Laser radar and control method

Abstract

The invention discloses a laser radar and a control method. The laser radar comprises a rotating mirror and a transmitting-receiving device, the rotating mirror rotates around a central shaft, and the transmitting-receiving device comprises a first transmitting-receiving assembly, a second transmitting-receiving assembly, a third transmitting-receiving assembly and a fourth transmitting-receiving assembly. The first transmit-receive assembly and the third transmit-receive assembly are configured to emit laser to the reflecting surface and receive return light reflected by the reflecting surface to form a field of view when the rotating mirror rotates in a first angle range. The second transmit-receive assembly and the fourth transmit-receive assembly are configured to emit laser to the reflecting surface and receive return light reflected by the reflecting surface to form a field of view when the rotating mirror rotates within a second angle range. Thus, the first transceiving assembly and the second transceiving assembly alternately emit laser and receive return light, and the third transceiving assembly and the fourth transceiving assembly alternately emit laser and receive return light, so that the problem that the return light receiving aperture is reduced due to large laser steering angle caused by rotation of the rotating mirror is solved, and the return light receiving aperture of the laser radar is increased. And the distance measurement of the laser radar is improved.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar and a control method. Background Art

[0002] Laser radar (LIDAR) measures the position, speed and other information of a target object by emitting a laser beam to the target object and receiving the beam reflected from the target object. With the development and application of laser technology, laser scanning technology is increasingly widely used in measurement, transportation, driving assistance and mobile robots.

[0003] Most common laser radar systems are rotating mirror optical path systems. In this type of radar, the transceiver module is generally arranged on one side of the rotating mirror. The transceiver module is kept stationary, and the rotating mirror is driven by a motor to reflect the laser in different directions to achieve laser scanning within a certain range. However, when the rotating mirror rotates to turn the transmitted light beam to a large angle, the aperture of the receiving module receiving the return light is reduced, and the larger the turning angle, the smaller the receiving aperture, resulting in a closer range for the laser radar. Summary of the invention

[0004] The invention provides a laser radar and a control method.

[0005] An embodiment of the present invention provides a laser radar, including a rotating mirror and a transceiver, wherein the rotating mirror includes a plurality of reflecting surfaces, the rotating mirror rotates around a central axis, and the transceiver includes:

[0006] A first transceiver assembly is located at a first position and is disposed toward the rotating mirror;

[0007] A second transceiver assembly is located at a second position and is disposed toward the rotating mirror, wherein the second position is adjacent to the first position;

[0008] A third transceiver assembly is located at a third position and is disposed toward the rotating mirror, and the third transceiver assembly is symmetrical with the first transceiver assembly about the center of the rotating mirror;

[0009] a fourth transceiver assembly, located at a fourth position and disposed toward the rotating mirror, wherein the fourth transceiver assembly and the second transceiver assembly are symmetrical about the center of the rotating mirror;

[0010] The first transceiver component and the third transceiver component are configured to transmit laser to the reflective surface and receive return light reflected by the reflective surface to form a field of view when the rotating mirror rotates within a first angle range, and the second transceiver component and the fourth transceiver component are configured to transmit laser to the reflective surface and receive return light reflected by the reflective surface to form a field of view when the rotating mirror rotates within a second angle range.

[0011] In some embodiments, the first angle range includes a first sub-interval, the second angle range includes a second sub-interval, the first sub-interval is adjacent to the second sub-interval, and the first transceiver component, the second transceiver component, the third transceiver component and the fourth transceiver component are configured to emit laser to the reflective surface and receive return light reflected by the reflective surface to form a field of view when the rotating mirror rotates through the first sub-interval and / or the second sub-interval.

[0012] In some embodiments, the first transceiver assembly forms a first field of view when the rotating mirror rotates within the first angle range, the second transceiver assembly forms a second field of view when the rotating mirror rotates within the second angle range, the third transceiver assembly forms a third field of view when the rotating mirror rotates within the first angle range, and the fourth transceiver assembly forms a fourth field of view when the rotating mirror rotates within the second angle range, and the first field of view, the second field of view, the third field of view, and the fourth field of view are different.

