CN118294928B - Laser radar and mobile device - Google Patents
Laser radar and mobile device Download PDFInfo
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- CN118294928B CN118294928B CN202410730398.8A CN202410730398A CN118294928B CN 118294928 B CN118294928 B CN 118294928B CN 202410730398 A CN202410730398 A CN 202410730398A CN 118294928 B CN118294928 B CN 118294928B
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- 230000005540 biological transmission Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 6
- 239000007787 solid Substances 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000009792 diffusion process Methods 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the application discloses a laser radar and movable equipment, the laser radar comprises a base, a rotating body, a receiving and transmitting module and a first reflecting mirror. The receiving and transmitting module comprises a transmitter, a receiver, a beam splitter and a scanning mirror, wherein the transmitter and the receiver are arranged on the base, the scanning mirror is arranged on the rotating body, and the second reflecting surface of the scanning mirror can rotate around the second axis. The first reflecting mirror is arranged on the rotating body, the first reflecting surface of the first reflecting mirror is bent at least in the second direction, and the first reflecting surface is used for enabling the emergent view field range of the multiple beams of detection light on the first reflecting surface at least along the second direction to be larger than the incident view field range. According to the embodiment of the application, even if the rotation amplitude of the scanning mirror rotating around the second axis is smaller, enough emergent view field range in the first direction which is finally emergent outside the laser radar can be realized, the reserved space of the laser radar at the scanning mirror is reduced, the body type of the laser radar is reduced, and the reliability and stability of the laser radar are improved.
Description
Technical Field
The application relates to the technical field of laser detection equipment, in particular to a laser radar and movable equipment.
Background
The laser radar is an active remote sensing device for detection by adopting a photoelectric technology, combines the photoelectric detection technology and a laser technology, and is an advanced detection mode by adopting laser as a detection light source. The laser radar mainly comprises a transmitting module, a scanning control module, a receiving module and a data processing module, wherein the transmitting module is used for transmitting detection signals to a target, and echo signals of the detection signals are received immediately for processing, so that information such as the distance, reflectivity, speed and size of the detection target is obtained. The laser radar equipment has high precision, strong anti-interference capability, high sensitivity and difficult influence by dark conditions, and is widely applied to the fields of automatic driving, vehicle-road coordination, logistics vehicles, robots, public intelligent transportation and the like.
The scanning mode of the laser radar at present mainly comprises the following steps: 1) Mechanical rotation type: the motor drives the optical machine and the hardware to rotate together; 2) Semi-solid state type: only a small number of scanning devices rotate, and the receiving and transmitting devices and the like are fixed; 3) Solid state type: all devices are fixed, no scanning devices are present. At present, the mechanical rotation type can realize a scanning field angle of 360 degrees in the horizontal direction, and the semi-solid state and the solid state can only realize the scanning field angle of about 120 degrees in the horizontal direction, so that the coverage area is smaller.
At present, the mechanical rotary laser radar can realize a scanning field angle of 360 degrees in the horizontal direction, but the number of rotary parts and hardware boards is large, so that unreliability can be increased. While the vertical field of view and the volume of the radar are affected by the stack of transceiver devices.
Disclosure of Invention
The embodiment of the application provides a laser radar and movable equipment, which are used for improving the problems that in the related art, if the large-angle scanning in the vertical direction is required to be realized, a plurality of groups of transceiver devices are required to be deployed, the size of a transceiver board is large, the volume of a lens of the transceiver board is increased, the whole volume of the laser radar is increased, the number of traditional mechanical rotating parts and hardware boards is reduced, and the reliability is improved under the condition of ensuring the detection view field.
