A rotating prism and multi-line laser radar ranging system

Abstract

The embodiment of the present invention provides a rotating prism and a multi-line laser radar ranging system, wherein the rotating prism includes a top surface, a bottom surface, and a side surface between the top surface and the bottom surface, wherein the side surface is a reflective surface, and all the reflective surfaces rotate around the rotation axis of the rotating prism; among all the reflective surfaces, at least two reflective surfaces have unequal angles with the rotation axis; each reflective surface includes an emitting area and a receiving area, and the propagation direction of the laser beam reflected by the emitting area is opposite to the propagation direction of the laser beam reflected by the receiving area. The embodiment of the present invention provides a rotating prism and a multi-line laser radar ranging system, so as to reduce the manufacturing cost and difficulty of the multi-line laser radar ranging system, reduce the volume of the multi-line laser radar ranging system, and realize the torque balance of multiple reflective surfaces of the rotating prism on the basis of reducing the volume of the multi-line laser radar ranging system.

Description

Technical Field

[0001] The embodiments of the present invention relate to radar technology, and in particular to a rotating prism and multi-line laser radar ranging system. Background Art

[0002] As a distance measuring device, radar has the advantages of high accuracy, strong anti-interference ability, fast response speed, etc., and is suitable for a variety of use environments. Radar can work using laser, infrared light, visible light or sound waves.

[0003] In practical applications, current laser ranging mainly includes time-of-flight ranging and triangulation ranging. Among them, time-of-flight ranging is to project the laser signal onto the target through the optical structure inside the laser radar ranging system. When the laser signal contacts the target, part of the laser echo signal will be reflected back. After the laser radar ranging system receives the laser echo signal reflected back by the target, it can calculate the distance between the laser radar ranging system and the target by calculating the time between the emitted laser signal and the received laser echo signal returned by the target.

[0004] In the prior art, the transmitting system of the multi-line laser radar ranging system has multiple transmitters, and the receiving system of the multi-line laser radar ranging system has receivers corresponding to the multiple transmitters one by one. A large number of transmitters and receivers not only increases the production cost and difficulty of the multi-line laser radar ranging system, but also increases the volume of the multi-line laser radar ranging system. Summary of the invention

[0005] The embodiment of the present invention provides a rotating prism and a multi-line laser radar ranging system, so as to reduce the manufacturing cost and difficulty of the multi-line laser radar ranging system, reduce the volume of the multi-line laser radar ranging system, and realize the torque balance of multiple reflecting surfaces of the rotating prism on the basis of reducing the volume of the multi-line laser radar ranging system.

[0006] In a first aspect, an embodiment of the present invention provides a rotating prism, comprising a top surface, a bottom surface, and a side surface located between the top surface and the bottom surface, wherein the side surface is a reflective surface, and all the reflective surfaces rotate around a rotation axis of the rotating prism;

[0007] Among all the reflecting surfaces, there are at least two reflecting surfaces whose included angles with the rotation axis are not equal;

[0008] The rotating prism has n pairs of reflecting surfaces arranged opposite to each other about the rotating axis, where n is a positive integer greater than or equal to 2;

[0009] The included angles between the two opposite reflecting surfaces and the rotation axis are both greater than or smaller than the included angle between at least one reflecting surface between the two reflecting surfaces and the rotation axis.

[0010] Optionally, the maximum value of the angle between the reflecting surface and the rotation axis is α1, the minimum value of the angle between the reflecting surface and the rotation axis is α2, and 0°<α1-α2<2°.

[0011] Optionally, each of the reflecting surfaces includes an emitting area and a receiving area, and a propagation direction of the laser light beam reflected by the emitting area is opposite to a propagation direction of the laser light beam reflected by the receiving area.

[0012] Optionally, the rotating prism is made of aluminum.

[0013] Optionally, the angles between the two opposite reflection surfaces and the rotation axis are equal.

[0014] Optionally, among all the reflecting surfaces, there is at least one reflecting surface that is perpendicular to both the top surface and the bottom surface.