[0013] In some embodiments, the first angle range includes 0-90 degrees and 180-270 degrees, and the second angle range includes 90-180 degrees and 270-360 degrees.

[0014] In some embodiments, the first transceiver component and the fourth transceiver component are staggered.

[0015] In some embodiments, the first transceiver component, the second transceiver component, the third transceiver component and the fourth transceiver component have the same structure, and the first transceiver component includes:

[0016] A light source, emitting laser light;

[0017] A collimating lens, located on the optical path of the laser;

[0018] The beam splitter is located on a side of the collimating lens away from the light source. The laser passes through the collimating lens to the beam splitter and is reflected to the rotating mirror.

[0019] In some embodiments, a reflective film is attached to a first region of the beam splitter, and the first region is located on an optical path of the laser.

[0020] In some embodiments, the first transceiver component further includes:

[0021] A receiving lens is arranged opposite to the rotating mirror, and the return light reflected by the reflecting surface passes through the beam splitter to the receiving lens;

[0022] The receiving unit is located at a side of the receiving lens away from the rotating mirror.

[0023] In some embodiments, an anti-reflection film is attached to the second region of the beam splitter, and the second region is located on the optical path of the return light.

[0024] An embodiment of the present invention further provides a control method, which is used for any of the above-mentioned laser radars, and the control method includes:

[0025] driving the rotating mirror to rotate;

[0026] When the rotating mirror rotates to the first angle range, the first transceiver component and the third transceiver component are controlled to be turned on to obtain a first field of view and a third field of view;

[0027] When the rotating mirror rotates to the second angle range, the second transceiver component and the fourth transceiver component are controlled to be turned on to obtain a second field of view and a fourth field of view;

[0028] The first field of view, the second field of view, the third field of view, and the fourth field of view are stitched together.

[0029] In the laser radar of the present application, the transceiver device transmits laser to the rotating mirror and receives return light by setting a first transceiver component, a second transceiver component, a third transceiver component and a fourth transceiver component. The first transceiver component and the third transceiver component simultaneously transmit laser when the rotating mirror rotates to a first angle range, and the second transceiver component and the fourth transceiver component simultaneously transmit laser when the rotating mirror rotates to a second angle range. In this way, the first transceiver component and the second transceiver component alternately transmit laser and receive return light, and the third transceiver component and the fourth transceiver component alternately transmit laser and receive return light, which solves the problem that the rotating mirror rotates to a large angle causing the laser to turn to a large angle, thereby reducing the aperture of the received return light, increases the aperture of the laser radar receiving the return light, and improves the ranging of the laser radar.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0032] Figure 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;

[0033] Figure 2 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;

[0034] Figure 3 It is a flow chart of a control method according to an embodiment of the present invention.

[0035] Description of main component symbols:

[0036] Laser radar 1000, transceiver device 100, first transceiver component 10, light source 11, collimating lens 12, spectrometer 13, first area 131, second area 132, receiving lens 14, receiving unit 15, second transceiver component 20, third transceiver component 30, fourth transceiver component 40, rotating mirror 200, and reflecting surface 210. DETAILED DESCRIPTION

[0037] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In the description of the present invention, 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, and are only for the convenience of describing the present invention 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 limiting the present invention. 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0039] In the description of the present invention, 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 mutual communication; it can be a direct connection, or an indirect connection 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 invention can be understood according to specific circumstances.

[0040] In the present invention, 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 indicates 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 indicates that the first feature is lower in level than the second feature.

[0041] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, 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 invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention 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.

[0042] The laser radar 1000 is a radar system that emits lasers to detect the position, speed and other characteristic quantities of an object. The working principle of the laser radar 1000 is to emit a laser beam to an object, and then compare and analyze the target echo received from the object with the emitted signal to obtain relevant information about the object, such as distance, direction, height, speed, attitude and shape.

[0043] Please combine Figure 1 and Figure 2 The present invention provides a laser radar 1000, which includes a rotating mirror 200 and a transceiver 100.

