the detection light beam being reflected on an obstacle and convert the echo into an electrical signal; The light splitting unit is configured to guide the detection beam to the outside of the laser radar and guide the echo to the receiving unit; and The data processing unit is coupled to the receiving unit and is configured to obtain the information of the obstacle according to the electrical signal. The laser radar according to claim 7 further includes a transceiver optical unit, which is configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit. The laser radar according to claim 7, wherein the optical shaping unit includes a first lens and a second lens, wherein the first lens is used to receive the detection light beam emitted by the transmitting unit, the first lens is located in the light path between the transmitting unit and the second lens, and the first lens and the second lens are configured to form the light-emitting surface of the transmitting unit into the reduced light-emitting surface, wherein the optical axes of the first lens and the second lens are non-parallel. The laser radar according to any one of claims 7-9 further includes a circuit board, and the transmitting unit and the receiving unit are arranged on the same circuit board. The laser radar according to claim 9, wherein the first lens and the second lens are both convex lenses, the focal length of the first lens is greater than the focal length of the second lens, and the reduced light-emitting surface is formed on the side of the second lens opposite to the first lens. The laser radar according to claim 11, wherein the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens. The laser radar according to claim 9, 11 or 12, wherein the optical shaping unit further comprises a reflecting portion, wherein the reflecting portion is disposed between the first lens and the second lens, and wherein the reflecting portion is configured to receive the detection beam from the first lens and reflect the detection beam to the second lens. The laser radar according to claim 13, wherein the first lens, the second lens and the reflecting part are integrally formed, or the first lens, the second lens and the reflecting part are separately formed, the optical axes of the first lens and the second lens are perpendicular, the angle between the reflecting part and the optical axis of the first lens is 45°, and the angle between the reflecting part and the optical axis of the second lens is 45°. The laser radar according to claim 8, further comprising a scanner, which is configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar, and reflect the echo to the transceiver optical unit. The laser radar according to claim 10, wherein the transmitting unit includes a laser array arranged on the circuit board, the receiving unit includes a detector array arranged on the circuit board, the laser radar includes a plurality of the optical shaping units and a plurality of the spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to a laser of the laser array and a detector of the detector array. The laser radar according to claim 10, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes multiple groups of detector arrays arranged on the circuit board, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, and one of the transceiver optical modules corresponds to one group of laser arrays and one group of detector arrays. The laser radar according to claim 10, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes a detector arranged on the circuit board, and the area in the detector can be activated individually, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to the activation area of the detector, and a group of the laser arrays or one laser of the laser array. A laser radar, comprising: An emitting unit configured to emit a detection light beam, the emitting unit having a light emitting surface, the detection light beam being emitted by the light emitting surface; a receiving unit configured to receive an echo generated by the detection light beam being reflected on an obstacle and convert the echo into an electrical signal; a spectroscopic unit configured to direct the detection beam to the outside of the laser radar and direct the echo to the receiving unit; a data processing unit, coupled to the receiving unit and configured to obtain information about the obstacle according to the electrical signal; and A circuit board, wherein the transmitting unit and the receiving unit are arranged on the same circuit board. The laser radar according to claim 19 further includes a transceiver optical unit, which is configured to receive the detection beam from the spectroscopic unit and transmit it to the outside of the laser radar, and receive the echo and guide it to the spectroscopic unit. The laser radar according to claim 19 further includes an optical shaping unit, which is arranged in the optical path between the transmitting unit and the spectroscopic unit, and is configured to adjust the spot shape of the detection light beam emitted by the transmitting unit to form the light-emitting surface of the transmitting unit into a reduced light-emitting surface. The laser radar according to claim 21, wherein the optical shaping unit comprises a first lens and a second lens, wherein the first lens is located in the optical path between the transmitting unit and the second lens, and wherein the first lens receives the detection beam and emits the detection beam to the second lens. According to the laser radar of claim 22, the first lens and the second lens are both convex lenses, the focal length of the first lens is greater than the focal length of the second lens, and the reduced light-emitting surface is formed on the side of the second lens opposite to the first lens. The laser radar according to claim 23, wherein the optical distance between the first lens and the second lens is the sum of the focal length of the first lens and the focal length of the second lens. According to any one of claims 22-24, the optical shaping unit also includes a reflecting part, which is arranged in the optical path between the first lens and the second lens, and the reflecting part is configured to receive the detection beam from the first lens and totally reflect the detection beam to the second lens. The laser radar according to claim 25, wherein the first lens, the second lens and the reflecting part