[0015] In a second aspect, an embodiment of the present invention provides a multi-line laser radar ranging system, including the rotating prism described in the first aspect;

[0016] A rotating mechanism, the rotating prism is located on the rotating mechanism, and the rotating mechanism drives the reflecting surface of the rotating prism to rotate around the rotating axis of the rotating prism;

[0017] At least one set of transmitting and receiving components, the transmitting and receiving components include a transmitter and a receiver; the transmitter is located on one side of the rotating prism, and is used to transmit a laser beam, and the laser beam emitted by the transmitter is reflected by the rotating prism and then irradiates the target object; the receiver and the transmitter are located on the same side of the rotating prism, and are used to receive the laser beam, and the laser beam reflected by the target object is reflected by the rotating prism and then irradiates the receiver.

[0018] Optionally, the transmitter includes a laser light source, the receiver includes a photoelectric converter, and the number of the laser light sources is the same as the number of the photoelectric converters.

[0019] Optionally, a filter is also included, which is located between the receiving lens group and the receiver and is used to transmit the laser beam emitted by the transmitter and filter light other than the laser beam emitted by the transmitter.

[0020] Optionally, it further includes a first circuit board and a second circuit board, the transmitter is located on the first circuit board, and the receiver is located on the second circuit board.

[0021] Optionally, the multi-line laser radar ranging system includes two transmitting and receiving components, namely a first transmitting and receiving component and a second transmitting and receiving component, and the first transmitting and receiving component and the second transmitting and receiving component are respectively arranged corresponding to two adjacent reflecting surfaces of the rotating prism.

[0022] Optionally, a 16-channel transimpedance amplifier is further included, which is electrically connected to the receiver and is used to amplify the photocurrent signal output by the receiver and convert it into a voltage signal.

[0023] The rotating prism provided in the embodiment of the present invention has at least two reflecting surfaces (i.e., side surfaces) whose angles with the rotation axis are not equal among the reflecting surfaces of the rotating prism. In other words, there are at least two reflecting surfaces with different degrees of inclination. Thus, the same light irradiated on different reflecting surfaces of the rotating prism can be changed into multiple light rays, thereby reducing the number of transmitters and receivers, so as to reduce the manufacturing cost and difficulty of the multi-line laser radar ranging system, and reduce the volume of the multi-line laser radar ranging system. In the embodiment of the present invention, the angles between each reflecting surface and the rotation axis will not gradually increase or decrease, thereby avoiding the occurrence of serious uneven torque of multiple reflecting surfaces of the rotating prism, so as to reduce the manufacturing cost and difficulty of the multi-line laser radar ranging system, reduce the volume of the multi-line laser radar ranging system, and achieve torque balance of multiple reflecting surfaces of the rotating prism on the basis of reducing the volume of the multi-line laser radar ranging system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a three-dimensional structure of a rotating prism provided by an embodiment of the present invention;

[0025] Figure 2 for Figure 1 A top view of the rotating prism shown in ;

[0026] Figure 3 for Figure 1 A schematic diagram of a reflecting surface of the rotating prism shown in ;

[0027] Figure 4 A top view of another rotating prism provided by an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of the structure of a multi-line laser radar ranging system provided by an embodiment of the present invention;

[0029] Figure 6 for Figure 5 A top view of a partial structure of the multi-line laser radar ranging system shown in;

[0030] Figure 7 A top view of another multi-line laser radar ranging system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0032] Figure 1 A schematic diagram of a three-dimensional structure of a rotating prism provided by an embodiment of the present invention, Figure 2 for Figure 1 A top view of the rotating prism shown in FIG. Figure 1 and Figure 2 The rotating prism 110 includes a top surface 20, a bottom surface 30, and a side surface ( Figure 1 In the figure, four side surfaces are used as examples for explanation, which is not intended to limit the present invention. The side surfaces are reflective surfaces 10, and all the reflective surfaces 10 rotate around the rotation axis 40 of the rotating prism 110. The reflective surfaces 10 can be formed by coating the side surfaces of the prism, for example. Among all the reflective surfaces 10, at least two reflective surfaces 10 have unequal angles with the rotation axis 40. In other words, at least two reflective surfaces 10 have different degrees of inclination.