In a first aspect, an embodiment of the present application provides a lidar, including a base, a rotating body, a transceiver module, and a first mirror. The rotator can rotate around the first axis relative to the base. The receiving and transmitting module comprises a transmitter, a receiver, a beam splitter and a scanning mirror, wherein the transmitter and the receiver are arranged on a base, the scanning mirror is arranged on a rotating body, the scanning mirror is provided with a second reflecting surface, the second reflecting surface can rotate around a second axis, the second axis passes through a point on the first axis, probe light emitted by the transmitter is used for being transmitted to the second reflecting surface through the beam splitter, echo light received by the second reflecting surface is used for being transmitted to the receiver through the beam splitter, and the echo light is formed by reflecting the probe light by a target object. The first reflector is fixedly arranged on the rotating body and is provided with a first reflecting surface, the first reflecting surface is bent at least in a second direction, the second direction is parallel to the first direction or inclined relative to the first direction, the extending direction of the first axis is the first direction, the extending direction of the second axis is the third direction, the third direction is perpendicular to the first direction, and the first reflecting surface is used for receiving a plurality of detection lights output by the transceiver module and enabling the emergent view field range of the plurality of detection lights on the first reflecting surface at least along the second direction to be larger than the incident view field range; the first reflecting surface is also used for receiving the reflected wave light and transmitting the reflected wave light to the receiving and transmitting module.
In a second aspect, an embodiment of the present application further provides a mobile device, including a device main body and the above-mentioned lidar, where the lidar is connected to the device main body.
The laser radar and the movable equipment provided by the embodiment of the application can not only improve the emergent view field range of the laser radar in the direction vertical to the first direction, but also improve the emergent view field range of the laser radar in the first direction, and realize the scanning of the laser radar in at least two dimensions at a large view field angle.
Because the second reflecting surface of the scanning mirror rotates around the second axis, the same beam of detection light can be emitted to different positions perpendicular to the second axis, and even if the transceiver module comprises one or a few transmitters, the transceiver module can emit multiple beams of detection light, and the arrangement of the single or the few transmitters is favorable for reducing the size of the transceiver module. That is, the embodiment of the application can realize the scanning of a large field angle perpendicular to the second axis and the detection of channels with higher line number by using few receiving and transmitting channels through an ingenious scanning scheme, thereby reducing the volume and the manufacturing cost of the laser radar and improving the competitiveness of the product.
Under the requirement of the same emergent view field range along the first direction/the second direction, the first reflecting surface is bent at least in the second direction, so that the emergent view field range of a plurality of detection lights at least along the first direction or the second direction on the first reflecting surface is enlarged, and compared with the situation that the first reflecting surface is not arranged, the quantity of the detection lights which are output by the transceiver module and are distributed along the first direction/the second direction can be further reduced, the quantity of transmitters included by the transceiver module is reduced, the sizes of the transceiver board card and the lens are reduced, and the size of the laser radar is reduced. The first reflecting mirror is fixed relative to the rotating body and does not move, the occupied space is relatively small, and the size of the laser radar is reduced.
The scanning mirror and the first reflecting mirror are arranged on the rotating body and can rotate around the first axis along with the rotating body relative to the base, so that when the scanning mirror rotates around the second axis, the same beam of detection light can be emitted to different positions on the first reflecting surface, and the emergent view field range of the multiple beams of detection light at least along the first direction or the second direction is further enlarged through the first reflecting surface. Like this, even the scanning mirror is around the pivoted rotation range of second axis less, also can realize finally that the outgoing visual field scope of first direction outside the laser radar is enough, and scanning mirror is around the pivoted rotation range of second axis less, is favorable to reducing the laser radar in the reserved space of scanning mirror department for the laser radar's structure is compacter, reduces the body type of laser radar, promotes laser radar's reliability and stability. The second axis of the second reflecting surface of the scanning mirror passes through one point on the first axis, so that the scanning mirror is prevented from shifting in the process of rotating the rotating body relative to the base around the first axis, and the reliable transmission of the scanning mirror to the detection light and the echo light in the use process of the laser radar is ensured; meanwhile, the transmitting and receiving and corresponding driving boards are arranged on the base, so that the rotating parts and the hardware boards can be reduced, and the reliability of the radar is improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a lidar according to some embodiments of the present application;
FIG. 2 is a schematic view of the laser radar of FIG. 1 as the scan mirror rotates;
FIG. 3 is a schematic view of a laser radar according to other embodiments of the present application;
FIG. 4 is a schematic view of the laser radar of FIG. 3 as the scan mirror rotates;
Fig. 5 is a schematic structural diagram of a mobile device according to some embodiments of the present application.