[0044] Specifically, the rotating mirror 200 is a rotatable prism. The rotating mirror 200 can rotate around its own central axis driven by a motor. The rotating mirror 200 can be arranged in a rectangular body. A reflective film is attached to the surface of the rotating mirror 200 to form a plurality of reflective surfaces 210 . The transceiver device 100 includes a first transceiver component 10, a second transceiver component 20, a third transceiver component 30 and a fourth transceiver component 40. The first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 are all arranged toward the rotating mirror 200. The first transceiver component 10 is located at a first position, the second transceiver component 20 is located at a second position, the first position is adjacent to the second position, the third transceiver component 30 is located at a third position, the third transceiver component 30 and the first transceiver component 10 are symmetrical with respect to the center of the rotating mirror 200, that is, the first position and the third position are symmetrical with respect to the center of the rotating mirror 200, the fourth transceiver component 40 is located at a fourth position, the fourth transceiver component 40 and the second transceiver component 20 are symmetrical with respect to the center of the rotating mirror 200, that is, the second position and the fourth position are symmetrical with respect to the center of the rotating mirror 200.

[0045] Furthermore, the rotation angle of the rotating mirror 200 is Figure 1 and Figure 2 As shown in θ, when the rotating mirror 200 rotates to the first angle range, the first transceiver component 10 and the third transceiver component 30 emit lasers to the rotating mirror 200, and the second transceiver component 20 and the fourth transceiver component 40 are turned off. The laser is reflected by the reflective surface 210 to the object to be measured, and the object to be measured reflects the laser back to the reflective surface 210 and forms return light to the first transceiver component 10 and the third transceiver component 30 to form a field of view. The laser forms a scanning field of view as the rotating mirror 200 rotates, wherein the first transceiver component 10 forms a first field of view and the third transceiver component 30 forms a third field of view. When the rotating mirror 200 rotates to the second angle range, the second transceiver assembly 20 and the fourth transceiver assembly 40 emit lasers to the rotating mirror 200, the first transceiver assembly 10 and the third transceiver assembly 30 are turned off, the laser is reflected by the reflective surface 210 to the object to be measured, and the object to be measured reflects the laser back to the reflective surface 210 and forms a return light to the second transceiver assembly 20 and the fourth transceiver assembly 40 to form a field of view, and the laser follows the rotation of the rotating mirror 200 to form a scanning field of view, wherein the second transceiver assembly 20 forms the second field of view, and the fourth transceiver assembly 40 forms the fourth field of view. Then, the first field of view, the second field of view, the third field of view and the fourth field of view are spliced ​​to obtain a 360-degree detection field of view, wherein the first angle range may include 0-90 degrees and 180-270 degrees, and the second angle range may include 90-180 degrees and 270-360 degrees.

[0046] In some examples, the first transceiver component 10 and the fourth transceiver component 40 can be staggered, and the second transceiver component 20 and the third transceiver component 30 can also be staggered. In this way, the space occupied by the transceiver device 100 is reduced and the volume of the laser radar 1000 is reduced.

[0047] In the laser radar 1000 of the present application, the transceiver device 100 transmits laser to the rotating mirror 200 and receives return light by setting the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40. The first transceiver component 10 and the third transceiver component 30 simultaneously transmit laser when the rotating mirror 200 rotates to the first angle range, and the second transceiver component 20 and the fourth transceiver component 40 simultaneously transmit laser when the rotating mirror 200 rotates to the second angle range. In this way, the first transceiver component 10 and the second transceiver component 20 alternately transmit laser and receive return light, and the third transceiver component 30 and the fourth transceiver component 40 alternately transmit laser and receive return light, which solves the problem that the rotation of the rotating mirror 200 causes the laser to turn to a large angle, thereby reducing the aperture of the received return light, increases the aperture of the laser radar 1000 receiving the return light, and improves the ranging of the laser radar 1000.

[0048] Please combine Figure 2 In some embodiments, the first angle range includes a first sub-interval, the second angle range includes a second sub-interval, and the first sub-interval and the second sub-interval are adjacent.