[0033] For example, reference Figure 1 and Figure 2 The top surface 20 is the surface EFGH, the bottom surface 30 is the surface ABCD, and the four side surfaces are the surface ABFE, the surface BCGF, the surface CDHG and the surface DAEH. Figure 3 The center line L extends in the extension direction, and the angle α between the line L and the side surface is the angle between the reflection surface 10 and the rotation axis 40. The angles between any two of the surfaces ABFE, BCGF, CDHG and DAEH and the rotation axis 40 are not equal. When the rotation axis 40 rotates one circle, the rotating prism 110 changes one light ray into four light rays. The rotating prism 110 has n pairs ( Figure 1 and Figure 2 (n=2 is used as an example for explanation) Regarding the reflection surfaces 10 arranged relative to the rotation axis 40, n is a positive integer greater than or equal to 2. The angles between the two relative reflection surfaces 10 and the rotation axis 40 are both greater than or less than the angle between at least one reflection surface 10 between the two reflection surfaces 10 and the rotation axis 40. The angles between each reflection surface 10 and the rotation axis 40 do not gradually increase or decrease, thereby avoiding the occurrence of serious uneven moments of multiple reflection surfaces 10 of the rotating prism 110.

[0034] For example, reference Figure 1 and Figure 2The rotating prism 110 has two pairs of reflecting surfaces 10 arranged opposite to each other about the rotation axis 40. The surface ABFE and the surface CDHG are arranged opposite to each other about the rotation axis 40, and the surface BCGF and the surface DAEH are arranged opposite to each other about the rotation axis 40. The angle between the surface BCGF and the rotation axis 40 is greater than the angle between the surface ABFE and the rotation axis 40, and the angle between the surface DAEH and the rotation axis 40 is greater than the angle between the surface ABFE and the rotation axis 40. That is, the area of ​​the vertical projection of the surface BCGF on the surface ABCD is greater than the area of ​​the vertical projection of the surface ABFE on the surface ABCD, and the area of ​​the vertical projection of the surface DAEH on the surface ABCD is greater than the area of ​​the vertical projection of the surface DAEH on the surface ABCD. Similarly, the angle between the surface BCGF and the rotation axis 40 is greater than the angle between the surface CDHG and the rotation axis 40, and the angle between the surface DAEH and the rotation axis 40 is greater than the angle between the surface CDHG and the rotation axis 40. Therefore, the included angles between each of the reflecting surfaces 10 (ie, the surface ABFE, the surface BCGF, the surface CDHG and the surface DAEH) and the rotation axis 40 will not gradually increase or decrease.

[0035] For ease of understanding, the embodiments of the present invention further provide numerical examples, but they are not intended to limit the present invention. Figure 2 , the angle between the surface ABFE and the rotation axis 40 is 0°, the angle between the surface BCGF and the rotation axis 40 is 0.2°, the angle between the surface CDHG and the rotation axis 40 is 0.1°, and the angle between the surface DAEH and the rotation axis 40 is 0.2°. Observing counterclockwise from the top view, the angles between each reflecting surface 10 in the rotating prism 110 and the rotation axis 40 are 0°, 0.2°, 0.1° and 0.2°, respectively, instead of 0°, 0.1°, 0.2° and 0.3°. In the rotating prism provided in the embodiment of the present invention, among the reflecting surfaces of the rotating prism, there are at least two reflecting surfaces (i.e., side surfaces) with unequal angles with the rotation axis. In other words, there are at least two reflecting surfaces with different degrees of inclination. Thereby, the same light irradiated on different reflecting surfaces of the rotating prism can be changed into multiple light rays, thereby reducing the number of transmitters and receivers, so as to reduce the manufacturing cost and difficulty of the multi-line laser radar ranging system, and reduce the volume of the multi-line laser radar ranging system. In the embodiment of the present invention, the angle between each reflecting surface and the rotation axis will not gradually increase or decrease, thereby avoiding the occurrence of serious uneven torque of multiple reflecting surfaces of the rotating prism, so as to reduce the production cost and difficulty of the multi-line laser radar ranging system, reduce the volume of the multi-line laser radar ranging system, and achieve torque balance of multiple reflecting surfaces of the rotating prism on the basis of reducing the volume of the multi-line laser radar ranging system.

