Laser transceiver components, lidar, and autonomous driving equipment

Abstract

A laser transceiver assembly for lidar, lidar, and autonomous driving equipment includes: a laser emitting device (310), comprising 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 emitted laser emitted by the laser emitting device (313) passes sequentially through the first emitting mirror group (312) and the second emitting mirror group (311). The second emitting mirror group (311) is connected to the first emitting mirror group (312), and the second emitting mirror group (311) is configured with... The laser transceiver assembly can move relative to the first transmitting mirror group (312) in a direction parallel to the emitted laser. The laser receiving device (320) includes a receiving mirror group (321), a fixing member (322), and a laser receiving device (323). The fixing member (322) defines a through hole, with the receiving mirror group (321) disposed on one side and the laser receiving device (323) disposed on the other side. A transceiver housing (330) connects the side of the second transmitting mirror group (311) opposite to the laser emitting device (310) and the side of the receiving mirror group (321) opposite to the laser receiving device (323). This laser transceiver assembly can reduce the assembly difficulty of the laser radar.

Description

Technical Field

[0001] This application relates to the field of laser detection technology, and more particularly to a laser transceiver assembly, a lidar, and an autonomous driving device. Background Technology

[0002] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of objects. Its working principle is that the transmitting system first emits an outgoing laser beam for detection into the detection area, and then the receiving system receives the reflected laser beams from the objects in the detection area. By comparing the reflected laser beams with the outgoing laser beams and processing them, relevant information about the objects can be obtained, such as distance, orientation, height, velocity, attitude, and even shape.

[0003] Current lidar systems consist of a laser emitter and a laser receiver. The laser emitter emits the emitted laser light, and the laser receiver receives the reflected laser light. During lidar assembly, since the emitted laser light from one laser emitter needs to be received by a corresponding laser receiver, the optical paths between them must be matched. This is especially complex when the lidar system has multiple sets of laser emitters and receivers, making the optical path matching process for each set extremely intricate and significantly increasing the difficulty of lidar assembly. Summary of the Invention

[0004] This application provides a laser transceiver assembly, a lidar, and an autonomous driving device, wherein the optical path matching process of the laser emitting device and the laser receiving device in the laser transceiver assembly, lidar, and autonomous driving device is simpler.

[0005] According to one aspect of this application, a laser transceiver assembly for a lidar is provided, comprising:

[0006] A laser emitting device includes a first emitting mirror group, a second emitting mirror group, and a laser emitting device. The laser emitting device is connected to the first emitting mirror group, and the emitted laser emitted by the laser emitting device passes through the first emitting mirror group and the second emitting mirror group in sequence. The second emitting mirror group is connected to the first emitting mirror group, and the second emitting mirror group is configured to be movable relative to the first emitting mirror group in a direction parallel to the emitted laser.

[0007] A laser receiving device includes a receiving mirror assembly, a fixing member, and a laser receiving device. The fixing member defines a through hole. The receiving mirror assembly is disposed on one side of the fixing member and the laser receiving device is disposed on the other side, so that the laser receiving device can receive reflected laser light that passes through the receiving mirror assembly and the through hole in sequence.

[0008] The transceiver housing connects the side of the second transmitting mirror group away from the laser emitting device and the side of the receiving mirror group away from the laser receiving device. The emitted laser passes through the transceiver housing and is emitted outside the lidar. The reflected laser reflected back by the external object being detected passes through the transceiver housing and is directed towards the laser receiving device.

[0009] According to some embodiments, the first emitting lens group includes a first emitting lens tube, the second emitting lens group includes a second emitting lens tube, and the end of the first emitting lens tube away from the laser emitting device is sleeved on the end of the second emitting lens tube close to the laser emitting device.

[0010] According to some embodiments, the end of the first emitting lens tube facing away from the laser emitting device is threadedly connected to the end of the second emitting lens tube near the laser emitting device; or

[0011] The end of the first emitting lens tube that is away from the laser emitting device is used to bond to the end of the second emitting lens tube that is close to the laser emitting device.