Reference numerals illustrate:
1. A laser radar; 2. a removable device; 3. an apparatus main body;
10. A base;
20. a rotating body;
30. A transceiver module; 31. a transmitter; 32. a receiver; 33. a beam splitter; 331. a light transmission region; 332. a light reflection region; 34. a scanning mirror; 341. a second reflecting surface; 35. a transmitting plate; 36. a receiving plate; 37. a third mirror; 371. a fourth reflecting surface;
40. a first mirror; 41. a first reflecting surface;
50. a second mirror; 51. a third reflective surface;
m, a first axis; n, the second axis; x, a first direction; y, the second direction; z, third direction.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application as detailed in the accompanying claims.
Referring to fig. 1 and 2, an embodiment of the present application provides a laser radar 1, where the laser radar 1 includes a base 10, a rotating body 20, a transceiver module 30, and a first reflecting mirror 40.
The rotator 20 is rotatable relative to the base 10 about a first axis m. The transceiver module 30 includes a transmitter 31, a receiver 32, a beam splitter 33, and a scan mirror 34. The emitter 31 and the receiver 32 are both arranged on the base 10, the scanning mirror 34 is arranged on the rotating body 20, the scanning mirror 34 is provided with a second reflecting surface 341, the second reflecting surface 341 can rotate around a second axis n, the second axis n passes through a point on the first axis m, the probe light emitted by the emitter 31 is used for being transmitted to the second reflecting surface 341 through the beam splitter 33, the echo light received by the second reflecting surface 341 is used for being transmitted to the receiver 32 through the beam splitter 33, and the echo light is formed by reflecting the probe light by a target object.
The first reflecting mirror 40 is disposed on the rotating body 20, the first reflecting mirror 40 has a first reflecting surface 41, the first reflecting surface 41 is curved at least in a second direction y, the second direction y is parallel to or inclined relative to the first direction x, the first axis m extends in the first direction x, the second axis n extends in a third direction z, and the third direction z is perpendicular to the first direction x. The first reflecting surface 41 is configured to receive the multiple beams of detection light output by the transceiver module 30, and make an outgoing field of view of the multiple beams of detection light on the first reflecting surface 41 at least along the second direction y larger than an incident field of view; the first reflecting surface 41 is also used for receiving the reflected light and transmitting the reflected light to the transceiver module 30.
In the above-mentioned design, the first reflecting mirror 40 is fixedly disposed on the rotating body 20, and in the process that the rotating body 20 rotates around the first axis m relative to the base 10, the first reflecting surface 41 of the first reflecting mirror 40 on the rotating body 20 also rotates around the first axis m relative to the base 10, so that the first reflecting surface 41 can reflect the received probe light in multiple directions around the first axis m, so as to improve the outgoing field range of the laser radar 1 in the direction perpendicular to the first axis m, that is, improve the outgoing field range of the laser radar 1 in the direction perpendicular to the first direction x.
The second reflecting surface 341 of the scanning mirror 34 can rotate around the second axis n, and can emit the same beam of detection light to different positions perpendicular to the second axis n during the process of rotating the second reflecting surface 341 around the second axis n. The extending direction of the second axis n is the third direction z, which is perpendicular to the first direction x, so that the second reflecting surface 341 can emit the same beam of detection light to different positions in the first direction x in the process of rotating the second reflecting surface 341 around the second axis n, so that the transceiver module 30 emits multiple beams of detection light, and at least part of the multiple beams of detection light are distributed along the first direction x. And the second direction y is parallel to the first direction x or inclined relative to the first direction x, at least part of the plurality of detection lights are arranged along the first direction x, and at least part of the plurality of detection lights are also arranged along the second direction y, so that the plurality of detection lights can reach different positions along the second direction y on the first reflecting surface 41. By combining the first reflecting surface 41 to bend at least in the second direction y, it is possible to realize that the outgoing field of view range of the multiple beams of detection light on the first reflecting surface 41 at least along the second direction y is larger than the incoming field of view range, and the outgoing field of view range of the laser radar 1 in the first direction x/the second direction y is improved. For example, the outgoing field of view range α 2+β2 of the first, second, and third probe lights in the second direction y on the first reflecting surface 41 shown in fig. 2 is larger than the incoming field of view range α 1+β1 thereof, thereby increasing the outgoing field of view range of the laser radar 1 in the first direction x/the second direction y.