are integrally formed, or the first lens, the second lens and the reflecting part are separately formed. The laser radar according to claim 25, wherein the optical axes of the first lens and the second lens are perpendicular, the angle between the reflecting portion and the optical axis of the first lens is 45°, and the angle between the reflecting portion and the optical axis of the second lens is 45°. A laser radar according to any one of claims 22-24, wherein the ratio of the focal lengths of the first lens and the second lens is determined according to the size of the reduced light-emitting surface. The laser radar according to any one of claims 21-24, wherein the optical shaping unit is configured to increase the power density of the detection beam emitted from the laser radar. The laser radar according to any one of claims 19-24, wherein the spectroscopic unit is configured to guide the detection beam and the echo in a polarization spectroscopic, pinhole spectroscopic, or local reflector spectroscopic manner. The laser radar according to claim 20 further includes a scanner, which is configured to receive and scan the detection beam from the transceiver optical unit to cover the field of view of the laser radar and reflect the echo to the transceiver optical unit. The laser radar according to any one of claims 22-24, wherein the transmitting unit includes a laser array arranged on the circuit board, the receiving unit includes a detector array arranged on the circuit board, the laser radar includes a plurality of the optical shaping units and a plurality of the spectroscopic units, a transceiver optical module includes one optical shaping unit and one spectroscopic unit, and one of the transceiver optical modules corresponds to a laser of the laser array and a detector of the detector array. The laser radar according to any one of claims 21-24, wherein the transmitting unit includes multiple groups of laser arrays arranged on the circuit board, the receiving unit includes multiple groups of detector arrays arranged on the circuit board, the laser radar includes multiple optical shaping units and multiple spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, and one of the transceiver optical modules corresponds to one group of laser arrays and one group of detector arrays. The laser radar according to any one of claims 21-24, wherein the transmitting unit includes a plurality of laser arrays arranged on the circuit board, the receiving unit includes a detector arranged on the circuit board, and the areas in the detector can be activated individually, the laser radar includes a plurality of the optical shaping units and a plurality of the spectroscopic units, and a transceiver optical module includes one optical shaping unit and one spectroscopic unit, wherein one of the transceiver optical modules corresponds to the activation area of the detector, and a group of the laser arrays or one laser of the laser array. A transceiver optical module for a laser radar, comprising an optical shaping unit and a spectroscopic unit, wherein the optical shaping unit is configured to receive a detection beam emitted by a transmitting unit of the laser radar and transmit the detection beam to the spectroscopic unit, the transmitting unit has a light-emitting surface, and the detection beam is emitted by the light-emitting surface, the spectroscopic unit is configured to receive the detection beam from the optical shaping unit and guide the detection beam to the outside of the laser radar, and is configured to receive an echo and guide the echo to the receiving unit of the laser radar, wherein the optical shaping unit is configured to form the light-emitting surface of the transmitting unit into a reduced light-emitting surface. According to the transceiver optical module of claim 35, the optical shaping unit corresponds one-to-one to one or more lasers of the transmitting unit in the laser radar, and the spectroscopic unit corresponds one-to-one to one detector, multiple detectors and one of the activation areas of the detector of the receiving unit in the laser radar. The transceiver optical module according to claim 35, wherein the optical shaping unit comprises the optical shaping unit according to any one of claims 1-6. A laser radar chip, characterized by comprising: Substrate; a light emitting device array, the light emitting device array being located on the substrate; A light receiving device array, the light receiving device array being located on a substrate on one side of the light emitting device array; a spectroscopic unit, the spectroscopic unit being configured to transmit the detection light generated by the light emitting device array; the detection light is reflected by a target to form an echo light; the spectroscopic unit is also configured to transmit the echo light to the light receiving device array; A packaging body is located on the substrate and packages the light emitting device array, the light receiving device array and the light splitting unit. The laser radar chip as claimed in claim 38, characterized in that the light emitting device array includes a plurality of lasers, and the plurality of lasers are arranged in an array on the substrate; The light receiving device array includes a plurality of detectors, and the plurality of detectors are arranged in an array on the substrate. The laser radar chip according to claim 38, further comprising: A light emitting device driving module, the light emitting device driving module is located on the substrate and is electrically connected to the light emitting device array and the substrate; The light receiving device driving module is located on the substrate and is electrically connected to the light receiving device array and the substrate. The laser radar chip according to claim 40, characterized in that the light emitting device driving module and the light receiving device driving module are located between the light emitting device array and the light receiving device array; Alternatively, the light emitting device array and the light receiving device array are located between the light emitting device driving module and the light receiving device driving module. The laser radar chip according to claim 38, characterized in that it further comprises: a light-transmitting adhesive portion, wherein the light-transmitting adhesive portion is located on a side of the