[0012] According to some embodiments, the transceiver housing includes an outer shell, a first reflector, and a second reflector. The outer shell defines a laser emission channel and a laser receiving channel. The first reflector is disposed in the laser emission channel and has a light-transmitting hole for allowing the emitted laser to pass through. The first reflector is used to emit reflected laser to the second reflector. The second reflector is disposed in the laser receiving channel and is used to reflect the reflected laser from the first reflector back to the laser receiving device.

[0013] According to some embodiments, the channel axis of the laser receiving channel is parallel to the channel axis of the laser emitting channel.

[0014] According to some embodiments, the end of the second emitting lens tube facing away from the laser emitting device is embedded in the laser emitting channel and configured to move within the laser emitting channel in a direction parallel to the channel axis of the laser emitting channel.

[0015] According to some embodiments, the end of the second emitting lens tube facing away from the laser emitting device is threadedly connected to the inner peripheral wall of the laser emitting channel; and / or

[0016] The end of the second emitting lens tube facing away from the laser emitting device is used to bond to the inner peripheral wall of the laser emitting channel.

[0017] According to some embodiments, the receiving lens assembly is completely placed within the receiving channel, and the end of the fixing member facing away from the laser receiving device is connected to the laser receiving channel.

[0018] According to some embodiments, the receiving mirror assembly is configured to move within the laser receiving channel in a direction parallel to the channel axis of the laser receiving channel.

[0019] According to some embodiments, the receiving mirror assembly is threadedly connected to the inner peripheral wall of the laser receiving channel; and / or

[0020] The laser receiving lens assembly is used to bond to the inner peripheral wall of the laser receiving channel.

[0021] According to some embodiments, the fastener includes a channel housing and a connecting portion, the channel housing defining a through hole, the connecting portion connecting to the channel housing, and the connecting portion being used to fix the laser transceiver assembly to an external component.

[0022] According to some embodiments, the laser emitting device includes multiple emitting units, each of which can emit outgoing laser light. The emitting units are arranged in a straight line, and the straight line is perpendicular to the channel axis of the laser emitting channel.

[0023] The first reflector has a non-reflective area in the shape of a straight strip. The length of the non-reflective area is parallel to the straight line, and the center of the non-reflective area coincides with the center of the light-transmitting hole.

[0024] A second aspect of this application also provides a lidar, including the laser transceiver component of any of the above.

[0025] A third aspect of this application also provides an autonomous driving device, including the aforementioned lidar.

[0026] In the laser transceiver assembly provided in this application, both the laser emitting device and the laser receiving device are fixedly connected to the transceiver housing, making the optical path paths of the emitted laser and the reflected laser correlated. During the production of the laser transceiver assembly, the optical path of each assembly can be individually adjusted to match the emitted laser from the laser emitting device and the reflected laser received by the laser receiving device. Thus, when a lidar has multiple laser emitting devices and multiple laser receiving devices, multiple laser transceiver assemblies with matched optical paths can be configured, reducing the assembly cycle of the lidar. Furthermore, after the laser emitting device is installed in the transceiver housing, the focal length can be adjusted individually by changing the distance between the first and second emitting mirror groups, thereby enhancing the adaptability of the laser emitting device. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A three-dimensional schematic diagram of a lidar provided in one embodiment of this application;

[0029] Figure 2 This is a full cross-sectional schematic diagram of a lidar provided in one embodiment of this application;

[0030] Figure 3 A schematic cross-sectional view of a lidar provided in one embodiment of this application shows the schematic paths of the emitted and reflected lasers.