In summary, the embodiment of the application can not only improve the emergent view field range of the laser radar 1 in the direction vertical to the first direction x, but also improve the emergent view field range of the laser radar 1 in the first direction x, and realize the scanning of the laser radar 1 in at least two dimensions with a large view angle. The first direction x may be a vertical direction, and a direction perpendicular to the first direction x is a horizontal direction, and if the rotating body 20 rotates 360 ° around the first axis m relative to the base 10, an outgoing field of view range of 360 ° of the laser radar 1 in the horizontal direction can be achieved. It should be noted that the speed at which the scan mirror 34 rotates about the second axis n and the speed at which the rotating body 20 rotates about the first axis m may be configured according to the actual point cloud requirement, which is not limited. It will be appreciated that the scan mirror 34 may reduce the rotational speed in the direction of the outgoing light corresponding to the radar center field of view, thereby improving the resolution of the radar center field of view. Wherein it is understood that the central field of view of the radar corresponds to the target detection area of the radar. The target detection area may be, for example, a central detection field of view of the radar, for example, a detection range of-30 degrees to 30 degrees in the second detection direction of the radar, and then the central detection field of view refers to a detection range of-10 degrees to 10 degrees in the second detection direction.
Since the same beam of probe light can be emitted to different positions perpendicular to the second axis n during the rotation of the second reflecting surface 341 of the scanning mirror 34 around the second axis n, even if the transceiver module 30 includes one or a few of the emitters 31, it is possible to satisfy that the transceiver module 30 emits multiple beams of probe light, and the arrangement of one or a few of the emitters 31 is favorable for reducing the size of the transceiver module 30. That is, the embodiment of the application can realize the scanning of a large field angle perpendicular to the second axis n and the channel detection of a higher line number by using few receiving and transmitting channels through a smart scanning scheme, thereby reducing the volume and manufacturing cost of the laser radar 1 and improving the product competitiveness. It should be noted that the transceiver module 30 may also include a plurality of transmitters 31 arranged along the first direction x and/or the third direction z. The scan mirror 34 may include a rotating mirror, a galvanometer, other lens modules capable of performing rotational scanning, and the like, which are not limited thereto.
Under the requirement of the same emitting field of view along the first direction x/second direction y, the first reflecting surface 41 is curved at least along the second direction y to increase the emitting field of view along the first direction x/second direction y on the first reflecting surface 41, so that compared with the case where the first reflecting surface 41 is not provided, the number of the detecting lights which are output by the transceiver module 30 and are distributed along the first direction x/second direction y can be further reduced, the number of the emitters 31 included in the transceiver module 30 can be reduced, the size of the transceiver board and the lens can be reduced, and the size of the laser radar 1 can be reduced. The first reflecting mirror 40 is fixed relative to the rotating body 20, does not move, occupies small space, and is beneficial to reducing the size of the laser radar 1.
The scanning mirror 34 and the first reflecting mirror 40 are provided on the rotating body 20 and can rotate around the first axis m with respect to the base 10 along with the rotating body 20, so that the same beam of probe light can be emitted to different positions on the first reflecting surface 41 when the scanning mirror 34 rotates around the second axis n, and the emission field range of the beam of probe light along at least the first direction x/the second direction y is further widened by the first reflecting surface 41. Thus, even if the rotation amplitude of the rotation of the scanning mirror 34 around the second axis n is smaller, the enough emergent view field range of the first direction x finally emergent outside the laser radar 1 can be realized, and the rotation amplitude of the rotation of the scanning mirror 34 around the second axis n is smaller, so that the reserved space of the laser radar 1 at the scanning mirror 34 is reduced, the structure of the laser radar 1 is more compact, the size of the laser radar 1 is reduced, and the reliability and stability of the laser radar 1 are improved. The second axis n of rotation of the scanning mirror 34 passes through a point on the first axis m, so that the scanning mirror 34 can be prevented from shifting in the process of rotating the rotating body 20 relative to the base 10 around the first axis m, and the reliable transmission of the detection light and the echo light by the scanning mirror 34 in the use process of the laser radar 1 can be ensured.
The above-mentioned design transmitter 31 and receiver 32 all set up in base 10, compare in design transmitter 31 and receiver 32 set up in rotator 20, can reduce the quantity of rotating parts, reliability and stability when promoting rotator 20 rotation, and only need set up on base 10 the main control integrated circuit board can, can save the design of main control integrated circuit board on the rotator 20, reduce integrated circuit board quantity, promote the heat dispersion of transmitter 31 and receiver 32, and at the in-process that laser radar 1 used, transmitter 31 and receiver 32 can keep motionless, promote the reliability that transmitter 31 and receiver 32 are fixed, realize semi-solid rotation type scanning, compression laser radar 1's volume.
