LiDAR and autonomous driving equipment

Abstract

A laser radar (10) and an automatic driving device (1), wherein the laser radar (10) comprises: a rotating device, comprising a first rotating part (100) and a second rotating part (200), wherein the first rotating part (100) and the second rotating part (200) can generate mutual rotation around a rotation axis (20), wherein the second rotating part (200) comprises a rotating platform (210), and the rotating platform (210) comprises at least two reflecting surfaces (211), wherein each reflecting surface (211) is arranged around the rotation axis (20); a laser transceiver assembly ( The laser radar (10) is connected to the first rotating part (100) and is configured to emit outgoing laser light and receive reflected laser light. The reflecting assembly (400) includes at least two reflecting structures, each reflecting structure being arranged in a one-to-one correspondence on each reflecting surface. Each reflecting structure is configured to reflect the outgoing laser light emitted by the laser transceiver assembly (300) to the detected object, and to reflect the reflected laser light reflected by the detected object back to the laser transceiver assembly (300). At least two reflecting surfaces have different angles with a plane perpendicular to the rotation axis (20). The laser radar (10) can have a larger detection field of view.

Description

Technical Field

[0001] The present application relates to the technical field of laser detection, and in particular to a laser radar and autonomous driving equipment. Background Art

[0002] LiDAR is a radar system that uses laser beams to detect the position, speed and other characteristic quantities of an object. Its working principle is that the transmitting system first transmits an outgoing laser for detection to the detection area, and then the receiving system receives the reflected laser reflected from the object in the detection area, compares the reflected laser with the outgoing laser, and after processing, obtains relevant information about the object, such as distance, direction, height, speed, attitude, and even shape parameters.

[0003] Current lidar systems consist of a laser transmitter, a laser receiver, and a reflector. The reflector can rotate relative to its axis of rotation. Laser light emitted by the laser transmitter is transmitted and scanned outward by the rotating reflector. Meanwhile, the rotating reflector receives the reflected laser light and directs it toward the laser receiver, enabling the lidar to detect objects. While existing lidar systems can achieve detection through the rotating reflector, their field of view is limited and their resolution is poor. Summary of the Invention

[0004] The present application provides a laser radar and an autonomous driving device, which can obtain a larger detection field of view.

[0005] According to one aspect of the present application, a laser radar is provided, comprising:

[0006] A rotating device comprising a first rotating portion and a second rotating portion, wherein the first rotating portion and the second rotating portion are capable of rotating relative to each other about a rotation axis, wherein the second rotating portion comprises a rotating table, and the rotating table comprises at least two reflecting surfaces, each reflecting surface being arranged about the rotation axis;

[0007] a laser transceiver assembly connected to the first rotating portion and configured to emit outgoing laser light and receive reflected laser light, wherein the reflected laser light is the laser light reflected back after the outgoing laser light is irradiated onto the object to be detected;

[0008] a reflective assembly comprising at least two reflective structures, each reflective structure being disposed in a one-to-one correspondence with each reflective surface, each reflective structure being configured to reflect the outgoing laser light emitted by the laser transceiver assembly toward the detected object, and to reflect the reflected laser light reflected by the detected object back toward the laser transceiver assembly;

[0009] The included angles between at least two reflecting surfaces and a plane perpendicular to the rotation axis are different.

[0010] According to some embodiments, each reflective structure is a reflective coating disposed on the reflective surface.

[0011] According to some embodiments, each reflective structure is a reflective mirror, and each reflective mirror is bonded to each reflective surface in a one-to-one correspondence.

[0012] According to some embodiments, along the circumferential direction around the rotation axis, every two adjacent reflectors are connected to each other.

[0013] According to some embodiments, the number of the reflectors is at least three, and the reflectors are connected to form a ring-shaped reflector group.

[0014] According to some embodiments, each mirror has a different angle with respect to a plane perpendicular to the axis of rotation.

[0015] According to some embodiments, each reflector includes an initial reflector and an end reflector adjacent to the initial reflector, and along the circumference around the rotation axis, from the initial reflector to the end reflector, the angle between each reflector and the plane perpendicular to the rotation axis gradually increases.

[0016] According to some embodiments, along the circumferential direction around the rotation axis, from the initial reflector to the final reflector, the angles between every two adjacent reflectors are equal.

[0017] According to some embodiments, the minimum value of the angle between each reflector and the rotation axis is greater than 0 degrees, and the maximum value is less than 90 degrees.

[0018] According to some embodiments, each reflective surface is provided with a glue brushing groove, and each glue brushing groove is used to be filled with adhesive for bonding the reflective mirror.

[0019] According to some embodiments, a plurality of glue brushing grooves are provided on each reflective surface, each of the glue brushing grooves is annular in shape, and the centers of each of the glue brushing grooves on the same reflective surface coincide with each other.

[0020] According to some embodiments, the first rotating portion includes:

[0021] A base, the base including a mounting surface, and the laser transceiver assembly is mounted on the mounting surface;

[0022] A support shaft is connected to the mounting surface, and a central axis of the support shaft is perpendicular to the mounting surface. The rotating platform is connected to an end of the support shaft away from the first rotating portion, and the rotation axis is parallel to or coincides with the central axis of the support shaft.

[0023] The second rotating part includes:

[0024] The driving motor is connected to the supporting shaft and the rotating table respectively, and is configured to drive the rotating table to rotate relative to the supporting shaft.

[0025] According to some embodiments, an internal chamber is defined inside the rotating platform, and the driving motor is installed in the internal chamber.

[0026] According to some embodiments, the driving motor includes a stator and a rotor, the stator is connected to the first rotating part, and the rotor is connected to the rotating platform.

[0027] According to some embodiments, the laser radar further comprises:

[0028] a code disc connected to the second rotating part, the code disc including code teeth arranged around a rotation axis;

[0029] The optical device is connected to the end of the support shaft away from the first rotating part. The optical device cooperates with the code disk to monitor the number of teeth swept by the code teeth to monitor the rotation angle of the second rotating part relative to the first rotating part.

[0030] According to some embodiments, the code wheel is disposed in the internal cavity, and the code teeth extend out of the internal cavity to cooperate with the optical device.

[0031] According to some embodiments, the laser radar includes a plurality of laser transceiver assemblies, each of which is arranged around a rotation axis;

[0032] During the rotation of the second rotating part relative to the first rotating part, the outgoing laser light emitted by each laser transceiver assembly can be reflected by at least one reflector, and the reflected laser light reflected back by at least one reflector can be received.

[0033] According to some embodiments, the number of laser transceiver components is the same as the number of reflectors, and during the rotation of the second rotating part relative to the first rotating part, each reflector corresponds to reflecting the outgoing laser of a laser transceiver component and corresponds to reflecting a reflected laser to the laser transceiver component.

[0034] According to some embodiments, the first rotating part is provided with a fixing structure, and the fixing structure is used to fix the laser radar.

[0035] The second aspect of the present application also provides an autonomous driving device, comprising any of the above-mentioned laser radars.

[0036] The laser radar provided by the present application, on the one hand, because the reflective component can rotate relative to the laser transceiver component, each laser transceiver component forms a field of view covering a certain angle in the direction perpendicular to the rotation axis. On the other hand, the reflective component in this embodiment has at least two reflective structures with different angles to the plane perpendicular to the rotation axis. Therefore, the detection field of view formed by the laser transceiver component relative to the reflective structures with different angles is staggered in the direction parallel to the rotation axis, and then the at least two detection fields of view formed by the laser radar are staggered in the direction parallel to the rotation axis. Compared with the single detection field of view in the prior art, the field of view range is wider, and the at least two detection fields of view formed by the laser radar can also partially overlap, and the detection accuracy of the overlapping field of view is higher. At the same time, each reflective structure is installed on a rotating table. By processing at least two reflective surfaces with different angles to the plane perpendicular to the rotation axis on the rotating table to position the at least two reflective structures, it is easier to adjust the inclination angle of the reflective structure relative to the rotation axis, thereby reducing the difficulty of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A schematic perspective view of a laser radar according to an embodiment of the present application;

[0039] Figure 2 A schematic cross-sectional view of a laser radar according to an embodiment of the present application;

[0040] Figure 3 A schematic cross-sectional view of a laser radar according to an embodiment of the present application, showing schematic paths of emitted laser light and reflected laser light;

[0041] Figure 4 A schematic diagram of a full cross-section of a laser radar provided in one embodiment of the present application, wherein the laser radar is shown exploded;

[0042] Figure 5 A first explosion diagram of a laser radar provided in one embodiment of the present application;

[0043] Figure 6 A second explosion diagram of a laser radar provided in one embodiment of the present application;

[0044] Figure 7 An exploded schematic diagram of a rotating body and a reflector assembly provided in one embodiment of the present application;

[0045] Figure 8 An exploded schematic diagram of a rotating body and a reflector assembly provided in another embodiment of the present application, showing the structure of the glue brushing groove;

[0046] Figure 9 A schematic diagram of the combination of a rotating body, a reflector group, and various laser transceiver components provided in one embodiment of the present application;

[0047] Figure 10 A perspective schematic diagram of some components of a first rotating portion and a driving device provided in one embodiment of the present application;