[0031] Figure 4 This is a full cross-sectional schematic diagram of a lidar provided in one embodiment of this application, wherein the lidar is shown in an exploded view;

[0032] Figure 5 This is a schematic diagram of a first explosion of a lidar provided in one embodiment of this application;

[0033] Figure 6 This is a second explosion diagram of a lidar provided in one embodiment of this application;

[0034] Figure 7 An exploded view of a rotating body and a mirror assembly provided in one embodiment of this application;

[0035] Figure 8 An exploded view of a rotating body and a mirror assembly provided in another embodiment of this application, showing the structure of a glue-brushing groove;

[0036] Figure 9 This is a schematic diagram of the combination of the rotating body, the mirror group, and each laser transceiver component provided in one embodiment of this application;

[0037] Figure 10 A perspective view of some components of the first rotating part and the driving device provided in one embodiment of this application;

[0038] Figure 11 A three-dimensional schematic diagram of some components of the first rotating part and the laser transceiver assembly provided in one embodiment of this application;

[0039] Figure 12 This is an exploded schematic diagram of a lidar provided in one embodiment of this application;

[0040] Figure 13 This is a three-dimensional schematic diagram of a laser transceiver assembly provided in one embodiment of this application;

[0041] Figure 14 This is a full cross-sectional schematic diagram of a laser transceiver assembly provided in one embodiment of this application;

[0042] Figure 15 This is a full cross-sectional schematic diagram of a laser transceiver assembly provided in one embodiment of this application, wherein the laser transceiver assembly is shown in exploded view;

[0043] Figure 16 This is a perspective view of a laser transceiver assembly in one embodiment of this application, wherein the laser transceiver assembly is shown in cross-section.

[0044] Figure 17 for Figure 16 An exploded view of the laser transceiver components in the image;

[0045] Figure 18 This is an exploded view of the fixed shaft and drive device in one embodiment of this application;

[0046] Figure 19 This is a front view schematic diagram of the first reflecting mirror in one embodiment of this application;

[0047] Figure 20 This is a schematic diagram of the combination of a laser transceiver assembly and a reflector in another embodiment of this application, wherein the surface of the reflector facing the axis of rotation is a reflective surface;

[0048] Figure 21 This is a schematic diagram of the structure of an autonomous driving device in one embodiment of this application;

[0049] Figure 22 This is a schematic diagram of the structure of an autonomous driving device in another embodiment of this application. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of objects. Its working principle is that the transmitting system first emits an outgoing laser beam for detection into the detection area, and then the receiving system receives the reflected laser beams from the objects in the detection area. By comparing the reflected laser beams with the outgoing laser beams and processing them, relevant information about the objects can be obtained, such as distance, orientation, height, velocity, attitude, and even shape.

[0052] Current lidar systems consist of a laser emitter, a laser receiver, and a reflector. The reflector can rotate relative to the axis of rotation. The emitted laser light is scanned outwards by the rotating reflector, and simultaneously, the reflected laser light is received by the rotating reflector and directed back to the laser receiver, thus enabling lidar detection. Although existing lidar systems can achieve detection through the rotation of the reflector, their detection field of view is limited and their detection resolution is poor.

[0053] like Figures 1 to 12As shown, this embodiment provides a lidar 10 that has a larger detection field of view compared to existing technologies. Specifically, the lidar 10 in this embodiment includes a rotating device, a laser transceiver assembly 300, and a reflective assembly 400.

[0054] The rotating device includes a first rotating part 100 and a second rotating part 200, which can rotate relative to each other, and both rotate about a rotation axis 20 when they rotate relative to each other. That is, when the first rotating part 100 is stationary and the second rotating part 200 rotates, the second rotating part 200 rotates about the aforementioned rotation axis 20. Similarly, when the second rotating part 200 is stationary and the first rotating part 100 rotates, the first rotating part 100 rotates about the rotation axis 20. Of course, the first rotating part 100 and the second rotating part 200 can also rotate about the rotation axis 20 simultaneously (in which case the external reference, such as the ground, can be considered a fixed object).

[0055] In one embodiment, the first rotating part 100 and the second rotating part 200 can be components located on both sides of the lidar 10, respectively. In this case, either one can rotate individually, or both can rotate simultaneously. When both rotate simultaneously, the lidar 10 can further include a support member that connects both the first rotating part 100 and the second rotating part 200. The first rotating part 100 and the second rotating part 200 rotate about the rotation axis 20 relative to the support member.