[0049] Specifically, the first sub-interval may include 0-5 degrees, 85-90 degrees, 180-185 degrees, and 265-270 degrees, and the second sub-interval may include 90-95 degrees, 175-180 degrees, 270-275 degrees, and 355-360 degrees. The specific ranges of the first sub-interval and the second sub-interval may be configured according to actual conditions and are not limited here. When the rotating mirror 200 rotates to the first sub-interval, the first transceiver assembly 10, the second transceiver assembly 20, the third transceiver assembly 30, and the fourth transceiver assembly 40 may simultaneously emit lasers to the rotating mirror 200 and receive the return light reflected by the reflective surface 210 to form a scanning field of view. When the rotating mirror 200 rotates to the second sub-interval, the first transceiver assembly 10, the second transceiver assembly 20, the third transceiver assembly 30, and the fourth transceiver assembly 40 may simultaneously emit lasers to the rotating mirror 200 and receive the return light reflected by the reflective surface 210 to form a scanning field of view.

[0050] Further, when the rotating mirror 200 rotates to 5-85 degrees, the first transceiver assembly 10 and the third transceiver assembly 30 emit lasers and receive return light to form a scanning field of view in two directions. When the rotating mirror 200 rotates to 85-95 degrees, the first transceiver assembly 10, the second transceiver assembly 20, the third transceiver assembly 30 and the fourth transceiver assembly 40 emit lasers and receive return light to form an overlapping scanning field of view. When the rotating mirror 200 rotates to 95-175 degrees, the second transceiver assembly 20 and the fourth transceiver assembly 40 emit lasers and receive return light to form a scanning field of view in two directions. The rotation of the rotating mirror 200 to 175-185 degrees, 185-265 degrees, 265-275 degrees, 275-355 degrees and 355-5 degrees is basically the same as the aforementioned embodiment, that is, when the rotating mirror 200 rotates to the first sub-interval and the second sub-interval, the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 simultaneously emit lasers and receive return light, and the specific implementation manner is not repeated here.

[0051] Furthermore, the scanning fields of view in four directions formed by the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 are spliced ​​into a large field of view according to the overlapping fields of view, thereby realizing 360-degree radar detection.

[0052] It should be noted that the first sub-interval and the second sub-interval are the angle ranges in which the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 are simultaneously turned on. The first sub-interval and the second sub-interval should not be set too large to reduce the stray return light received by each other between two adjacent transceiver components.

[0053] In this way, by setting the first sub-interval and the second sub-interval, the first sub-interval and the second sub-interval are adjacent, and when the rotating mirror 200 rotates to the first sub-interval and the second sub-interval, the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 are controlled to emit laser and receive return light to form an adjacent field of view, so that the scanning field of view formed by the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 is spliced ​​and continuous.

[0054] Please combine Figure 2 In some embodiments, the structures of the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 are the same, and the present application takes the specific structure of the first transceiver component 10 as an example.

[0055] Specifically, the first transceiver assembly 10 includes a light source 11, a collimating lens 12 and a spectroscope 13. The light source 11 is used to emit laser light. The light source 11 can be a laser, such as a solid-state laser (such as an edge-emitting laser (EEL) or a vertical cavity surface-emitting laser (VCSEL) or an external cavity semiconductor laser (ECDL)), a laser diode, or a fiber laser. The light source 11 can also include an LED. The light source 11 can emit light beams in different forms, including pulsed light (TOF), continuous light (CW), and quasi-continuous light. The collimating lens 12 can be a single lens or a lens group. The collimating lens 12 of the present application is exemplified by a single lens. The collimating lens 12 is located on the optical path of the laser. The collimating lens 12 is used to convert divergent light into parallel light, that is, the collimating lens 12 can convert the laser emitted by the light source 11 into parallel laser light. The beam splitter 13 is located on the side of the collimating lens 12 away from the light source 11. The beam splitter 13 includes a first area 131. The first area 131 is located on the optical path of the laser. The first area 131 is covered with a reflective film. The laser emitted by the light source 11 passes through the collimating lens 12 to the first area 131, and is reflected by the first area 131 to the rotating mirror 200, and then reflected to the external environment by the reflective surface 210 of the rotating mirror 200.

[0056] In this way, the first transceiver component 10 can emit laser by setting the light source 11, and can collimate the laser by setting the collimating lens 12 on the optical path of the laser, so that the laser is parallel light, and can reflect the parallel laser to the rotating mirror 200 by setting the beam splitter 13, and then reflect it to the external environment through the rotating mirror 200 to detect the external environment.