Aiming at the transceiver module 30, the beam splitter 33 is arranged, so that the probe light and the echo light can share the scanning mirror 34 and the first reflecting mirror 40, which is beneficial to reducing the size of the laser radar 1 on the premise of improving the detection view angle of the laser radar 1. The probe light emitted from the emitter 31 is transmitted to the second reflecting surface 341 through the beam splitter 33, and the echo light received by the second reflecting surface 341 is transmitted to the receiver 32 through the beam splitter 33. Specifically, the beam splitter 33 may include a light-transmitting area 331 and a light-reflecting area 332, one of the light-transmitting area 331 and the light-reflecting area 332 is configured to receive the detection light emitted from the emitter 31 and transmit the detection light to the second reflecting surface 341, and the other of the light-transmitting area 331 and the light-reflecting area 332 is configured to receive the echo light received by the second reflecting surface 341 and transmit the echo light to the receiver 32. The light-transmitting area 331 may be made of a light-transmitting material, and the light-transmitting area 331 may be a blank area, i.e. a hole structure. The light reflection region 332 may be formed by providing a reflection film on the beam splitter 33, or the like.
In an exemplary embodiment, the light reflective area 332 may be disposed around the periphery of the light transmissive area 331, where the light transmissive area 331 may be made of a light transmissive material, and the light transmissive area 331 may be a blank area, that is, the light transmissive area 331 is an area surrounded by the light holes in the beam splitter 33. In another exemplary embodiment, the light-transmitting region 331 may be disposed around the periphery of the light-reflecting region 332, where the light-transmitting region 331 may be made of a light-transmitting material, and the light-transmitting region 331 may be a blank region, and it is understood that the beam splitter 33 includes only the light-reflecting region 332, and a partial region outside the light-reflecting region 332 is defined as the light-transmitting region 331.
The transceiver module 30 further includes a transmitting lens and a receiving lens, the transmitting lens is used for receiving the probe light emitted by the transmitter 31 and transmitting the probe light to the beam splitter 33, and the receiving lens is used for receiving the echo light output by the beam splitter 33 and transmitting the echo light to the receiver 32. Wherein the transmitting lens comprises one or more lenses and the receiving lens comprises one or more lenses. The transceiver module 30 may further include a transceiver lens, where the transceiver lens is configured to receive the probe light output by the beam splitter 33 and transmit the probe light to the first reflecting surface 41, and the transceiver lens is also configured to receive the echo light output by the first reflecting surface 41 and transmit the echo light to the beam splitter 33. At this time, the probe light and the echo light can share the transmitting/receiving lens, which is advantageous for reducing the body size of the laser radar 1. Wherein, the receiving and transmitting lens comprises one or more lenses.
The transceiver module 30 further includes a transmitting board 35 and a receiving board 36, the transmitting board 35 is disposed on the base 10, and the transmitter 31 is mounted on the transmitting board 35 and electrically connected to the transmitting board 35. The receiving plate 36 is disposed on the base 10, and the receiver 32 is mounted on the receiving plate 36 and electrically connected to the receiving plate 36. The transmitting plate 35 and the receiving plate 36 are both arranged on the base 10, which is beneficial to heat dissipation. It should be noted that, referring to fig. 1 and 2, the transmitting plate 35 and the receiving plate 36 may be separately disposed, and the transmitting plate 35 and the receiving plate 36 may also share the same circuit board, and a reflecting device may be added between the transmitter 31 and the beam splitter 33 or between the receiver 32 and the beam splitter 33, so that the detection light emitted by the transmitter 31 and the return light received by the receiver 32 may pass through different areas on the beam splitter 33, which is not limited.