[0036] Figure 3 for Figure 1 A schematic diagram of a reflecting surface of a rotating prism shown in FIG. 1 , optionally, referring to Figure 1 , Figure 2 and Figure 3 Each reflecting surface 10 includes an emitting area 101 and a receiving area 102 , and a propagation direction of the laser beam reflected by the emitting area 101 is opposite to a propagation direction of the laser beam reflected by the receiving area 102 .

[0037] For example, reference Figure 1 , Figure 2 and Figure 3 , the emitting area 101 on the surface BCGF will reflect the laser beam incident from the left side to the right side, and the propagation direction of the laser beam reflected by the emitting area 101 is from left to right; the receiving area 102 on the surface BCGF will reflect the laser beam incident from the right side to the left side, and the propagation direction of the laser beam reflected by the receiving area 102 is from right to left. It should be noted that the directional words "left" and "right" mentioned in the embodiments of the present invention are only for explaining "the propagation direction of the laser beam reflected by the emitting area 101 is opposite to the propagation direction of the laser beam reflected by the receiving area 102", and are not a limitation of the present invention.

[0038] In the embodiment of the present invention, each reflecting surface includes an emitting area and a receiving area, the emitting area can reflect the laser beam to the target object, and the receiving area can receive the laser beam reflected by the target object and reflect it to the receiver. Since the same reflecting surface includes both the emitting area and the receiving area, the propagation direction of the laser beam reflected to the target object through the emitting area of ​​the reflecting surface is opposite to the propagation direction of the laser beam reflected by the target object received by the receiving area of ​​the reflecting surface, and the propagation angle of the laser beam reflected to the target object through the emitting area of ​​the reflecting surface is the same as the propagation angle of the laser beam reflected by the target object received by the receiving area of ​​the reflecting surface, thereby eliminating the dependence of the receiver on the propagation angle of the laser beam, and there is no need to specially set up a large photosensitive surface receiver to receive laser beams of various propagation angles, so as to reduce the production cost and difficulty of the multi-line laser radar ranging system.

[0039] Optionally, refer to Figure 1 and Figure 2 Among all the reflecting surfaces 10 , there is at least one reflecting surface 10 that is perpendicular to both the top surface 20 and the bottom surface 30 .

[0040] For example, reference Figure 1 and Figure 2 , the top surface 20 is the surface EFGH, the bottom surface 30 is the surface ABCD, and the four side surfaces are the surface ABFE, the surface BCGF, the surface CDHG, and the surface DAEH. The angle between the surface ABFE and the rotation axis 40 is 0°, the surface ABFE is perpendicular to the surface EFGH, the surface ABFE is perpendicular to the bottom surface 30, and the area of ​​the top view of the surface ABFE is 0. The surface ABFE is not inclined relative to the rotation axis 40, and a flat surface is easier to manufacture than an inclined surface, so it is helpful to reduce the difficulty of manufacturing the rotating prism 110.

[0041] Figure 4 A top view of another rotating prism provided in an embodiment of the present invention, referring to Figure 4 , the rotating prism 110 has n pairs of ( Figure 4 (In the figure, n=2 is used as an example for explanation) Regarding the reflection surfaces 10 arranged relative to the rotation axis 40, n is a positive integer greater than or equal to 2. The angles between the two relative reflection surfaces 10 and the rotation axis 40 are both greater than or less than the angle between at least one reflection surface 10 between the two reflection surfaces 10 and the rotation axis 40. The angles between the two relative reflection surfaces 10 and the rotation axis 40 are equal. In the embodiment of the present invention, by setting the angles between the two relative reflection surfaces 10 and the rotation axis 40 to be equal, the two relative reflection surfaces 10 have the same degree of inclination. When the rotating prism 110 rotates around the rotation axis 40, the two relative reflection surfaces 10 will not generate uneven torque, thereby further achieving torque balance of the multiple reflection surfaces 10 of the rotating prism 110.