[0056] In another embodiment, when one of the first rotating part 100 and the second rotating part 200 rotates about the other, for example, when the first rotating part 100 is stationary and the second rotating part 200 rotates about the rotation axis 20 relative to the first rotating part 100, the second rotating part 200 can be disposed inside the first rotating part 100. For example, the first rotating part 100 may include the housing of the lidar 10, and the second rotating part 200 is disposed inside the housing and can rotate about the rotation axis 20 inside the first rotating part 100. Similarly, when the second rotating part 200 is stationary and the first rotating part 100 rotates about the rotation axis 20 relative to the second rotating part 200, the first rotating part 100 can be disposed inside the second rotating part 200. For example, the second rotating part 200 may include the housing of the lidar 10, and the first rotating part 100 is disposed inside the housing and can rotate about the rotation axis 20 inside the second rotating part 200. Similarly, when both the first rotating part 100 and the second rotating part 200 rotate relative to an external reference, the lidar 10 may also include a housing (at this time, the housing is neither part of the first rotating part 100 nor part of the second rotating part 200). The first rotating part 100 and the second rotating part 200 may both be disposed inside the housing, and the housing is used for fixed installation with external components (for example, when the lidar 10 is installed on a car, the housing of the lidar 10 is connected to the car and remains stationary relative to the car).

[0057] In this embodiment, as Figure 2 , Figure 3 , Figure 4 as well as Figure 14 As shown, the first rotating part 100 includes a housing 112, and the second rotating part 200 is disposed inside the housing 112 and can rotate inside the housing 112.

[0058] The laser transceiver assembly 300 includes a laser emitting device 310 and a laser receiving device 320. The laser emitting device 310 emits an outgoing laser for detection, which illuminates the object being detected. The outgoing laser is reflected by the object being detected to form a reflected laser, which is then received by the laser receiving device 320. The laser emitting device 310 and the laser receiving device 320 can be integrated into a single module, or they can be two independent components. In this embodiment, the laser transceiver assembly 300 is connected to the first rotating part 100 and rotates with the first rotating part 100. For ease of description, in this application, the light emitted by the laser emitting device 310 and illuminating the object being detected is referred to as the outgoing laser, regardless of whether the light emitted by the laser emitting device 310 undergoes any other reflection process before illuminating the object being detected. The light reflected back from the object being detected and transmitted to the laser receiving device 320 is called reflected laser. Regardless of whether the light reflected from the object being detected has undergone other reflection processes before being received by the laser receiving device 320, it is called reflected laser.

[0059] like Figures 13 to 20 As shown, this embodiment also provides a laser transceiver assembly 300 for a lidar 10, in which the laser emitting device 310 and the laser receiving device 320 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.

[0060] The transceiver housing 330 defines a laser receiving channel 334 and a laser emitting channel 333. The emitted laser emitted by the laser emitting device 310 passes through the laser emitting channel 333 and illuminates the object being detected. The reflected laser light from the object passes through the laser receiving channel 334 and illuminates 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, for ease of processing and optical path adjustment, 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.

[0061] 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 the first reflector 331 has a light-transmitting hole 3311 for allowing the emitted laser to pass through. The first reflector 331 is used to reflect the reflected laser to the second reflector 332. The second reflector 332 is disposed in the laser receiving channel 334, and the second reflector 332 is used to reflect the reflected laser from the first reflector 331 to the laser receiving device 323. That is, the mirror surface of the first reflector 331 faces away from the laser emission device 310, and the mirror surface of the second reflector 332 faces the laser receiving device 320. The emitted laser from the laser emitting device 310 passes through the light-transmitting aperture 3311 of the first reflecting mirror 331 and is used to illuminate the object being detected. The reflected laser from the object is reflected back and then reflected by the mirror surface of the first reflecting mirror 331 to the mirror surface of the second reflecting mirror 332 located in the laser receiving channel 334. The reflected laser, after being reflected by the second reflecting mirror 332, passes through the laser receiving channel 334 and is emitted by the laser receiving device 320. This structure allows both the emitted and reflected lasers to be emitted or received through the same opening (i.e., the opening of the laser emitting channel 333). This facilitates the adjustment of the laser path and makes the relative arrangement of the laser receiving device 320 and the laser emitting device 310 more flexible. When the relative positions of the laser receiving device 320 and the laser emitting device 310 change, only the relative distance and relative angle of the first reflecting mirror 331 and the second reflecting mirror 332 need to be adjusted to compensate for the positional changes of the laser receiving device 320 and the laser emitting device 310. Furthermore, the same opening of the laser transceiver unit for transmission or reception (i.e., coaxial transmission and reception of the laser transceiver unit) can minimize the reception of stray light (including ambient light and light from other radars and light sources) because it only receives reflected laser light incident at a specific angle, thereby improving the signal-to-noise ratio and detection performance.