In an exemplary embodiment, referring to fig. 1 and 2, a beam splitter 33 is disposed on the base 10, and a center of the beam splitter 33 passes through a point on the first axis m. The center of the beam splitter 33 is directly designed to pass through a point on the first axis m, so that the relative position of the beam splitter 33 and the scanning mirror 34 is prevented from being deviated in the process that the rotating body 20 rotates around the first axis m relative to the base 10, the reliable transmission of detection light and echo light between the beam splitter 33 and the scanning mirror 34 in the use process of the laser radar 1 is ensured, other devices are not required to be additionally arranged between the beam splitter 33 and the scanning mirror 34, the structure of the laser radar 1 can be simplified, the size of the laser radar 1 is reduced, and the manufacturing cost is reduced.
In another exemplary scheme, referring to fig. 3 and 4, the transceiver module 30 further includes a third reflector 37, the beam splitter 33 and the third reflector 37 are both disposed on the base 10, the third reflector 37 has a fourth reflecting surface 371, the fourth reflecting surface 371 is configured to receive the detection light emitted from the beam splitter 33 and transmit the detection light to the second reflecting surface 341, the fourth reflecting surface 371 is further configured to receive the return light received by the second reflecting surface 341 and transmit the return light to the beam splitter 33, and a center of the third reflector 37 passes through a point on the first axis m. The center of the third reflecting mirror 37 is designed to be a point on the first axis m, so that the relative position of the third reflecting mirror 37 and the scanning mirror 34 is prevented from being deviated in the process that the rotating body 20 rotates around the first axis m relative to the base 10, the reliable transmission of the detection light and the echo light between the third reflecting mirror 37 and the scanning mirror 34 in the using process of the laser radar 1 is ensured, the third reflecting mirror 37 can realize the light path conversion, the arrangement position of the beam splitter 33 in the base 10 is more flexible, the internal space utilization rate of the base 10 is improved, the size of the base 10 is reduced, and the size of the laser radar 1 is further reduced. The fourth reflecting surface 371 may be a plane for changing the light path transmission direction without performing diffusion or the like on the light. The planar design can reduce the design difficulty of the assembly and adaptation positions of the fourth reflecting surface 371, the beam splitter 33 and the scanning mirror 34, and reduce the assembly cost.
In the first reflecting mirror 40, the first reflecting surface 41 is concave so as to be able to diffuse the plurality of probe lights, and the outgoing field of view of the plurality of probe lights on the first reflecting surface 41 is larger than the incoming field of view. The first reflecting surface 41 may include at least one of a spherical surface and a columnar surface. If the first reflecting surface 41 includes a spherical surface, since the spherical surface is curved not only in the second direction y but also in a direction forming an angle with the second direction y, the spherical surface can realize that the outgoing field of view of the plurality of probe lights in more dimensions is larger than the incoming field of view thereof.
If the first reflecting surface 41 includes spherical surfaces, the first reflecting surface 41 may include spherical surfaces having equal radii, or may include a plurality of spherical surfaces having different radii. Because the spherical surfaces with different radii have different diffusion effects on the detection light, the design that the first reflecting surface 41 comprises a plurality of spherical surfaces with different radii is beneficial to users to select spherical surfaces with different radii for splicing according to actual demands, and the use is more flexible. If the first reflecting surface 41 includes a columnar surface, the first reflecting surface 41 may include a columnar surface having a radius equal to each other, or may include a plurality of columnar surfaces having a radius different from each other. Because the columnar surfaces with different radii have different diffusion effects on the detection light, the first reflecting surface 41 comprises a plurality of columnar surfaces with different radii, which is beneficial for a user to select the columnar surfaces with different radii to splice according to actual demands, and is more flexible to use. The first reflecting surface 41 may include a spherical surface or a columnar surface, and is not limited thereto. It is understood that the first reflecting surface 41 may be a multi-segment plane mirror, and is curved along an arc in the second preset plane.
Since the boundary line of the first reflecting surface 41 is not necessarily a straight line, but may be a curved line or the like, the above-mentioned "columnar surface" does not mean a cylindrical surface in a mathematical sense, but means a surface curved along an arc of a circle only in one first preset plane, and extending straight in a second preset plane perpendicular to the first preset plane. The "cylindrical surface" may be all or part of a cylindrical surface in a mathematical sense. Similarly, the above-mentioned "spherical surface" does not mean a spherical surface in a mathematical sense, but means a surface curved along an arc of a circle only in one first preset plane and curved along an arc of a circle in a second preset plane perpendicular to the first preset plane. "spherical surface" may be all or part of a sphere in the mathematical sense.