[0042] Optionally, refer to Figure 1-Figure 4 , the maximum value of the angle between the reflecting surface 10 and the rotation axis 40 is α1, the minimum value of the angle between the reflecting surface 10 and the rotation axis 40 is α2, and 0°<α1-α2<2°. The advantage of this arrangement is that it ensures that all the reflecting surfaces 10 are not tilted too much, and ensures that the multi-line laser radar ranging system has good resolution. The rotation axis 40 of the rotating prism 110 provided in the embodiment of the present invention can be perpendicular to the ground plane to achieve the conversion of a single line into multiple lines in the vertical direction. The rotation axis 40 of the rotating prism 110 provided in the embodiment of the present invention can also be parallel to the ground plane to achieve the conversion of a single line into multiple lines in the horizontal direction. The specific details can be determined according to the product, and the present invention is not limited to this. It should be noted that in other embodiments, the difference between α1 and α2 can also be greater than or equal to 2°.

[0043] Optionally, refer to Figure 1-Figure 4 The rotating prism 110 is made of aluminum. The rotating prism 110 made of aluminum can have a smaller weight, so that the multi-line laser radar ranging system has a lower manufacturing cost and a lighter weight.

[0044] The embodiment of the present invention also provides a multi-line laser radar ranging system, Figure 5 A schematic diagram of the structure of a multi-line laser radar ranging system provided by an embodiment of the present invention, Figure 6 for Figure 5 A top view of the partial structure of the multi-line laser radar ranging system shown in Figure 1-Figure 4 ,as well as Figure 5 , Figure 6The multi-line laser radar ranging system includes the rotating prism 110 in any of the above embodiments. The multi-line laser radar ranging system also includes a rotating mechanism 120 and at least one set of transmitting and receiving components 180 ( Figure 5 and Figure 6 A set of transmitting and receiving components 180 is used as an example for explanation, which is not a limitation of the present invention. In other embodiments, the multi-line laser radar ranging system may also include multiple sets of transmitting and receiving components 180). The rotating prism 110 is located on the rotating mechanism 120, and the rotating mechanism 120 drives the reflecting surface 10 of the rotating prism 110 to rotate around the rotating axis 40 of the rotating prism 110. Since the angles between at least two reflecting surfaces 10 and the rotating axis 40 in the rotating prism 110 are not equal, when the rotating mechanism 120 drives the rotating prism 110 to rotate, a single line can be converted into multiple lines.

[0045] The transmitting and receiving component 180 includes a transmitter 130 and a receiver 140. It should be noted that: Figure 5 Only two transmitters 130 and two receivers 140 are shown as examples, which is not a limitation of the present invention. The number of transmitters 130 and receivers 140 can be set according to actual needs. The transmitter 130 is located on one side of the rotating prism 110 and is used to emit a laser beam. The laser beam emitted by the transmitter 130 is reflected by the rotating prism 110 and then irradiates the target object. The receiver 140 is located on the same side of the rotating prism 110 as the transmitter 130 and is used to receive the laser beam. The laser beam reflected by the target object is reflected by the rotating prism 110 and then irradiates the receiver 140.

[0046] The multi-line laser radar ranging system provided by the embodiment of the present invention includes the rotating prism in the above embodiment, and has the beneficial effect of the rotating prism, that is, the same light irradiated on different reflection surfaces of the rotating prism is changed into multiple light rays, thereby reducing the number of transmitters and receivers. In addition, the angle between each reflection surface and the rotation axis in the embodiment of the present invention will not gradually increase or decrease, thereby avoiding the occurrence of serious uneven torque of multiple reflection surfaces of the rotating prism, so as to reduce the production cost and difficulty of the multi-line laser radar ranging system, reduce the volume of the multi-line laser radar ranging system, and achieve the torque balance of multiple reflection surfaces of the rotating prism on the basis of reducing the volume of the multi-line laser radar ranging system.