[0048] Figure 11 This is a three-dimensional schematic diagram of the combination of some components of the first rotating part and the laser transceiver assembly provided by an embodiment of the present application;

[0049] Figure 12 An exploded diagram of a laser radar provided in one embodiment of the present application;

[0050] Figure 13 This is a three-dimensional schematic diagram of a laser transceiver assembly provided in one embodiment of the present application;

[0051] Figure 14 A full cross-sectional diagram of a laser transceiver assembly provided in one embodiment of the present application;

[0052] Figure 15 This is a schematic cross-sectional view of a laser transceiver assembly provided in one embodiment of the present application, in which the laser transceiver assembly is schematically exploded;

[0053] Figure 16 This is a three-dimensional schematic diagram of a laser transceiver assembly in an embodiment of the present application, wherein the laser transceiver assembly is schematically shown in cross-section;

[0054] Figure 17 for Figure 16 Exploded diagram of the laser transceiver assembly;

[0055] Figure 18 This is an exploded schematic diagram of a fixed shaft and a driving device in one embodiment of the present application;

[0056] Figure 19 This is a front view schematic diagram of a first reflector in one embodiment of the present application;

[0057] Figure 20 Schematic diagram of a combination of a laser transceiver assembly and a reflector in another embodiment of the present application, wherein the surface of the reflector facing the rotation axis is a reflective surface;

[0058] Figure 21 This is a schematic structural diagram of an autonomous driving device in one embodiment of the present application;

[0059] Figure 22 This is a schematic structural diagram of an autonomous driving device in another embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0061] LiDAR is a radar system that uses laser beams to detect the position, speed and other characteristic quantities of an object. Its working principle is that the transmitting system first transmits an outgoing laser for detection to the detection area, and then the receiving system receives the reflected laser reflected from the object in the detection area, compares the reflected laser with the outgoing laser, and after processing, obtains relevant information about the object, such as distance, direction, height, speed, attitude, and even shape parameters.

[0062] Current lidar systems consist of a laser transmitter, a laser receiver, and a reflector. The reflector can rotate relative to its axis of rotation. Laser light emitted by the laser transmitter is transmitted and scanned outward by the rotating reflector. Meanwhile, the rotating reflector receives the reflected laser light and directs it toward the laser receiver, enabling the lidar to detect objects. While existing lidar systems can achieve detection through the rotating reflector, their field of view is limited and their resolution is poor.

[0063] like Figures 1 to 12 As shown, this embodiment provides a laser radar 10 that can have a larger detection field of view than the prior art. Specifically, the laser radar 10 in this embodiment includes a rotating device, a laser transceiver assembly 300 and a reflective assembly 400.

[0064] The rotating device includes a first rotating portion 100 and a second rotating portion 200. The first rotating portion 100 and the second rotating portion 200 can rotate relative to each other, and when the first rotating portion 100 and the second rotating portion 200 rotate relative to each other, both rotate about a rotation axis 20. Specifically, when the first rotating portion 100 is stationary and the second rotating portion 200 rotates, the second rotating portion 200 rotates about the rotation axis 20. Similarly, when the second rotating portion 200 is stationary and the first rotating portion 100 rotates, the first rotating portion 100 rotates about the rotation axis 20. Of course, the first rotating portion 100 and the second rotating portion 200 can also rotate simultaneously about the rotation axis 20 (in this case, the external reference, such as the earth, can be considered as a stationary object).

[0065] In one embodiment, the first rotating portion 100 and the second rotating portion 200 can be components located on either side of the laser radar 10. In this case, either one of them can rotate independently or both can rotate simultaneously. When both rotate simultaneously, the laser radar 10 can further include a support member that connects the first rotating portion 100 and the second rotating portion 200. The first rotating portion 100 and the second rotating portion 200 can simultaneously rotate around the rotation axis 20 relative to the support member.

[0066] In another embodiment, when one of the first rotating portion 100 and the second rotating portion 200 rotates about the other, for example, when the first rotating portion 100 is stationary and the second rotating portion 200 rotates relative to the first rotating portion 100 about the rotation axis 20, the second rotating portion 200 can be disposed inside the first rotating portion 100. For example, the first rotating portion 100 may include the housing of the laser radar 10, and the second rotating portion 200 may be disposed inside the housing and capable of rotating about the rotation axis 20 inside the first rotating portion 100. Similarly, when the second rotating portion 200 is stationary and the first rotating portion 100 rotates relative to the second rotating portion 200 about the rotation axis 20, the first rotating portion 100 may be disposed inside the second rotating portion 200. For example, the second rotating portion 200 may include the housing of the laser radar 10, and the first rotating portion 100 may be disposed inside the housing and capable of rotating about the rotation axis 20 inside the second rotating portion 200. Similarly, when the first rotating part 100 and the second rotating part 200 both rotate relative to an external reference, the laser radar 10 can further include an outer shell (in this case, the outer shell belongs to the first rotating part 100 and not to the second rotating part 200), and the first rotating part 100 and the second rotating part 200 can both be arranged in the outer shell, and the outer shell is used to be fixedly installed with external components (for example, when the laser radar 10 is installed on a car, the outer shell of the laser radar 10 is connected to the car and is stationary relative to the car).

[0067] In this embodiment, Figure 2 、 Figure 3 、 Figure 4 as well as Figure 14 As shown, the first rotating part 100 includes an outer shell 112 , and the second rotating part 200 is disposed inside the outer shell 112 and can rotate inside the outer shell 112 .

[0068] The laser transceiver assembly 300 includes a laser emitting device 310 and a laser receiving device 320. The laser emitting device 310 can emit an outgoing laser for detection, and the outgoing laser is used to irradiate the object to be detected. The outgoing laser is reflected by the object to be detected to form a reflected laser, and the laser receiving device 320 is used to receive the above-mentioned reflected laser. The laser emitting device 310 can be integrated with the laser receiving device 320 into a complete module, or the two can be two independent components. The laser transceiver assembly 300 in this embodiment is connected to the first rotating part 100, and it can rotate with the rotation of the first rotating part 100. For the convenience of description, in this application, the light emitted by the laser emitting device 310 and irradiated to the object to be detected is called the outgoing laser. Regardless of whether the light emitted by the laser emitting device 310 undergoes other reflection processes before irradiating the object to be detected, it is called the outgoing laser. In this application, the light reflected back from the detected object and transmitted to the laser receiving device 320 is referred to as reflected laser. Regardless of whether the light reflected from the detected object undergoes other reflection processes before being received by the laser receiving device 320, it is referred to as reflected laser.

[0069] like Figures 13 to 20 As shown, this embodiment also provides a laser transceiver assembly 300 for the laser radar 10. The laser emitting device 310 and the laser receiving device 320 in the laser transceiver assembly 300 are combined into a complete module. Specifically, the laser transceiver assembly 300 includes a laser emitting device 310, a laser receiving device 320, and a transceiver housing 330. The transceiver housing 330 connects the laser emitting device 310 and the laser receiving device 320.

[0070] The transceiver housing 330 can define a laser receiving channel 334 and a laser emitting channel 333. The outgoing laser emitted by the laser emitting device 310 passes through the laser emitting channel 333 and irradiates the object being detected. The reflected laser light reflected back by the object being detected passes through the laser receiving channel 334 and is emitted to the laser receiving device 320. The channel axis of the laser emitting channel 333 (i.e., the central axis extending along the length of the laser emitting channel 333) and the channel axis of the laser receiving channel 334 (i.e., the central axis extending along the length of the laser receiving channel 334) intersect or are parallel. Specifically, to facilitate processing and debugging of the optical path, in this embodiment, the channel axis of the laser emitting channel 333 is arranged parallel to the channel axis of the laser receiving channel 334.

[0071] like Figures 15 to 17As shown, in this embodiment, the transceiver housing 330 includes an outer shell, a first reflector 331, and a second reflector 332. The outer shell defines the aforementioned laser emission channel 333 and laser receiving channel 334. The first reflector 331 is disposed in the laser emission channel 333 and is provided with a light hole 3311 for allowing the emitted laser light to pass through. The first reflector 331 is used to reflect the reflected laser light to the second reflector 332. The second reflector 332 is disposed in the laser receiving channel 334 and is used to reflect the reflected laser light reflected back from the first reflector 331 to the laser receiving device 323. In other words, the mirror surface of the first reflector 331 faces away from the direction of the laser emitting device 310, while the mirror surface of the second reflector 332 faces the direction of the laser receiving device 320. The outgoing laser light emitted by the laser emitting device 310 passes through the light hole 3311 of the first reflector 331 and is then used to illuminate the object being detected. The reflected laser light reflected by the object is directed to the mirror surface of the first reflector 331 and then reflected to the mirror surface of the second reflector 332 located in the laser receiving channel 334. After being reflected by the second reflector 332, the reflected laser light passes through the laser receiving channel 334 and is emitted to the laser receiving device 320. The above structure allows both the outgoing laser light and the reflected laser light to be emitted or received through the same opening (i.e., the opening of the laser emitting channel 333). This not only facilitates the adjustment of the laser path, but also makes the relative layout of the laser receiving device 320 and the laser emitting device 310 more flexible. When the relative position of the laser receiving device 320 and the laser emitting device 310 changes, the relative distance and relative angle between the first reflector 331 and the second reflector 332 need only be adjusted to compensate for the position change of the laser receiving device 320 and the laser emitting device 310. In addition, the laser transceiver assembly transmits or receives through the same opening (i.e., the laser transceiver assembly transmits and receives coaxially). Since it only receives reflected laser light incident at a specific angle, it can receive as little stray light (including ambient light and light from other radars and light sources) as possible, thereby improving the signal-to-noise ratio and the detection effect.