[0062] Of course, in other embodiments, the transceiver housing 330 may also have two independent channels, one channel for transmitting outgoing laser light and the other channel for receiving reflected laser light, and the light in the two channels does not interfere with each other.

[0063] 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 emitted laser light emitted by the laser emitting device 313 passes sequentially through the first emitting mirror group 312 and the second emitting mirror group 311. 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 emitted laser light. In this way, when assembling the laser emitting device 310, the relative positions between the first emitting mirror group 312 and the second emitting mirror group 311 can be adjusted to ensure that the laser emitting device 313 is on the focal plane of the laser emitting device 310. Furthermore, 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. Adjusting the relative positional relationship between the first emitting mirror 312 and the second emitting mirror group 311 can also adjust the spot size of the emitted laser, allowing the emitted laser to pass smoothly through the through hole without being blocked or lost.

[0064] It should be noted that the variable relative positions between the first emitting mirror group 312 and the second emitting mirror group 311 in this embodiment only means that the laser transceiver assembly 300 can be adjusted before optical modulation. However, after the overall optical modulation of the laser transceiver assembly 300, the relative positions between the first emitting mirror group 312 and the second emitting mirror group 311 may be fixed. Therefore, the relative positions between the first emitting mirror group 312 and the second emitting mirror group 311 in the optically modulated laser transceiver assembly 300 may not be adjustable.

[0065] like Figure 15 As shown, the laser receiving device 320 includes a receiving mirror assembly 321, a fixing member 322, and a laser receiving device 323. The fixing member 322 defines a through hole. The receiving mirror assembly 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 reflected laser light that passes through the receiving mirror assembly 321 and the through hole in sequence.

[0066] In this embodiment, the laser transceiver assembly 300 includes a laser emitting device 310 and a laser receiving device 320, both fixedly connected to the transceiver housing 330, ensuring the optical paths of the emitted and reflected lasers are correlated. During production, each laser transceiver assembly 300 can have its optical path adjusted individually, matching the emitted laser from the laser emitting device 310 with the reflected laser received by the laser receiving device 320. This allows the lidar 10 to function with multiple laser emitting devices 310 and multiple laser receiving devices 320 by configuring multiple laser transceiver assemblies 300 with matched optical paths, reducing the assembly cycle of the lidar 10. Furthermore, after the laser emitting device 310 is installed in the transceiver housing 330, its focal length can be adjusted individually by changing the distance between the first emitting mirror group 312 and the second emitting mirror group 311, thereby enhancing the adaptability of the laser emitting device 310.

[0067] There are various structures that can achieve distance adjustment between the first transmitting mirror group 312 and the second transmitting mirror group 311, such as... Figure 15 and Figure 17 As shown, in one embodiment, the first emitting lens group 312 includes a first emitting lens tube, and the second emitting lens group 311 includes a second emitting lens tube. The end of the first emitting lens tube facing away from the laser emitting device 313 is sleeved on the end of the second emitting lens tube near the laser emitting device 313. The second emitting lens tube can translate within the first emitting lens tube in a direction parallel to the optical axis. That is, changes in the size of the portion of the second emitting lens tube extending into the first lens tube will change the distance between the center of the first emitting lens group 312 and the center of the second emitting lens group 311, thereby adjusting the overall focal length of the first emitting lens group 312 and the second emitting lens group 311. Specifically, the end of the first emitting lens tube facing away from the laser emitting device 313 can be threadedly connected to the end of the second emitting lens tube near the laser emitting device 313. In this case, the distance between the centers of the first and second emitting lens tubes can be adjusted by controlling the rotation of the second emitting lens tube relative to the first emitting lens tube. Alternatively, the end of the first emitting lens tube facing away from the laser emitting device 313 can be bonded to the end of the second emitting lens tube near the laser emitting device 313. It should be noted that when bonding the first emitting lens tube and the second emitting lens tube, the bonding should be carried out after the optical path of the laser emitting device 310 has been adjusted. That is, by adjusting the distance between the center of the first emitting lens tube and the center of the second emitting lens tube so that the laser emitting device 313 is on the focal plane of the first emitting lens group 312 and the second emitting lens group 311, the first emitting lens tube and the second emitting lens tube are then bonded and fixed. Once the two are bonded and fixed, the distance between the first emitting lens tube and the second emitting lens tube can no longer be adjusted.