[0047] Optionally, refer to Figure 5 The multi-line laser radar ranging system further includes a transmitting lens group 150 and a receiving lens group 160. The transmitting lens group 150 is located between the transmitter 130 and the rotating prism 110, and is used to collimate the laser beam emitted by the transmitter 130. The receiving lens group 160 is located between the receiver 140 and the rotating prism 110, and is used to focus the laser beam reflected by the target object and irradiate it onto the receiver 140.

[0048] Optionally, refer to Figure 3 and Figure 5 Each reflecting surface 10 includes an emitting area 101 and a receiving area 102. The propagation direction of the laser beam reflected by the emitting area 101 is opposite to the propagation direction of the laser beam reflected by the receiving area 102. The laser beam emitted by the emitter 130 to the target object can be irradiated onto the target object after being reflected by the emitting area 101 of the rotating prism 110. The laser beam reflected by the target object can be focused onto the receiver 140 after being reflected by the receiving area 102 of the rotating prism 110. The propagation direction of the laser beam reflected by the emitting area 101 is from the emitter 130 to the reflecting surface 10 and then to the target object. The propagation direction of the laser beam reflected by the receiving area 102 is from the target object to the reflecting surface 10 and then to the receiver 140. The emitter 130 and the receiver 140 are located on the same side of the rotating prism 110. The propagation direction of the laser beam reflected by the emitting area 101 is opposite to the propagation direction of the laser beam reflected by the receiving area 102.

[0049] Optionally, refer to Figure 5 The transmitter 130 includes a laser light source, which has the advantages of good monochromaticity, strong directivity and high brightness. The receiver 140 includes a photoelectric converter, which converts the received optical signal into an electrical signal, thereby achieving the purpose of detection. The number of laser light sources is the same as the number of photoelectric converters, that is, the number of transmitters 130 is the same as the number of receivers.

[0050] For example, the multi-line laser radar ranging system used in the prior art includes 16 laser light sources and 16 photoelectric converters, and the number of scanned light lines is 16. Figure 5 The multi-line laser radar ranging system shown includes 4 laser light sources and 4 photoelectric converters. The angles between the 4 reflective surfaces 10 and the rotation axis 40 are different. When the rotating prism 110 rotates one circle, the rotating prism 110 changes one light ray into four light rays, and the number of scanned light rays is also 16. It can be seen that the multi-line laser radar ranging system provided by the embodiment of the present invention reduces the number of transmitters 130 and receivers 140.

[0051] Optionally, refer to Figure 5 The multi-line laser radar ranging system may further include a filter 170, which is located between the receiver 140 and the receiving lens group 160, and is used to transmit the laser beam emitted by the transmitter 130 and filter light other than the laser beam emitted by the transmitter. Light other than the laser beam emitted by the transmitter is, for example, ambient light (sunlight and incandescent light, etc.), thereby improving the recognition accuracy of the target object.

[0052] Figure 7A top view of another multi-line laser radar ranging system provided by an embodiment of the present invention, referring to Figure 7 The multi-line laser radar ranging system includes two transmitting and receiving components 180, namely a first transmitting and receiving component 181 and a second transmitting and receiving component 182. The first transmitting and receiving component 181 and the second transmitting and receiving component 182 are respectively arranged corresponding to two adjacent reflecting surfaces 10 of the rotating prism 110. While the transmitter in the first transmitting and receiving component 181 emits a laser beam toward the first reflecting surface S1 of the rotating prism 110, the second transmitting and receiving component 182 emits a laser beam toward the second reflecting surface S2 of the rotating prism 110. The first reflecting surface S1 and the second reflecting surface S2 are arranged adjacent to each other.

[0053] Optionally, the multi-line laser radar ranging system further includes a first circuit board ( Figure 5 ) and a second circuit board ( Figure 5 The transmitter 130 is located on a first circuit board, and the receiver 140 is located on a second circuit board. In other embodiments, the transmitter 130 and the receiver 140 may also be disposed on the same circuit board.