[0072] Of course, in other embodiments, the transceiver housing 330 may also have two independent channels, one channel for transmitting the outgoing laser and one channel for receiving the reflected laser, and the light in the two channels does not crosstalk with each other.

[0073] like Figure 17As shown, the laser emitting device 310 includes a first emitting mirror group 312, a second emitting mirror group 311, and a laser emitting device 313. The laser emitting device 313 is connected to the first emitting mirror group 312, and the outgoing laser emitted by the laser emitting device 313 passes through the first emitting mirror group 312 and the second emitting mirror group 311 in sequence. The second emitting mirror group 311 is connected to the first emitting mirror group 312, and the second emitting mirror group 311 is configured to be movable relative to the first emitting mirror group 312 in a direction parallel to the outgoing laser. In this way, when assembling the laser emitting device 310, the laser emitting device 313 can be placed on the focal plane of the laser emitting device 310 by adjusting the relative position between the first emitting mirror group 312 and the second emitting mirror group 311. In addition, the first emitting mirror group 312 collimates the fast axis of the emitted laser, and the second emitting mirror group 311 collimates the slow axis of the emitted laser. By adjusting the relative position relationship between the first emitting mirror 312 and the second emitting mirror group 311, the spot size of the emitted laser can be adjusted so that the emitted laser can pass through the through hole smoothly without being blocked or lost.

[0074] It should be noted that, in this embodiment, the variable relative position between the first transmitting mirror group 312 and the second transmitting mirror group 311 only means that the laser transceiver assembly 300 can be adjusted before optical adjustment. However, after the overall optical adjustment of the laser transceiver assembly 300, the relative position between the first transmitting mirror group 312 and the second transmitting mirror group 311 may be fixed, so the relative position between the first transmitting mirror group 312 and the second transmitting mirror group 311 in the laser transceiver assembly 300 after optical adjustment may not be adjustable.

[0075] like Figure 15 As shown, the laser receiving device 320 includes a receiving lens group 321, a fixing member 322, and a laser receiving device 323. The fixing member 322 defines a through hole, and the receiving lens group 321 is disposed on one side of the fixing member 322, and the laser receiving device 323 is disposed on the other side, so that the laser receiving device 323 can receive the reflected laser light that passes through the receiving lens group 321 and the through hole in sequence.

[0076] In the laser transceiver assembly 300 of this embodiment, the laser emitting device 310 and the laser receiving device 320 are both fixedly connected to the transceiver housing 330, so that the optical paths of the emitted laser and the reflected laser are correlated. During the production of the laser transceiver assembly 300, the optical path of each laser transceiver assembly 300 can be individually adjusted so that the emitted laser light emitted by the laser emitting device 310 and the reflected laser light received by the laser receiving device 320 of each laser transceiver assembly 300 match each other. In this way, when the laser radar 10 has multiple laser emitting devices 310 and multiple laser receiving devices 320, it can be configured by configuring multiple laser transceiver assemblies 300 with matched optical paths, reducing the assembly cycle of the laser radar 10. Moreover, after the laser emitting device 310 is installed in the transceiver housing 330, the focal length can be individually adjusted by changing the distance between the first transmitting mirror group 312 and the second transmitting mirror group 311, thereby enhancing the adaptability of the laser emitting device 310.

[0077] There are many structures for adjusting the distance between the first transmitting mirror group 312 and the second transmitting mirror group 311, for example, Figure 15 and Figure 17 As shown, in one embodiment, the first transmitting lens assembly 312 includes a first transmitting lens barrel, and the second transmitting lens assembly 311 includes a second transmitting lens barrel. The end of the first transmitting lens barrel facing away from the laser emitting device 313 is sleeved onto the end of the second transmitting lens barrel near the laser emitting device 313. The second transmitting lens barrel is capable of translation within the first transmitting lens barrel in a direction parallel to the optical axis. That is, changes in the size of the portion of the second transmitting lens barrel extending into the first lens barrel will change the distance between the center of the first transmitting lens assembly 312 and the center of the second transmitting lens assembly 311, thereby adjusting the focal length of the first transmitting lens assembly 312 and the second transmitting lens assembly 311 as a whole. Specifically, the end of the first transmitting lens barrel facing away from the laser emitting device 313 can be threadedly connected to the end of the second transmitting lens barrel near the laser emitting device 313. In this case, the distance between the centers of the first and second transmitting lens barrels can be adjusted by controlling the rotation of the second transmitting lens barrel relative to the first transmitting lens barrel. Alternatively, the end of the first transmitting lens barrel facing away from the laser emitting device 313 can be bonded to the end of the second transmitting lens barrel near the laser emitting device 313. It should be noted that when the first emitting lens barrel and the second emitting lens barrel are bonded together, the bonding needs to be performed after the optical path adjustment of the laser emitting device 310 is completed, that is, by adjusting the distance between the center of the first emitting lens barrel and the center of the second emitting lens barrel, so that the laser emitting device 313 is on the overall focal plane of the first emitting lens group 312 and the second emitting lens group 311, the first emitting lens barrel and the second emitting lens barrel are bonded and fixed. After the two are bonded and fixed, the distance between the first emitting lens barrel and the second emitting lens barrel cannot be adjusted.

[0078] To ensure optical path alignment between the laser emitting device 310 and the laser receiving device 320, in one embodiment, the distance between the laser emitting device 310 and the transceiver housing 330 is adjustable. Specifically, the end of the second emitting lens barrel facing away from the first emitting lens barrel can be inserted into the laser emitting channel 333 of the transceiver housing 330 and can be moved within the laser emitting channel 333 in a direction parallel to the emitted laser light. Specifically, the second emitting lens barrel can also be threaded or bonded to the inner circumferential wall of the transceiver housing 330.

[0079] In the above embodiment, the first transmitting lens assembly 312 and the second transmitting lens assembly 311 are directly connected, thereby enabling adjustment of the distance between them (referring to adjustment of the distance between their centers). In one embodiment, the distance between them can also be adjusted without being directly connected. For example, the second transmitting lens barrel can be completely embedded in the laser transmission channel 333 of the transceiver housing 330, and the end of the first transmitting lens barrel near the second transmitting lens barrel can be embedded in the laser transmission channel 333 and can move within the laser transmission channel 333 in a direction parallel to the emitted laser light. In this way, when the first transmitting lens barrel moves relative to the transceiver housing 330, the distance between the first transmitting lens barrel and the second transmitting lens barrel also changes accordingly. Similarly, when the end of the first transmitting lens barrel near the second transmitting lens barrel can move within the laser transmission channel 333, the first transmitting lens barrel can be threaded or bonded to the inner circumferential wall of the laser transmission channel 333. Specifically, the first emitting lens barrel may extend into the laser emitting channel 333 only at the end close to the second emitting lens barrel, or the first emitting lens barrel may extend completely into the laser emitting channel 333 as a whole.

[0080] In order to adjust the optical path of the laser receiving device 320, the distance between the receiving lens group 321 and the fixing member 322 can be adjusted (it can be adjusted before the optical path adjustment is completed). In one embodiment, the receiving lens barrel of the receiving lens group 321 can be extended into the through hole of the fixing member 322. Specifically, the end of the receiving lens group 321 close to the fixing member 322 can be threadedly connected or bonded to the fixing member 322 (bonded after the optical path adjustment is completed). In this embodiment, Figures 14 to 16As shown, the receiving lens assembly 321 is completely disposed within the laser receiving channel 334. The end of the fixing member 322 facing away from the laser receiving device 323 is threadedly connected to the transceiver housing 330. The laser receiving device 323 is connected to the end of the fixing member 322 facing away from the receiving lens assembly 321. The receiving lens assembly 321 can move within the laser receiving channel 334 in a direction parallel to the channel axis of the laser receiving channel 334. This movement of the laser receiving lens assembly 321 adjusts its relative position with the laser receiving device 323, thereby placing the laser receiving device 323 in the focal plane of the receiving lens assembly 321. This allows the reflected laser light, after being focused by the receiving lens assembly 321, to be fully received by the laser receiving device 323. Specifically, the receiving lens assembly 321 can be threadedly connected or bonded to the inner circumferential wall of the laser receiving channel 334 (bonding is performed after optical path adjustment is completed).