Referring to fig. 1 to 4, the lidar 1 further includes a second reflecting mirror 50, the second reflecting mirror 50 is disposed on the rotating body 20, the second reflecting mirror 50 has a third reflecting surface 51, the third reflecting surface 51 is configured to receive the multiple beams of detection light emitted from the transceiver module 30 and transmit the multiple beams of detection light to the first reflecting surface 41, and the third reflecting surface 51 is also configured to receive the echo light received by the first reflecting surface 41 and transmit the echo light to the receiver 32. The third reflecting surface 51 may be used to change the optical path, so as to be beneficial to adjusting the positions of the transceiver module 30 and the first reflecting mirror 40 in the laser radar 1, so as to better adapt to the space allowance in the laser radar 1.
In an exemplary aspect, the third reflective surface 51 may be a plane for changing the light path transmission direction without performing operations such as diffusing light rays, for example, the outgoing field of view range α 1+β1 of the first, second, and third probe lights in the second direction y on the third reflective surface 51 is equal to the incoming field of view range α 1+β1 thereof, as shown in fig. 2 and 4. The planar design can reduce the design difficulty of the assembly adapting positions of the third reflecting surface 51, the transceiver module 30 and the first reflecting mirror 40, and reduce the assembly cost. In another exemplary embodiment, the third reflecting surface 51 may be designed to be a curved surface, for example, the third reflecting surface 51 is a concave surface, so as to be capable of diffusing the probe beam, and in combination with the first reflecting mirror 40, the range of the outgoing field of view of the laser radar 1 may be further improved. Here, the third reflective surface 51 may be curved at least in a direction parallel to the first direction x or inclined with respect to the first direction x, and the third reflective surface 51 may include a spherical surface and/or a columnar surface, etc., without limitation. Wherein the second mirror 50 may be substantially prismatic, planar, etc.
The second reflecting mirror 50 is matched with the transceiver module 30 and the first reflecting mirror 40, and may be designed to output the optical signal to the outside of the laser radar 1 via the first reflecting surface 41, for example, it may be realized that the optical signal to the outside of the laser radar 1 is output from the side of the rotator 20 away from the base 10. It should be understood that the second reflecting mirror 50 may be omitted, and only the probe light emitted from the transceiver module 30 may reach the first reflecting surface 41 of the first reflecting mirror 40, and the echo light received by the first reflecting surface 41 may be transmitted to the transceiver module 30.
Referring to fig. 5, an embodiment of the present application provides a mobile device 2, where the mobile device 2 includes a device body 3 and the above-mentioned lidar 1, and the lidar 1 is connected to the device body 3. In the embodiment of the application, the movable equipment 2 is an automobile; of course, in other embodiments of the present application, the movable device 2 may be any moving tool on which the laser radar 1 is mounted, such as an electric vehicle, an unmanned aerial vehicle, a robot, and the like.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means at least two, for example, two, three, four, and the like. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The foregoing disclosure is illustrative of the present application and is not to be construed as limiting the scope of the application, which is defined by the appended claims.
Claims (10)
1. A lidar (1), characterized by comprising:
A base (10);
-a rotating body (20), said rotating body (20) being rotatable with respect to said base (10) about a first axis (m);
The receiving and transmitting module (30), the receiving and transmitting module (30) comprises a transmitter (31), a receiver (32), a beam splitter (33) and a scanning mirror (34), the transmitter (31) and the receiver (32) are arranged on the base (10), the scanning mirror (34) is arranged on the rotating body (20), the scanning mirror (34) is provided with a second reflecting surface (341), the second reflecting surface (341) can rotate around a second axis (n), the second axis (n) passes through one point on the first axis (m), detection light emitted by the transmitter (31) is used for being transmitted to the second reflecting surface (341) through the beam splitter (33), echo light received by the second reflecting surface (341) is used for being transmitted to the receiver (32) through the beam splitter (33), and the echo light is formed by reflecting detection light of a target object;
A first reflecting mirror (40), the first reflecting mirror (40) is fixedly arranged on the rotating body (20), the first reflecting mirror (40) is provided with a first reflecting surface (41), the first reflecting surface (41) is bent at least in a second direction (y), the second direction (y) is parallel to the first direction (x) or inclined relative to the first direction (x), the direction in which the first axis (m) extends is the first direction (x), the direction in which the second axis (n) extends is a third direction (z), the third direction (z) is perpendicular to the first direction (x), and the first reflecting surface (41) is used for receiving a plurality of detection lights output by the transceiver module (30) and making the emergent view field range of the plurality of detection lights at least along the second direction (y) on the first reflecting surface (41) be larger than the incident view field range; the first reflecting surface (41) is also used for receiving the reflected wave light and transmitting the reflected wave light to the transceiver module (30).
