Lidar, and detection method and manufacturing method for lidar

A lidar, comprising:

• a laser transmitting end, wherein the laser transmitting end has a laser, and the laser is configured for emitting a laser beam for detecting a target object;
• a scanning module, wherein the scanning module is configured for guiding the laser beam emitted by the laser to scan the target object, and receiving and guiding the laser beam reflected from the target object;
• and
• a laser receiving end, wherein the laser receiving end has a detector, and the detector is configured for receiving the laser beam guided by the scanning module and reflected from the target object;
• wherein at least one laser transmitting end and at least one laser receiving end are integrated into a laser transceiver module group configured as a separate structural unit, and wherein the lidar comprises a plurality of laser transceiver module groups, the plurality of laser transceiver module groups are arranged in a distributed manner relative to the scanning module, and an at least partially stitched field of view of the lidar is formed by sub-fields of view correspondingly formed by the plurality of laser transceiver module groups;
• wherein the lidar is configured to operate in a normal working mode and at least one of an enhanced working mode and an emergency working mode;
• a control module configured for controlling transmission and reception of laser beams, and obtaining characteristic information of the target object through post-signal data processing;
• an orientation adjustment device assigned to each laser transceiver module group, wherein each orientation adjustment device comprises an actuator, and the control module is further configured to control the actuator for driving the orientation adjustment device, so as to achieve orientation adjustment of a corresponding laser transceiver module group;
• and
• a fault detection device, wherein the control module is configured to monitor functionality of working laser transceiver module groups using the fault detection device to determine whether one of the laser transceiver module groups fails or is externally damaged, and upon such determination, to switch to the emergency working mode to put a spare laser transceiver module group into use;
• wherein in the normal working mode, the sub-fields of view of the plurality of laser transceiver module groups at least partially overlap each other to form the stitched field of view of the lidar;
• wherein, when operating in the enhanced working mode, the lidar is configured to adjust orientations of the laser transceiver module groups to obtain an increased stitched field of view, vertical-axis angular resolution and/or horizontal angular resolution in a specific area or key area;
• and
• wherein, when operating in the emergency working mode, the lidar is configured to activate the spare laser transceiver module group to replace the failed or externally damaged laser transceiver module group.