[0081] In order to fix the laser receiving assembly, the laser receiving assembly needs to be provided with a connecting portion 3222, which is used to fix the laser transceiver assembly 300 in the laser radar 10. In one embodiment, the connecting portion 3222 of the laser transceiver assembly 300 can be connected to the transceiver housing 330, which makes the manufacture of the laser receiving device 320 and the laser emitting device 310 simpler. In this embodiment, as shown in FIG. Figure 15 and 17 As shown, the connecting portion 3222 of the laser transceiver assembly 300 is a part of the fixing member 322, that is, the fixing member 322 includes a channel housing 3221 and a connecting portion 3222. The channel housing 3221 defines the aforementioned through hole, and a laser receiving device 323 is provided on one side of the through hole, and a receiving lens group 321 is provided on the other end. The connecting portion 3222 is connected to the channel housing 3221, and the connecting portion 3222 is used to fix the laser transceiver assembly 300 to an external component (a component of the laser radar 10 other than the laser transceiver assembly 300, such as the base of the laser radar 10). Specifically, the connecting portion 3222 can be provided with a threaded hole, a bolt hole, or a pin hole for fixing, so that the laser transceiver assembly 300 can be fixed to the laser radar 10 using fasteners such as screws, bolts, or pins.

[0082] Because the angles of the lasers emitted or received by the laser transceiver assembly 300 must be arranged accordingly based on actual design requirements, and the laser receiving device 323 is connected to the fixing member 322, the structural design in which the connecting portion 3222 is part of the fixing member 322 enables the angle of the lasers emitted or received by the laser transceiver assembly 300 relative to the external components of the laser transceiver assembly 300 to be adjusted by adjusting the connection relationship of the connecting portion 3222 relative to the channel housing 3221. In other words, when the connecting portion 3222 is part of the fixing member 322, the angle of the lasers emitted or received by the laser transceiver assembly 300 within the laser radar 10 can be indirectly adjusted by adjusting the angle between the axis of the threaded hole, bolt hole, or pin hole of the connecting portion 3222 relative to the axis of the through hole of the channel housing 3221.

[0083] For example, when the laser transceiver assembly 300 is arranged on the aforementioned first rotating part 100, the angle of the laser emitted or received by the laser transceiver assembly 300 relative to the rotation axis 20 needs to be specially designed according to actual needs. When the connecting part 3222 serves as a part of the fixing part 322, it is only necessary to adjust the angle between the hole axis of the threaded hole, bolt hole or pin hole on the connecting part 3222 and the hole axis of the through hole of the fixing part 322 to indirectly adjust the angle of the laser emitted or received by the laser transceiver assembly 300 relative to the rotation axis 20, that is, the layout position design of the laser transceiver assembly 300 relative to the laser radar 10 is converted into a structural design of the simple component of the fixing part 322, thereby reducing the design difficulty.

[0084] The mirrors in the laser emitting device 310 are used to collimate the emitted laser light. However, it is difficult to achieve the ideal 0° beam. Therefore, the emitted laser light has a smaller diffusion angle, which makes the spot formed by the reflected laser light larger than the spot formed by the emitted laser light. Therefore, if the emitted laser light passing through the light aperture 3311 is reflected by a non-detectable object (for example, the emitted laser light is reflected by other components midway before it reaches the detected object), some of it will inevitably fall on the mirrors around the light aperture 3311 and be received by the laser receiving device 320. The laser light reflected by the non-detectable object is useless interference laser light. If this interference laser light is reflected by the first reflector 331 to the second reflector 332, it is easily received by the laser receiving device 320 and forms an interference signal.

[0085] In order to solve the above problem, in this embodiment, the laser emitting device 313 includes a plurality of emitting monomers, each of which can emit laser light, and each emitting monomer is arranged along a straight line, and the straight line on which each emitting monomer is arranged is perpendicular to the channel axis of the laser emitting channel 333. Figure 17 and Figure 19As shown, a straight non-reflective area is provided on the first reflector 331. The length of the non-reflective area is parallel to the straight line arranged by the emitting units, and the center of the non-reflective area coincides with the center of the light-transmitting hole. When the non-reflective area is formed on the first reflector 331, laser light reflected from non-detectable objects will most likely be reflected to the non-emitting area. Since the non-reflective area does not reflect laser light, the laser light reflected from the non-detectable objects will not be reflected to the second reflector 332, thereby preventing interference signals and improving the detection accuracy of the laser transceiver assembly 300.

[0086] Specifically, a light-absorbing coating or light-absorbing plating can be provided on the mirror surface of the first reflector 331 to form a non-reflective area (that is, a reflective plating is first coated on the entire mirror surface, and then a light-absorbing coating or light-absorbing plating is coated on the non-reflective area); or a reflective plating can be applied only to the non-reflective area outside the mirror surface of the first reflector 331 (that is, no reflective plating is provided on the non-reflective area); or the reflective plating on the non-reflective area on the first reflector 331 can be removed, for example, a groove can be opened at the position of the non-reflective area on the first reflector 331, so that the non-emitting area cannot reflect laser light.

[0087] The reflector assembly 400 is used to reflect both the outgoing and reflected laser light, redirecting the outgoing laser light toward the object being detected. It also receives the reflected laser light and redirects it toward the corresponding laser transceiver assembly 300. Specifically, the reflector assembly 400 is connected to the second rotating portion 200 and rotates with it. When the second rotating portion 200 rotates, the angle of the outgoing laser light relative to the reflector assembly in a plane perpendicular to the rotation axis 20 changes. The angle of the outgoing laser light reflected by the reflector assembly also changes accordingly, thereby enabling the LiDAR 10 to achieve a specific field of view.

[0088] It is understandable that when the first rotating part 100 includes an outer shell 112 and the second rotating part 200 is arranged inside the first rotating part 100, the outer shell 112 may include a light-transmitting portion 113, and the light-transmitting portion 113 is configured to be light-transmitting so that the emitted laser and the reflected laser can pass through. The outer shell 112 can be made of a light-transmitting material as a whole, or only the part that needs to pass through the emitted laser and the reflected laser can be made of a light-transmitting material, such as a high-transmittance filter. When the outer shell 112 has a light-transmitting portion 113, the outer shell 112 can be integrally formed from two materials (one light-transmitting material and one opaque material); it can also be integrally formed from a light-transmitting material, and then a light-shielding layer is attached to the part that does not need to be light-transmitted (the light-shielding layer can be light-shielding ink or light-shielding sticker, etc.); the outer shell 112 can also be divided into two parts, a light-transmitting part and a light-shielding part, and the two parts are formed separately, and then the two parts are assembled to form a complete outer shell 112.

[0089] In this embodiment, the reflective assembly 400 includes at least two reflectors 410. For example, the reflective assembly 400 may include two reflectors 410, three reflectors 410, four reflectors 410, or more. Specifically, the reflectors 410 in the reflective assembly 400 are arranged around the rotation axis 20, and at least two of the reflectors 410 have different angles with a plane perpendicular to the rotation axis 20. That is, regardless of the number of reflectors 410, two reflectors 410 are capable of reflecting the outgoing laser light emitted from the laser transceiver assembly 300 in different directions, and the projections of the two directions onto a plane perpendicular to the rotation axis 20 intersect. For example, when there are eight reflectors 410, two reflectors 410 may have different angles with the plane perpendicular to the rotation axis 20, three reflectors 410 may have different angles with the plane perpendicular to the rotation axis 20, or all eight reflectors 410 may have different angles with the plane perpendicular to the rotation axis 20.

[0090] In this embodiment, during the rotation of the reflective assembly 400 along with the second rotating portion 200 relative to the first rotating portion 100, each reflector 410 is configured to reflect the outgoing laser light emitted by the laser transceiver assembly 300 toward the object being detected, and simultaneously reflect the reflected laser light reflected from the object being detected back to the corresponding laser transceiver assembly 300. In other words, the outgoing laser light reflected by each reflector 410, which then strikes the object being detected, is then reflected back by the corresponding reflector 410 back to the laser transceiver assembly 300. When there is only one laser transceiver assembly 300 and the first rotating portion 100 rotates within a certain angle relative to the second rotating portion 200, the laser light emitted and received by the laser transceiver assembly 300 is reflected by one reflector 410, while the other reflectors 410 are inactive (i.e., do not reflect laser light). When the first rotating portion 100 rotates within another angle relative to the second rotating portion 200, the previously active reflector 410 becomes inactive, and one of the other reflectors becomes active instead.

[0091] Of course, when there are multiple (two or more) laser transceiver assemblies 300 and their number is less than the number of reflectors 410, two or more reflectors 410 can operate simultaneously. Furthermore, when the number of laser transceiver assemblies 300 is greater than the number of reflectors 410, a single reflector 410 may simultaneously reflect two laser beams from different laser transceiver assemblies 300.

[0092] The laser radar 10 in this embodiment, on the one hand, since the reflection component 400 can rotate relative to the laser transceiver component 300, each laser transceiver component 300 forms a field of view covering a certain angle in the direction perpendicular to the rotation axis 20. On the other hand, the reflection component 400 in this embodiment has at least two reflectors 410 with different angles to the plane perpendicular to the rotation axis 20. Therefore, the detection field of view formed by the laser transceiver component 300 relative to the reflectors 410 with different angles is staggered in the direction parallel to the rotation axis 20, and then the at least two detection fields of view formed by the laser radar 10 are staggered in the direction parallel to the rotation axis 20. Compared with the single detection field of view in the prior art, the field of view range is wider, and the at least two detection fields of view formed by the laser radar 10 can also partially overlap, and the detection accuracy of the overlapping field of view is higher.