light-splitting unit facing the substrate; The light splitting unit is fixed to the light receiving device array and the light emitting device array through the light-transmitting adhesive portion. The laser radar chip according to claim 38, characterized in that the light splitting unit comprises: A spectroscopic element is configured to separate an optical path of the probe light from an optical path of the echo light. The laser radar chip as described in claim 43 is characterized in that the spectroscopic element is a polarization spectrometer. The laser radar chip as claimed in claim 43, characterized in that the detection light is emitted from the light emitting device array along a direction perpendicular to the substrate surface; the echo light is incident on the light receiving device array along a direction perpendicular to the substrate surface; The spectroscopic unit further includes: a light deflection element, which is located in the optical path of the detection light and is configured to deflect the detection light to the spectroscopic element. The laser radar chip as described in claim 45 is characterized in that the spectroscopic unit also includes: a focusing element, which is located in the optical path of the detection light, and the focusing element is configured so that the light emitting device array and the light receiving device array are both arranged on the substrate. The laser radar chip according to claim 46, characterized in that the focusing element comprises: a first lens, the first lens being located upstream of the light deflection element in the optical path of the detection light so as to transmit the detection light to be incident on the light deflection element; The second lens is located downstream of the light deflection element in the optical path of the detection light. The detection light deflected by the light deflection element is transmitted through the second lens and then incident on the beam splitter. The laser radar chip as described in claim 47 is characterized in that the first lens, the light deflection element and the second lens are integrally formed. The laser radar chip as described in claim 48 is characterized in that the first lens is a convex lens or a gradient refractive index lens; the second lens is a convex lens or a gradient refractive index lens. The laser radar chip as described in claim 49 is characterized in that the second lens is a gradient refractive index lens, and the first lens, the light deflection element, the second lens and the spectroscopic element are integrally formed. The laser radar chip as described in claim 43 is characterized in that the spectroscopic unit also includes an optical shaping unit as described in any one of claims 1-6, and the optical shaping unit is arranged in the optical path between the spectroscopic element and the light emitting device array. A laser radar, characterized in that it comprises: a laser radar chip, an optical component and a scanning device, wherein the laser radar chip comprises: Substrate; a light emitting device array, the light emitting device array being located on the substrate; A light receiving device array, the light receiving device array being located on a substrate on one side of the light emitting device array; a spectroscopic unit, the spectroscopic unit being configured to transmit the detection light generated by the light emitting device array; the detection light is reflected by the target to form an echo light; the spectroscopic unit is also configured to transmit the echo light to the light receiving device array; A packaging body, the packaging body is located on the substrate and packages the light emitting device array, the light receiving device array and the light splitting unit; The optical component transmits the detection light emitted by the laser radar chip, and the detection light transmitted by the optical component is reflected by the scanning device and then emitted; the echo light reflected by the scanning device is transmitted to the laser radar chip via the optical component. The laser radar as described in claim 52 is characterized in that it also includes: a circuit board, and the circuit board is electrically connected to the laser radar chip. The laser radar as claimed in claim 52, characterized in that a plurality of the laser radar chips are fixed and electrically connected to the same circuit board; A plurality of the laser radar chips share the optical component and the scanning device. The laser radar as claimed in claim 53, characterized in that the scanning device causes the detection light to scan along a first direction; The plurality of laser radar chips are arranged in an array along a second direction, and the second direction is perpendicular to the first direction. The laser radar as claimed in claim 55, characterized in that it comprises: a plurality of laser radar chipsets arranged along the first direction, the laser radar chipset comprising a plurality of the laser radar chips, and the plurality of the laser radar chips in the same laser radar chipset are arranged along the second direction; The multiple laser radar chips of one of the laser radar chips groups are arranged alternately with the multiple laser radar chips of an adjacent laser radar chips group along the second direction. The laser radar as claimed in claim 55, characterized in that it comprises: a plurality of laser radar chipsets arranged along the first direction, the laser radar chipset comprising a plurality of the laser radar chips, and the plurality of the laser radar chips in the same laser radar chipset are arranged along the second direction; At least a portion of the lasers in the light emitting device array or at least a portion of the detectors in the light receiving device array in the laser radar chip of one of the laser radar chips groups are alternately arranged along the second direction with at least a portion of the lasers in the light emitting device array or at least a portion of the detectors in the light receiving device array in the laser radar chip of an adjacent laser radar chip group. The laser radar chip as described in claim 52 is characterized in that the spectroscopic unit also includes an optical shaping unit as described in any one of claims 1-6, and the optical shaping unit is arranged in the optical path between the spectroscopic element and the light emitting device array.