[0057] Furthermore, the first transceiver assembly 10 also includes a receiving lens 14 and a receiving unit 15. The receiving lens 14 is arranged opposite to the rotating mirror 200. The receiving lens 14 is located on the side of the beam splitter 13 away from the rotating mirror 200. The receiving lens 14 can be a single lens or a lens group. The receiving lens 14 is used to focus the return light reflected by the rotating mirror 200. The receiving lens 14 of the present application is exemplified by a single lens. The receiving unit 15 is located on the side of the receiving lens 14 away from the rotating mirror 200. The receiving unit 15 includes various forms of photodetectors or one-dimensional or two-dimensional arrays of photodetectors. The photodetector can be an avalanche diode (APD), a single photon avalanche diode (SPAD), a PN photodiode or a PIN photodiode. The receiving unit 15 is used to receive the return light focused by the receiving lens to form a field of view.

[0058] Furthermore, the beam splitter 13 further includes a second region 132, the second region 132 is affixed with an anti-reflection film, and the second region 132 is located on the optical path of the return light, that is, the return light reflected by the rotating mirror 200 passes through the second region 132 of the beam splitter 13 to the receiving lens 14, and the receiving lens 14 focuses the return light to the receiving unit 15 to form a field of view. It should be noted that the first region 131 may be the central region of the beam splitter 13, and the second region 132 may be the edge region of the beam splitter 13.

[0059] In this way, the first transceiver component 10 can focus the return light by setting the receiving lens 14, and can analyze the received return light by setting the receiving unit 15 to generate the detection field of view of the laser radar 1000.

[0060] Please combine Figure 3 The present invention also provides a control method, which is used for the laser radar 1000, and the control method includes:

[0061] S10: driving the rotating mirror to rotate;

[0062] S20: When the rotating mirror rotates to the first angle range, controlling the first transceiver component and the third transceiver component to turn on to obtain the first field of view and the third field of view;

[0063] S30: When the rotating mirror rotates to the second angle range, controlling the second transceiver component and the fourth transceiver component to turn on to obtain the second field of view and the fourth field of view;

[0064] S40: stitching the first field of view, the second field of view, the third field of view, and the fourth field of view.

[0065] Specifically, the rotating mirror 200 rotates around its own central axis under the drive of the motor. When the rotating mirror 200 rotates to the first angle range, the first transceiver assembly 10 and the third transceiver assembly 30 are controlled to be turned on, and the second transceiver assembly 20 and the fourth transceiver assembly 40 are turned off. The first transceiver assembly 10 and the third transceiver assembly 30 emit lasers to the rotating mirror 200 and receive return light. As the rotating mirror 200 rotates, a scanning field of view is formed, that is, a first field of view is formed in the first transceiver assembly 10, and a third field of view is formed in the third transceiver assembly 30. When the rotating mirror 200 rotates to the second angle range, the first transceiver assembly 10 and the third transceiver assembly 30 are controlled to be turned off, and the second transceiver assembly 20 and the fourth transceiver assembly 40 are controlled to be turned on. The second transceiver assembly 20 and the fourth transceiver assembly 40 emit lasers to the rotating mirror 200 and receive return light. As the rotating mirror 200 rotates, a scanning field of view is formed, that is, the second transceiver assembly 20 forms a second field of view, and the fourth field of view is formed in the fourth transceiver assembly 40.

[0066] Furthermore, after the rotating mirror 200 rotates one circle, the first transceiver component 10, the second transceiver component 20, the third transceiver component 30 and the fourth transceiver component 40 jointly complete a 360-degree field of view scan, and obtain the first field of view, the second field of view, the third field of view and the fourth field of view. By splicing the first field of view, the second field of view, the third field of view and the fourth field of view, a frame of 360-degree detection image can be obtained. In this way, by continuously rotating the rotating mirror 200, the first transceiver component 10 and the second transceiver component 20 alternately emit lasers and receive return light, and continuous 360-degree detection of the external environment can be performed.