[0093] In the aforementioned embodiment, the laser radar 10 may include only one laser transceiver assembly 300. The laser light generated and received by the laser transceiver assembly 300 is alternately reflected by multiple reflectors 410. Each reflector 410 rotates about the rotation axis 20 to alternately reflect the laser light from the laser transceiver assembly 300. To switch the reflective state of each reflector 410, in one embodiment, the second rotating portion 200 may be rotated back and forth within a preset angle to switch the operating state of each reflector 410. For example, when the second rotating part 200 includes two reflectors 410 with different angles to the plane perpendicular to the rotation axis 20, and each reflector 410 corresponds to a working angle of ten degrees (here is just an exemplary angle) of the second rotating part 200 (that is, when the second rotating part 200 rotates relative to the first rotating part 100 within a specific range of ten degrees, one of the reflectors 410 can reflect the laser of the laser transceiver assembly 300, and when the second rotating part 200 rotates relative to the first rotating part 100 within another specific range of ten degrees, the other reflector 410 can reflect the laser of the laser transceiver assembly 300), the second rotating part 200 can rotate twenty degrees in a first direction around the rotation axis 20, thereby switching the working states of the two reflectors 410, and then rotate twenty degrees in a second direction (opposite to the first direction) around the rotation axis 20, thereby switching the working states of the two reflectors 410 again. During the above working process, the second rotating part 200 is in a reciprocating rotation state.

[0094] In addition to being able to reciprocate within a specific angle relative to the first rotating portion 100, the second rotating portion 200 can also, in another embodiment, continuously rotate relative to the first rotating portion 100 (i.e., always rotate in a single direction). Specifically, the second rotating portion 200 is configured to have a rotational stroke relative to the first rotating portion, and the rotational stroke is 360 degrees. In other words, when the second rotating portion 200 rotates about the rotation axis 20 relative to the first rotating portion 100, it only continuously rotates in one direction (i.e., the second rotating portion 200 repeats the above-mentioned rotational stroke), rather than reciprocating within a specific angle. Continuous rotation in one direction can also achieve the purpose of switching the working state of each reflector 410 without the need for precise control of the rotation process of the second rotating portion 200.

[0095] When the second rotating part 200 rotates continuously in one direction relative to the first rotating part 100, if there is a gap between each reflector 410, it is easy to cause a waste of the travel of the second rotating part 200 (that is, when the second rotating part 200 rotates to a certain position, there may be no reflector 410 that can reflect the laser of the laser transceiver assembly 300, so the laser radar 10 cannot work at this moment). In order to fully utilize the rotation travel of the second rotating part 200, in one embodiment, along the circumference of the rotation axis 20, each two adjacent reflectors 410 can be connected to each other so that there is no gap between each reflector 410. Furthermore, in this embodiment, the number of reflectors 410 can be three or more, and each reflector 410 is connected to form a ring-shaped reflector group. For example, when the number of reflectors 410 is three, the reflective surfaces of the three reflectors 410 can be the outer side of a triangular pyramid or the outer side of a triangular prism. When the number of reflectors 410 is four, the reflective surfaces of the four reflectors 410 can be the outer side of a quadrangular pyramid or the outer side of a quadrangular prism. When the number of reflectors 410 is multiple, the structure formed by the combination is similar and will not be described in detail here. When the reflectors are combined to form the above structure, no matter where the second rotating part 200 rotates, there will be a reflector 410 to reflect the laser light from the laser transceiver assembly 300, thereby improving the working efficiency of the laser radar 10.

[0096] When the reflectors are combined to form a reflector group in the shape of an annular shape, in order to arrange the reflectors 410, the second rotating part 200 may include a rotating table 210, which is connected to the second rotating part 200 and can rotate around the rotation axis 20. Specifically, the rotation axis 20 can pass through the rotating table 210 or deviate from the rotating table 210. The rotating table 210 includes a plurality of reflecting surfaces 211, and the reflectors 410 are arranged on the reflecting surfaces 211 in a one-to-one correspondence. In particular, when the reflector group in the shape of an annular shape formed by the reflectors is the outer side surface of a triangular pyramid, the rotating table 210 is in the shape of a triangular pyramid. When the reflector group in the shape of an annular shape formed by the reflectors is the outer side surface of a triangular prism, the rotating table 210 can be in the shape of a triangular prism. In this embodiment, as Figures 6 and 7 As shown, the reflective assembly 400 includes eight reflective mirrors 410 , and the rotating platform 210 is in the shape of an octagonal pyramid. The reflective mirrors 410 are arranged one by one on the eight outer side surfaces of the rotating platform 210 (ie, the eight reflective surfaces 211 of the rotating platform 210 ).

[0097] Of course, in other embodiments, the number of reflecting surfaces 211 of the rotating platform 210 can be more than the number of reflecting mirrors 410. For example, when the number of reflecting mirrors 410 is one, the rotating platform 210 can still be in the shape of an octagonal pyramid, and a reflecting mirror 410 is arranged on one of the reflecting surfaces 211 on the rotating platform 210, while the reflecting mirrors 410 are not arranged on the other reflecting surfaces 211.

[0098] In a preferred embodiment, when the reflectors are combined into an annular reflector group, there may be multiple reflector groups, and the multiple reflector groups are arranged in a direction parallel to the rotation axis 20 of the laser radar 10. For example, there may be two annular reflector groups, each having eight reflectors 410. The sixteen reflectors 410 in the two reflector groups have different angles with the plane perpendicular to the rotation axis 20, and the angles between the reflectors 410 in one reflector group and the plane perpendicular to the rotation axis 20 are greater than the angles between the reflectors 410 in the other reflector group and the plane perpendicular to the rotation axis 20. In other words, the minimum angle between the reflectors 410 in one reflector group and the plane perpendicular to the rotation axis 20 is greater than the maximum angle between the reflectors 410 in the other reflector group and the plane perpendicular to the rotation axis 20. In particular, the two reflector groups are configured to be translatable in a direction parallel to the rotation axis 20. This structure increases the detection field of view of the laser radar 10. It is understood that when the two reflector groups are in a certain position, the lasers emitted and received by the laser transceiver assembly 300 are both reflected by one of the reflector groups, and the laser radar 10 now has a detection field of view. When the laser radar 10 needs to be switched for use in other scenarios, the two reflector groups can be adjusted so that both transmitting mirror groups are translated in a direction parallel to the rotation axis 20, thereby switching the active reflector group. The detection field of view corresponding to the switched reflector group is different from the detection field of view corresponding to the previous reflector group. Therefore, the above structure enables the laser radar 10 to have two different detection fields of view, allowing the laser radar 10 to adapt to two different working scenarios.

[0099] Of course, in other embodiments, even if the reflective mirror groups are not combined into a ring structure, there may be multiple reflective mirror groups, and each reflective mirror group is arranged along a direction parallel to the rotation axis 20 .

[0100] It should be noted that any component having a reflective surface capable of reflecting laser light can be referred to as the reflector 410. For example, the reflector 410 can be a reflective coating (specifically, a silver coating) on ​​the reflective surface 211 of the rotating stage 210. The reflector 410 can also be a complete mirror structure connected to the reflective surface 211 of the rotating stage 210 by bonding.

[0101] When the reflector 410 is bonded to the reflective surface 211 on the rotating table 210, adhesive can be applied to the reflective surface 211 of the rotating table 210 first, and then the reflector 410 can be attached to the adhesive on the reflective surface 211. The amount of adhesive can be appropriately increased so that after the reflector 410 is attached to the adhesive, the angle between the reflector 410 and the rotation axis 20 can be fine-tuned, thereby making the positioning of the reflector 410 more accurate.

[0102] In order to store a certain amount of adhesive, in this embodiment, each reflective surface 211 of the rotating table 210 is provided with a glue brushing groove 2111, and each glue brushing groove 2111 is used to fill the adhesive for bonding the reflector 410. This ensures the firmness of the bonding between the reflector 410 and the rotating table 210. Due to the existence of the glue brushing groove 2111, the thickness of the adhesive on the reflective surface 211 becomes uneven, and the stress on the reflector 410 is uneven after the adhesive solidifies. In addition, the adhesive with uneven thickness makes the force on the reflector 410 uneven when the reflector 410 is squeezed toward the reflective surface 211 during the installation of the reflector 410, which will make the reflector 410 prone to irregular deformation. In order to solve the above problems, in one embodiment, as Figure 8 As shown, each reflective surface 211 is provided with a plurality of glue-applying grooves 2111. Each glue-applying groove 2111 is annular, and the centers of each glue-applying groove 2111 on the same reflective surface 211 coincide with each other. This ensures that when the reflector 410 is pressed toward the reflective surface 211 and after the adhesive solidifies, the force applied to each portion of the reflector 410 is relatively uniform, thereby reducing deformation of the reflector 410 and improving the accuracy of the detection field of view.

[0103] When the number of the reflectors 410 is three or more, preferably, the angles between each reflector 410 and the plane perpendicular to the rotation axis 20 are different. Figure 7 As shown, each reflector 410 includes an initial reflector 410a and an end reflector 410b adjacent to the initial reflector 410a. Along the circumference around the rotation axis 20, from the initial reflector 410a to the end reflector 410b, the angle between each reflector 410 and a plane perpendicular to the rotation axis 20 gradually increases. This structure not only facilitates the processing and manufacturing of the reflector assembly, but also allows the detection field of view of the laser transceiver assembly 20 to shift from bottom to top or from top to bottom (when the rotation axis 20 is arranged vertically), thereby enhancing the correlation between the scanned data and facilitating analysis of the detected data.