2. The lidar (1) according to claim 1, wherein the first reflecting surface (41) comprises at least one of a spherical surface, a cylindrical surface.
3. The lidar (1) according to claim 2, wherein the first reflecting surface (41) comprises a plurality of spherical surfaces of unequal radius;
alternatively, the first reflecting surface (41) includes a plurality of columnar surfaces having different radii.
4. The lidar (1) according to claim 1, wherein the transceiver module (30) further comprises:
the emitter plate (35), the emitter plate (35) is arranged on the base (10), and the emitter (31) is arranged on the emitter plate (35) and is electrically connected with the emitter plate (35);
-a receiving plate (36), said receiving plate (36) being arranged in said base (10), said receiver (32) being mounted in said receiving plate (36) and being electrically connected to said receiving plate (36).
5. Lidar (1) according to claim 1, characterized in that said transceiver module (30) comprises one of said transmitters (31).
6. Lidar (1) according to claim 1, characterized in that said transceiver module (30) comprises a plurality of said transmitters (31) arranged along said first direction (x) or third direction (z).
7. The lidar (1) according to claim 1, further comprising:
The second reflector (50), the second reflector (50) set up in rotator (20), second reflector (50) have third reflection face (51), third reflection face (51) are used for receiving the multi-beam detection light that transceiver module (30) was launched and are transmitted to first reflection face (41), third reflection face (51) still are used for receiving the back wave light that first reflection face (41) received and are transmitted to receiver (32).
8. The lidar (1) according to any of claims 1 to 7, wherein the beam splitter (33) is arranged at the base (10), the center of the beam splitter (33) passing a point on the first axis (m).
9. The lidar (1) according to any of claims 1 to 7, wherein the transceiver module (30) further comprises:
The third reflector (37), beam splitter (33) with third reflector (37) all set up in base (10), third reflector (37) have fourth reflecting surface (371), fourth reflecting surface (371) are used for receiving the probe light that beam splitter (33) was emergent and transmit to second reflecting surface (341), fourth reflecting surface (371) still are used for receiving the return light that second reflecting surface (341) received and transmit to beam splitter (33), the center of third reflector (37) is crossed a bit on first axis (m).
10. A mobile device (2) comprising a device body (3) and a lidar (1) according to any of claims 1 to 9, the lidar (1) being connected to the device body (3).
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| CN202410730398.8A CN118294928B (en) | 2024-06-06 | 2024-06-06 | Laser radar and mobile device |
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| CN202410730398.8A CN118294928B (en) | 2024-06-06 | 2024-06-06 | Laser radar and mobile device |
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|---|---|---|---|---|
| CN107976686A (en) * | 2017-10-26 | 2018-05-01 | 浙江大学 | A kind of more field angle oceanographic lidars and its field angle selection method |
| CN109270515A (en) * | 2018-11-29 | 2019-01-25 | 北京理工大学 | Coaxially receive and dispatch scanning laser radar in variable sweep region |
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| CN113970748A (en) * | 2020-07-23 | 2022-01-25 | 上海禾赛科技有限公司 | Laser radar and detection method thereof |
| US20230194674A1 (en) * | 2021-12-22 | 2023-06-22 | Industrial Technology Research Institute | Light emission module, light detection and ranging system and light scanning method |
| CN114488193A (en) * | 2022-01-17 | 2022-05-13 | 森思泰克河北科技有限公司 | Rotating mirror type multi-line laser radar and design method thereof |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976686A (en) * | 2017-10-26 | 2018-05-01 | 浙江大学 | A kind of more field angle oceanographic lidars and its field angle selection method |
| CN109270515A (en) * | 2018-11-29 | 2019-01-25 | 北京理工大学 | Coaxially receive and dispatch scanning laser radar in variable sweep region |
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