[0067] In the control method of the present application, by controlling the first transceiver component 10 and the third transceiver component 30 to be turned on synchronously when the rotating mirror 200 rotates to the first angle range, and the second transceiver component 20 and the fourth transceiver component 40 to be turned on synchronously when the rotating mirror 200 rotates to the second angle range, the problem of the reduction in the aperture of the received return light due to the rotation of the rotating mirror 200 causing the laser to turn to a large angle, is solved, the aperture of the laser radar 1000 receiving the return light is increased, and the ranging of the laser radar 1000 is improved.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A laser radar, characterized in that: It includes a rotating mirror and a transceiver, wherein the rotating mirror includes a plurality of reflecting surfaces and the rotating mirror rotates around a central axis, and the transceiver includes: A first transceiver assembly is located at a first position and is disposed toward the rotating mirror; A second transceiver assembly is located at a second position and is disposed toward the rotating mirror, wherein the second position is adjacent to the first position; A third transceiver assembly is located at a third position and is disposed toward the rotating mirror, and the third transceiver assembly is symmetrical with the first transceiver assembly about the center of the rotating mirror; a fourth transceiver assembly, located at a fourth position and disposed toward the rotating mirror, wherein the fourth transceiver assembly and the second transceiver assembly are symmetrical about the center of the rotating mirror; The first transceiver component and the third transceiver component are configured to transmit laser to the reflective surface and receive return light reflected by the reflective surface to form a field of view when the rotating mirror rotates within a first angle range, and the second transceiver component and the fourth transceiver component are configured to transmit laser to the reflective surface and receive return light reflected by the reflective surface to form a field of view when the rotating mirror rotates within a second angle range.

2. The laser radar according to claim 1, characterized in that: The first angle range includes a first sub-interval, the second angle range includes a second sub-interval, the first sub-interval is adjacent to the second sub-interval, and the first transceiver component, the second transceiver component, the third transceiver component and the fourth transceiver component are configured to emit laser to the reflective surface and receive return light reflected by the reflective surface to form a field of view when the rotating mirror rotates through the first sub-interval and / or the second sub-interval.

3. The laser radar according to claim 1, characterized in that: The first transceiver assembly forms a first field of view when the rotating mirror rotates within the first angle range, the second transceiver assembly forms a second field of view when the rotating mirror rotates within the second angle range, the third transceiver assembly forms a third field of view when the rotating mirror rotates within the first angle range, and the fourth transceiver assembly forms a fourth field of view when the rotating mirror rotates within the second angle range, and the first field of view, the second field of view, the third field of view, and the fourth field of view are different.

4. The laser radar according to claim 1, characterized in that: The first angle range includes 0-90 degrees and 180-270 degrees, and the second angle range includes 90-180 degrees and 270-360 degrees.

5. The laser radar according to claim 1, characterized in that: The first transceiver component and the fourth transceiver component are arranged in a staggered manner.

6. The laser radar according to claim 1, characterized in that: The first transceiver component, the second transceiver component, the third transceiver component and the fourth transceiver component have the same structure, and the first transceiver component includes: A light source, emitting laser light; A collimating lens, located on the optical path of the laser; The beam splitter is located on a side of the collimating lens away from the light source. The laser passes through the collimating lens to the beam splitter and is reflected to the rotating mirror.

7. The laser radar according to claim 6, characterized in that: A reflective film is attached to the first area of ​​the beam splitter, and the first area is located on the optical path of the laser.

8. The laser radar according to claim 6, characterized in that: The first transceiver component also includes: A receiving lens is arranged opposite to the rotating mirror, and the return light reflected by the reflecting surface passes through the beam splitter to the receiving lens; The receiving unit is located at a side of the receiving lens away from the rotating mirror.

9. The laser radar according to claim 8, characterized in that: An anti-reflection film is attached to the second area of ​​the beam splitter, and the second area is located on the optical path of the returning light.

10. A control method, characterized in that: The control method is used for the laser radar according to any one of claims 1 to 9, and the control method comprises: driving the rotating mirror to rotate; When the rotating mirror rotates to the first angle range, the first transceiver component and the third transceiver component are controlled to be turned on to obtain a first field of view and a third field of view; When the rotating mirror rotates to the second angle range, controlling the second transceiver component and the fourth transceiver component to turn on to obtain a second field of view and a fourth field of view; The first field of view, the second field of view, the third field of view, and the fourth field of view are stitched together.

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