[0104] In particular, in this embodiment, along the circumference around the rotation axis 20, from the initial reflector 410a to the final reflector 410b, the angles between each two adjacent reflectors 410 can also be equal. Figure 7The reflective assembly 400 shown in FIG. 4 includes eight reflectors 410 . The reflector 410 having the smallest angle with a plane perpendicular to the rotation axis 20 is called an initial reflector 410 a , and the reflector 410 having the largest angle with a plane perpendicular to the rotation axis 20 is called an end reflector 410 b . Along the circumference around the rotation axis 20 , from the initial reflector 410 a to the end reflector 410 b , the angle between the first reflector 410 (i.e., the initial reflector 410 a ) and the second reflector 410 may be one degree (this is merely an example; other degrees may be used in other embodiments). The angle between the second reflector 410 and the third reflector 410 is also one degree. The angle between the third reflector 410 and the fourth reflector 410 is one degree. This is analogous to the angle between the seventh reflector 410 and the eighth reflector 410, which is one degree. The angle between the eighth reflector 410 (i.e., the end reflector 410 b ) and the first reflector 410 is seven degrees. In other words, when the included angle between the initial reflector 410a and the final reflector 410b is X degrees, the included angle between every two adjacent reflectors 410 along the circumferential direction around the rotation axis 20 from the initial reflector 410a to the final reflector 410b is X / 7 degrees.

[0105] When there are multiple (two or more) reflectors 410, in order to enable the reflectors 410 to reflect the laser light at an appropriate angle, in this embodiment, the angle between each reflector 410 and the rotation axis 20 has a minimum value greater than 0 degrees and a maximum value less than 90 degrees. For example, the angle between the reflector 410 and the rotation axis 20 can be 5 degrees, 10 degrees, 20 degrees, 40 degrees, 80 degrees, or 85 degrees.

[0106] When there are multiple reflectors 410, in order to smoothly reflect the laser to the detection object, in one embodiment, see Figure 20The surface of the reflector 410 facing the rotation axis 20 can be a reflective surface (i.e., a surface for reflecting laser light). When the surface of the reflector 410 facing the rotation axis 20 is a reflective surface, in order to prevent the outgoing light from being blocked by other reflectors 410 (reflectors 410 that do not reflect light in the current state), the reflectors 410 cannot be combined into a closed ring, and at least a gap is formed in the path of the outgoing laser light, so that the outgoing laser light is directed toward the detected object. Since the reflective assembly 400 rotates around the rotation axis 20, the maximum angle enclosed by the reflectors 410 can only be 180 degrees. This is to ensure that the outgoing laser light of the laser transceiver assembly 300 will not be blocked by other reflectors 410 that do not reflect light when the reflector assembly rotates. When the angle enclosed by the reflectors 410 is 180 degrees, during the rotation of the reflector assembly around the rotation axis 20, each laser transceiver assembly 300 in the laser radar 10 (regardless of the number) will only work half of the time. When the angle enclosed by the reflectors 410 is 90 degrees, during the rotation of the reflector group around the rotation axis 20 , each laser transceiver assembly 300 (regardless of the number) in the laser radar 10 only works for a quarter of the time.

[0107] When the surface of the reflector 410 facing away from the rotation axis 20 is a reflective surface, the reflector 410 may be a plane mirror to facilitate processing of the reflector 410. In one embodiment, to improve the resolution of the laser radar 10, the reflector 410 may be a convex mirror, and the mirror surface may be a circular arc surface, wherein the central axis corresponding to the circular arc surface intersects with the rotation axis 20, and the radius corresponding to the circular arc surface is greater than the maximum distance between the reflector 410 and the rotation axis 20. In another embodiment, to increase the detection field of view, the reflector 410 may be a concave mirror, and the mirror surface may be a circular arc surface, wherein the central axis corresponding to the circular arc surface intersects with the rotation axis 20.

[0108] When the surface of the reflector 410 facing the rotation axis 20 is a reflective surface, the reflector 410 may be a plane mirror to facilitate the processing of the reflector 410. In one embodiment, to improve the resolution of the laser radar 10, the reflector 410 may be a concave mirror, and the mirror surface may be a circular arc surface, and the central axis corresponding to the circular arc surface intersects with the rotation axis 20. At the same time, the radius corresponding to the circular arc surface is greater than the maximum distance from the reflector 410 to the rotation axis 20. In another embodiment, to increase the detection field of view, the reflector 410 may be a convex mirror, and the mirror surface may be a circular arc surface, and the central axis corresponding to the circular arc surface intersects with the rotation axis 20.

[0109] The above is the case where there is one laser transceiver component 300. When the number of laser transceiver components 300 is two or more, the angle enclosed by each reflector 410 should be set to be smaller accordingly. Since the actual angle needs to be adjusted according to the placement position of each laser transceiver component 300 and the number of laser transceiver components 300, it will not be elaborated here.

[0110] Compared with the above embodiment, in this embodiment, Figures 2 to 6 As shown, the surface of each reflector 410 that faces away from the rotation axis 20 is a reflective surface. This structure prevents the lasers reflected by the reflectors 410 from affecting each other, that is, the reflectors 410 can be combined into a ring-shaped reflector group.

[0111] Regardless of whether the surface of the reflector 410 facing the rotation axis 20 is the reflective surface or the surface of the reflector 410 facing away from the rotation axis 20 is the reflective surface, the optical axis of the laser transceiver assembly 300 should form an angle θ with the reflector 410 (specifically, the reflective surface), and the value range of the angle θ is 0° < θ < 90°. The optical axis of the laser transceiver assembly 300 can be the centerline of the outgoing laser light emitted by the laser transceiver assembly 300 or the centerline of the reflected laser light received by the laser transceiver assembly 300. When the outgoing laser light and the reflected laser light of the laser transceiver assembly 300 can be emitted or received by the same opening (i.e., the opening of the laser emission channel 333), the centerline of the outgoing laser light of the laser transceiver assembly 300 and the centerline of the reflected laser light coincide, and the optical axis of the laser transceiver assembly 300 is the coincident centerline. That is, the minimum angle between the optical axis of the laser transceiver assembly 300 and the reflective surface of the reflector 410 should be greater than 0 degrees, and the maximum angle should be less than 90 degrees. For example, the angle between the laser light emitted or received by the laser transceiver assembly 300 and the reflective surface of the reflector 410 can be 5 degrees, 10 degrees, 20 degrees, 40 degrees, 80 degrees, or 85 degrees, etc. The above is a case where there is only one laser transceiver assembly 300. Similarly, when there are multiple laser transceiver assemblies 300, the angle θ between the optical axis of each laser transceiver assembly 300 and the reflective surface of each reflector 410 should satisfy the above-mentioned relationship of 0°<θ<90°. For example, the angle between the laser light emitted or received by each laser transceiver assembly 300 and the reflective surface of the reflector 410 can be 5 degrees, 10 degrees, 20 degrees, 40 degrees, 80 degrees, or 85 degrees, etc.

[0112] When the reflectors are combined into a ring-shaped reflector group, the number of laser transceiver assemblies 300 can be one or more. Furthermore, when there are multiple laser transceiver assemblies 300, the laser transceiver assemblies 300 can be arranged around the rotation axis 20. Specifically, the laser transceiver assemblies 300 can be arranged in a circular array with the rotation axis 20 as the central axis. Within the rotation range of the second rotating portion 200 around the rotation axis 20, the outgoing laser light emitted by each laser transceiver assembly 300 can be reflected by at least one reflector 410, and the reflected laser light reflected back by at least one reflector 410 can be received by each laser transceiver assembly 300.

[0113] When there are multiple laser emitting components, the number of laser transceiver components 300 can be less than the number of reflectors 410 (in this case, a certain reflector 410 may not reflect the laser when the laser radar 10 is working), or it can be equal to the number of reflectors 410, or it can be greater than the number of reflectors 410 (in this case, one reflector 410 may reflect the lasers generated by two laser transceiver components 300 at the same time). In this embodiment, in order to prevent the lasers transmitted between the laser transceiver components 300 from interfering with each other and to maximize the reflection ability of each reflector 410, the number of laser transceiver components 300 is the same as the number of reflectors 410. For example, Figures 6 and 7 As shown, the laser radar 10 has eight reflectors 410, which are combined into a ring-shaped reflector group. The number of laser transceiver components 300 is the same as the number of reflectors 410, both of which are eight. In the process of the second rotating part 200 rotating around the rotation axis 20, each reflector 410 can reflect the laser generated by a corresponding laser transceiver component 300 (under the boundary conditions when the reflectors 410 are switched, it may happen that one reflector 410 reflects the lasers generated by two laser transceiver components 300, and the other reflector 410 does not reflect the laser. This situation is excluded).