[0054] Optionally, the multi-line laser radar ranging system further includes a 16-channel transimpedance amplifier ( Figure 5 (not shown), the 16-channel transimpedance amplifier is electrically connected to the receiver 140, and is used to amplify the photocurrent signal output by the receiver 140 and convert it into a voltage signal.

[0055] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A rotating prism, characterized in that: It comprises a top surface, a bottom surface and a side surface between the top surface and the bottom surface, wherein the side surface is a reflective surface, and all the reflective surfaces rotate around the rotation axis of the rotating prism; Among all the reflecting surfaces, there are at least two reflecting surfaces whose included angles with the rotation axis are not equal; The rotating prism has n pairs of reflecting surfaces arranged opposite to each other about the rotating axis, where n is a positive integer greater than or equal to 2; The included angles between the two opposite reflecting surfaces and the rotation axis are both greater than or less than the included angle between at least one reflecting surface between the two reflecting surfaces and the rotation axis; the included angles between the reflecting surfaces and the rotation axis do not gradually increase or decrease; The included angles between the two opposite reflection surfaces and the rotation axis are equal; Each of the reflection surfaces includes an emitting area and a receiving area, and a propagation direction of the laser beam reflected by the emitting area is opposite to a propagation direction of the laser beam reflected by the receiving area.

2. The rotating prism according to claim 1, characterized in that: The maximum value of the angle between the reflecting surface and the rotation axis is α1, the minimum value of the angle between the reflecting surface and the rotation axis is α2, and 0°<α1-α2<2°.

3. The rotating prism according to claim 1, characterized in that: The material of the rotating prism is aluminum.

4. The rotating prism according to claim 1, characterized in that: Among all the reflecting surfaces, at least one reflecting surface is perpendicular to both the top surface and the bottom surface.

5. A multi-line laser radar ranging system, characterized in that: A rotating prism comprising any one of claims 1 to 4; A rotating mechanism, the rotating prism is located on the rotating mechanism, and the rotating mechanism drives the reflecting surface of the rotating prism to rotate around the rotating axis of the rotating prism; At least one group of transmitting and receiving components, the transmitting and receiving components including a transmitter and a receiver; the transmitter is located on one side of the rotating prism, and is used to transmit a laser beam, and the laser beam emitted by the transmitter is reflected by the rotating prism and then irradiates the target object; the receiver and the transmitter in the same group of transmitting and receiving components are located on the same side of the rotating prism, and are used to receive the laser beam, and the laser beam reflected by the target object is reflected by the rotating prism and then irradiates the receiver.

6. The multi-line laser radar ranging system according to claim 5, characterized in that: The transmitter includes a laser light source, the receiver includes a photoelectric converter, and the number of the laser light sources is the same as the number of the photoelectric converters.

7. The multi-line laser radar ranging system according to claim 5, characterized in that: It also includes a filter and a receiving lens group, wherein the receiving lens group is located between the receiver and the rotating prism, and the filter is located between the receiving lens group and the receiver, and is used to pass the laser beam emitted by the transmitter and filter light other than the laser beam emitted by the transmitter.

8. The multi-line laser radar ranging system according to claim 5, characterized in that: It also includes a first circuit board and a second circuit board, wherein the transmitter is located on the first circuit board and the receiver is located on the second circuit board.

9. The multi-line laser radar ranging system according to claim 5, characterized in that: The multi-line laser radar ranging system includes two transmitting and receiving components, namely a first transmitting and receiving component and a second transmitting and receiving component. The first transmitting and receiving component and the second transmitting and receiving component are respectively arranged corresponding to two adjacent reflecting surfaces of the rotating prism.

10. The multi-line laser radar ranging system according to claim 5, characterized in that: It also includes a 16-channel transimpedance amplifier, which is electrically connected to the receiver and is used to amplify the photocurrent signal output by the receiver and convert it into a voltage signal.

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