[0114] In this embodiment, the number of laser transceiver components 300 and the number of transmitting mirrors are both multiple, and the number of the two is the same. The laser transceiver components 300 and the transmitting mirrors are arranged around the rotation axis 20, and each reflector 410 is enclosed to form a ring-shaped reflector group. The angle between each reflector 410 and the plane perpendicular to the rotation axis 20 is different. On the one hand, such a structure enables each laser transceiver component 300 to be in working condition at all times during the operation of the laser radar 10, and each reflector 410 is also in working condition at all times (when the number of reflectors 410 is large, at least one reflector 410 will not work at each moment. When the number of laser transceiver components 300 is large, if the reflectors 410 are not enclosed in a ring structure, some laser transceiver components 300 may not work at certain moments), and the laser radar 10 has higher working efficiency. On the other hand, the laser radar 10 can have a 360-degree field of view in the direction perpendicular to the rotation axis 20, and the detection range of the laser radar 10 is wider. On the other hand, the fields of view formed by each laser transceiver component 300 through different reflectors 410 do not overlap, and the detection range in the direction parallel to the rotation axis 20 is larger.

[0115] When there are multiple laser transceiver assemblies 300, in one embodiment, the angles between the laser light emitted or received by each laser transceiver assembly 300 and the rotation axis 20 can be different, thereby also achieving a larger field of view. In another embodiment, the reflective surface formed by each reflector 410 can be a conical surface, and the first rotating portion 100 can be rotated while the second rotating portion 200 remains stationary. In this way, since the angles between the laser light emitted and received by each laser transceiver assembly 300 and the rotation axis 20 are different, each laser transceiver assembly 300 can form an independent detection field of view as it rotates with the first rotating portion 100.

[0116] The first rotating portion 100 and the second rotating portion 200 of the rotating device can rotate simultaneously, or only one of them can rotate. Because the first rotating portion 100 is connected to the laser transceiver assembly 300, it needs to be connected to electrical equipment such as the circuit board 140. When the first rotating portion 100 rotates, how to direct power to the first rotating portion 100 becomes a challenge. Furthermore, when the first rotating portion 100 rotates, the data signal detected by the laser transceiver assembly 300 on the first rotating portion 100 needs to be transmitted to the second rotating portion 200, which is stationary, resulting in high signal transmission costs.

[0117] In one embodiment, to facilitate the manufacture of the laser radar 10, the first rotating portion 100 can be provided with a fixing structure for fixing the laser radar 10. The fixing structure can be any mechanical structure capable of fixing the laser radar 10. For example, the fixing structure can be a fixing member 322 having a bolt hole, a pin, or a threaded hole. In other words, when the laser radar 10 is installed, the fixing structure on the first rotating portion 100 can be mounted to the component on which the laser radar 10 is to be mounted, thereby making the first rotating portion 100 stationary relative to the aforementioned component. When the laser radar 10 is in operation, the first rotating portion 100 is stationary, while the second rotating portion 200 rotates relative to the first rotating portion 100. This eliminates the need for electrical equipment for the rotating portion of the laser radar 10, resulting in a simpler structure and lower manufacturing costs. Furthermore, since the laser transceiver assembly 300 is not fixed, the signals detected by it are more easily transmitted.

[0118] Of course, in other embodiments, a fixed structure may be provided on the second rotating part 200. After the laser radar 10 is installed, the second rotating part 200 remains stationary, and the first rotating part 100 rotates relative to the second rotating part 200. This facilitates the positioning of the reflector 410, thereby facilitating adjustment of the detection position of the laser reflected by the reflector 410 and improving detection accuracy. However, when the second rotating part 200 is stationary and the first rotating part 100 rotates, the data detected on the first rotating part 100 needs to be transmitted to the second rotating part 200, and the power on the second rotating part 200 needs to be transmitted to the first rotating part 100. The specific implementation method has been disclosed in the prior art and will not be described in detail here.

[0119] In another preferred embodiment, both the first rotating part 100 and the second rotating part 200 may be provided with a fixed structure, and the user may decide which part to fix and which part to rotate according to actual needs.

[0120] Any known structure can be used between the first rotating part 100 and the second rotating part 200 to achieve relative rotation between the two. Specifically, in this embodiment, the first rotating part 100 may include a base and a support shaft 130, and the second rotating part 200 is rotatably connected to the support shaft 130 of the first rotating part 100 and can rotate around the central axis of the support shaft 130 (that is, the aforementioned rotation axis 20 can be parallel to or coincide with the central axis of the support shaft 130). The second rotating part 200 can be connected to the middle of the support shaft 130, or it can be connected to the end of the support shaft 130 away from the base. Figure 2 、 3 as well as Figure 10As shown, in this embodiment, the second rotating portion 200 is connected to the end of the support shaft 130 facing away from the first rotating portion 100. Specifically, the rotating platform 210 may also be connected to the end of the support shaft 130 facing away from the first rotating portion 100. After the rotating platform 210 is placed on the support shaft 130, the reflective surfaces 211 on the rotating platform 210 are arranged around the central axis of the support shaft 130.

[0121] The first rotating part 100 and the second rotating part 200 can be rotated manually. In this case, the second rotating part 200 can be directly connected to the support shaft 130 through a shaft hole, or the two can be connected using bearings. For the convenience of detection, preferably, in this embodiment, the rotation between the first rotating part 100 and the second rotating part 200 can be driven by a driving device 500. When the driving device 500 is used to drive the first rotating part 100 and the second rotating part 200 to rotate relative to each other, in addition to being connected to the support shaft 130 through a shaft hole or a bearing, the second rotating part 200 and the support shaft 130 can also be connected to the above-mentioned driving device 500 at the same time. Specifically, the second rotating part 200 can be connected to the stator of the above-mentioned driving device 500 and the support shaft 130 can be connected to the rotor of the above-mentioned driving device 500; or the second rotating part 200 can be connected to the rotor of the above-mentioned driving device 500 and the support shaft 130 can be connected to the stator of the above-mentioned driving device 500. The connection method of simultaneously connecting the second rotating part 200 and the support shaft 130 using the driving device 500 can omit the rotating connection elements (such as redundant bearings) between the second rotating part 200 and the support shaft 130, thereby reducing production costs.

[0122] When the laser radar 10 is driven by the driving device 500, in order to guide the current to the driving device 500, it is necessary to connect the driving device 500 with a wire, and the wire needs to introduce the current from the end position of the support shaft 130 away from the second rotating part 200, that is, the wire needs to extend along the length direction of the support shaft 130. In order to avoid cluttering the wires, the wires need to be arranged close to the support shaft 130. Preferably, as Figure 6 、 Figure 10 as well as Figure 18 As shown, in this embodiment, the support shaft 130 includes a planar cross-section 131 extending along its axial direction. This cross-section 131 facilitates positioning of the support shaft 130, allowing it to effectively transmit torque to the second rotating portion 200. Furthermore, the wires connected to the drive device 500 can extend along the cross-section 131, allowing them to fit tightly against the support shaft 130 and facilitate their placement.

[0123] When the second rotating portion 200 includes a rotating table 210, and the rotating table 210 is connected to the end of the support shaft 130 facing away from the first rotating portion 100, the rotating table 210 can be connected to the aforementioned drive device 500. Specifically, the rotating table 210 can be connected to the rotor of the drive device 500, and the support shaft 130 can be connected to the stator of the drive device 500. Since the drive device 500 generally only requires connection to the stator of the stator, connecting the support shaft 130 to the stator eliminates the need for power supply to the second rotating portion 200 and the rotating table 210.

[0124] Of course, in one embodiment, the stator of the drive device 500 can also be connected to the rotating platform 210, and the rotor can be connected to the support shaft 130. When the above structure is adopted, in order to reduce the volume of the laser radar 10, the interior of the rotating platform 210 can be a hollow structure, that is, the rotating platform 210 defines an internal chamber, the drive device 500 is disposed in the internal chamber of the rotating platform 210, and the rotating shaft of the rotor of the drive device 500 extends out of the internal chamber of the rotating platform 210 and is connected to the support shaft 130. The structure in which the drive device 500 is disposed in the internal chamber of the rotating platform 210 can ensure that the drive device 500 takes up almost no additional space, thereby improving the space utilization of the laser radar 10.

[0125] When the fixed structure is connected to the first rotating portion 100, the fixed structure can be specifically connected to the base of the first rotating portion 100. In this embodiment, the base also includes a mounting surface 1111. The support shaft 130 is connected to the mounting surface 1111 of the base. The central axis of the support shaft 130 can also be perpendicular to the mounting surface 1111. The aforementioned laser transceiver assembly 300 is connected to the mounting surface 1111 of the base to facilitate the emission of outgoing laser light toward the reflector 410 and the reception of reflected laser light from the reflector 410.

[0126] To power the laser transceiver assembly 300 connected to the base and transmit data detected by it, the first rotating portion 100 also needs to be connected to the circuit board 140. On the one hand, the circuit board 140 has numerous components, a complex structure, and an uneven surface that reflects light, which easily generates stray light. This stray light can easily mix with the reflected laser light and affect the detection accuracy of the lidar 10. On the other hand, the higher the power of the laser transceiver assembly 300, the higher its temperature. Prolonged exposure to high temperatures can easily damage the circuit board 140.

[0127] In order to solve the above problems, Figures 3 and 4As shown, in this embodiment, the second rotating part 200 may further include a bottom shell 120, which is connected to the side of the base facing away from the mounting surface 1111, and defines a receiving cavity together with the surface of the base facing away from the mounting surface 1111. The receiving cavity is used to accommodate the circuit board 140 of the laser radar 10, and the circuit board 140 is electrically connected to the laser transceiver assembly 300. On the one hand, the circuit board 140 and the laser transceiver assembly 300 are isolated by the base, so the stray light emitted by the circuit board 140 will not affect the reflected laser, thereby reducing the stray light entering the laser transceiver assembly 300. On the other hand, since the circuit board 140 is not in the same enclosed space as the laser transceiver assembly 300, the high temperature generated by the laser transceiver assembly 300 has a reduced effect on the circuit board 140, thereby extending the life of the circuit board 140.

[0128] like Figure 2 as well as Figure 10 As shown, the base may specifically include an outer shell 112 and a bottom plate 111. The outer shell 112 is arranged around the outer circumference of the bottom plate 111. One end of the outer shell 112, the bottom plate 111, and the bottom shell 120 collectively define the aforementioned accommodating cavity for accommodating the circuit board 140. The other end of the outer shell 112 and the side of the bottom plate 111 having the aforementioned mounting surface 1111 collectively define a chamber for accommodating the laser transceiver assembly 300. To direct the power from the circuit board 140 to the laser transceiver assembly 300, in this embodiment, a plurality of through holes 1112 are provided on the bottom plate 111 of the base. The laser transceiver assembly 300 is electrically connected to the circuit board 140 through the through holes 1112.

[0129] Preferably, in order to enhance the sealing of the accommodating cavity as much as possible, Figures 11 to 12 As shown, in this embodiment, the end of each laser transceiver assembly 300 facing away from the reflector 410 is passed through the through hole 1112 on the bottom shell 111 one by one. On the one hand, this facilitates the electrical connection between the laser transceiver assembly 300 and the circuit board 140. On the other hand, each through hole 1112 is sealed by each laser transceiver assembly 300, thereby improving the sealing of the accommodating cavity.

[0130] In this embodiment, Figure 4 as well as Figure 6 As shown, in order to monitor the rotation angle of the second rotating part 200 relative to the first rotating part 100. The laser radar 10 also includes an angle measuring device. Specifically, the angle measuring device includes a code disk 610 and an optical device 620. The code disk 610 is connected to the second rotating part 200, and the code disk 610 includes code teeth arranged around the rotation axis 20. The optical device 620 is connected to the end of the support shaft 130 away from the first rotating part 100, and the optical device 620 cooperates with the code disk 610 to monitor the number of teeth swept by the code teeth to monitor the angle of rotation of the second rotating part 200 relative to the first rotating part 100.

[0131] Preferably, when the interior of the rotating table 210 is hollow, in order to reduce the volume of the laser radar 10, the code wheel 610 can be set in the internal cavity of the rotating table 210, and the code teeth of the code wheel 610 extend out of the internal cavity of the rotating table 210 and cooperate with the optical device 620.

[0132] like Figures 21 to 22 As shown, a second aspect of the embodiments of the present application further provides an autonomous driving device 1, which includes the laser radar 10 of any of the above embodiments. The device 1 can be any device 1 capable of performing laser detection, specifically, a vehicle. The vehicle includes a vehicle body 20, and the laser radar 10 can be installed externally or embedded within the vehicle body 20. When the laser radar 10 is installed externally to the vehicle body 20, it is preferably installed on the roof of the vehicle body 20.

[0133] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0134] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A laser radar, characterized in that: include: A rotating device comprising a first rotating portion and a second rotating portion, wherein the first rotating portion and the second rotating portion can rotate relative to each other about a rotation axis, wherein the second rotating portion comprises a rotating table, and the rotating table comprises at least two reflecting surfaces, each of the reflecting surfaces being arranged about the rotation axis; a plurality of laser transceiver assemblies arranged around the rotation axis and connected to the first rotating portion; each of the laser transceiver assemblies includes a laser emitting device for emitting an outgoing laser, a laser receiving device for receiving a reflected laser, and a transceiver housing; the transceiver housing is used to connect the laser emitting device and the laser receiving device, the laser emitting device and the laser receiving device corresponding to each other one-to-one; the reflected laser is the laser reflected back after the outgoing laser is irradiated onto the detected object; the transceiver housing includes a shell, a first reflector, and a second reflector; the shell defines a laser emitting channel and a laser receiving channel; the first reflector is provided in the laser emitting channel and has a light hole for allowing the outgoing laser to pass through; the first reflector is used to reflect the reflected laser to the second reflector; the second reflector is provided in the laser receiving channel and is used to reflect the reflected laser reflected by the first reflector to the laser receiving device; the optical axis direction of the outgoing laser emitted by the laser emitting device is parallel to the optical axis direction of the reflected laser received by the laser receiving device, and both form an angle with the rotation axis; The reflective assembly includes at least two reflective structures, each of which is arranged in a one-to-one correspondence on each of the reflective surfaces, and each of the reflective structures is configured to reflect the outgoing laser emitted by the laser transceiver assembly to the object to be detected, and to reflect the reflected laser reflected back by the object to be detected to the laser transceiver assembly; each of the laser transceiver assemblies and the reflective structure corresponding to each of the laser transceiver assemblies are arranged on the same side of the rotation axis in a direction perpendicular to the rotation axis; wherein, at least two of the reflective surfaces have different angles with the plane perpendicular to the rotation axis.

2. The laser radar according to claim 1, wherein Each of the reflective structures is a reflective coating disposed on the reflective surface.

3. The laser radar according to claim 1, wherein Each of the reflective structures is a reflector, and each of the reflective mirrors is bonded to each of the reflective surfaces in a one-to-one correspondence.

4. The laser radar according to claim 3, wherein Along the circumferential direction around the rotation axis, every two adjacent reflectors are connected to each other.

5. The laser radar according to claim 4, wherein: The number of the reflectors is at least three, and the reflectors are connected to form a ring-shaped reflector group.

6. The laser radar according to claim 5, wherein The included angles of each of the reflectors and the plane perpendicular to the rotation axis are different.

7. The laser radar according to claim 5, wherein Each of the reflectors includes an initial reflector and an end reflector adjacent to the initial reflector. Along the circumference around the rotation axis, from the initial reflector to the end reflector, the angle between each reflector and a plane perpendicular to the rotation axis gradually increases.

8. The laser radar according to claim 7, wherein: Along the circumferential direction around the rotation axis, from the initial reflector to the final reflector, the angles between every two adjacent reflectors are equal.

9. The laser radar according to claim 5, wherein The minimum value of the included angle between each of the reflectors and the rotation axis is greater than 0 degrees, and the maximum value is less than 90 degrees.

10. The laser radar according to claim 4, wherein: Each of the reflective surfaces is provided with a glue brushing groove, and each of the glue brushing grooves is used to fill with adhesive for bonding the reflector.

11. The laser radar according to claim 10, wherein: A plurality of glue brushing grooves are provided on each of the reflecting surfaces, each of the glue brushing grooves is annular in shape, and the centers of each of the glue brushing grooves on the same reflecting surface coincide with each other.

12. The laser radar according to claim 1, wherein The first rotating part includes: A base, the base comprising a mounting surface, and the laser transceiver assembly is mounted on the mounting surface; a support shaft connected to the mounting surface, wherein the central axis of the support shaft is perpendicular to the mounting surface; the rotating platform is connected to the end of the support shaft away from the first rotating portion; and the rotation axis is parallel to or coincides with the central axis of the support shaft; The second rotating part includes: The driving motor is connected to the support shaft and the rotating platform respectively, and is configured to drive the rotating platform to rotate relative to the support shaft.

13. The laser radar according to claim 12, wherein: An internal chamber is defined inside the rotating platform, and the driving motor is installed in the internal chamber.

14. The laser radar according to claim 13, wherein: The driving motor includes a stator and a rotor. The stator is connected to the first rotating part, and the rotor is connected to the rotating table.

15. The laser radar according to claim 14, wherein: Also includes: a code disc connected to the second rotating part, the code disc comprising code teeth arranged around the rotation axis; An optical device is connected to the end of the support shaft away from the first rotating part. The optical device cooperates with the code disk to monitor the number of teeth of the swept code teeth to monitor the rotation angle of the second rotating part relative to the first rotating part.

16. The laser radar according to claim 15, wherein: The code wheel is disposed in the internal cavity, and the code teeth extend out of the internal cavity to cooperate with the optical device.

17. The laser radar according to claim 5, wherein: During the rotation of the second rotating part relative to the first rotating part, the outgoing laser emitted by each laser transceiver assembly can be reflected by at least one of the reflective mirrors, and the reflected laser reflected back by at least one of the reflective mirrors can be received.

18. The laser radar according to claim 17, wherein: The number of the laser transceiver components is the same as the number of the reflectors, and during the rotation of the second rotating part relative to the first rotating part, each of the reflectors reflects an outgoing laser of the laser transceiver component and reflects one reflected laser to the laser transceiver component.

19. The laser radar according to claim 1, wherein The first rotating part is provided with a fixing structure, and the fixing structure is used to fix the laser radar.

20. An automatic driving device, characterized in that: Including the laser radar described in any one of claims 1-19.

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