[0068] To ensure optical path matching 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 can be adjusted. Specifically, the end of the second emitting lens tube facing away from the first emitting lens tube can extend into the laser emitting channel 333 of the transceiver housing 330, and can move within the laser emitting channel 333 in a direction parallel to the emitted laser. Specifically, the second emitting lens tube can also be threaded or bonded to the inner peripheral wall of the transceiver housing 330.

[0069] In the above embodiments, the first emitting mirror group 312 and the second emitting mirror group 311 are directly connected, thereby enabling distance adjustment between them (referring to the distance between their centers). In one embodiment, the distance adjustment can also be achieved without direct connection between the two. For example, the second emitting mirror tube can be completely embedded in the laser emission channel 333 of the transceiver housing 330, and the end of the first emitting mirror tube near the second emitting mirror tube can be embedded in the laser emission channel 333, and can move within the laser emission channel 333 in a direction parallel to the emitted laser. In this way, when the first emitting mirror tube moves relative to the transceiver housing 330, the distance between the first emitting mirror tube and the second emitting mirror tube changes accordingly. Similarly, when the end of the first emitting mirror tube near the second emitting mirror tube can move within the laser emission channel 333, the first emitting mirror tube can be threaded or bonded to the inner peripheral wall of the laser emission channel 333. Specifically, the first emitting lens can extend into the laser emitting channel 333 only near the end of the second emitting lens, or the first emitting lens can extend completely into the laser emitting channel 333.

[0070] To allow adjustment of the optical path of the laser receiver 320, the distance between the receiving lens assembly 321 and the fixing member 322 can be adjusted (adjustment is possible before the optical path adjustment is completed). In one embodiment, the receiving lens barrel of the receiving lens assembly 321 can be inserted into the through hole of the fixing member 322. Specifically, the end of the receiving lens assembly 321 near the fixing member 322 can be threaded or bonded to the fixing member 322 (bonding is possible after the optical path adjustment is completed). In this embodiment, as shown... Figures 14 to 16As shown, the receiving mirror 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 mirror assembly 321. The receiving mirror 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 mirror assembly 321 adjusts its relative position to the laser receiving device 323, thereby placing the laser receiving device 323 on the focal plane of the receiving mirror assembly 321, ensuring that the reflected laser light converged by the receiving mirror assembly 321 is completely received by the laser receiving device 323. Specifically, the receiving mirror assembly 321 can be threadedly connected to or bonded to the inner peripheral wall of the laser receiving channel 334 (bonding after optical path adjustment).

[0071] To secure the laser receiving component, a connecting portion 3222 is required. This connecting portion 3222 is used to fix the laser transceiver component 300 within the lidar 10. In one embodiment, the connecting portion 3222 of the laser transceiver component 300 can be connected to the transceiver housing 330, thus simplifying the manufacturing of the laser receiving device 320 and the laser emitting device 310. In this embodiment, as... Figure 15 and 17 As shown, the connecting portion 3222 of the laser transceiver assembly 300 is part of the fixing member 322. The fixing member 322 includes a channel housing 3221 and the connecting portion 3222. The channel housing 3221 defines the aforementioned through hole, with a laser receiver 323 disposed on one side and a receiver lens assembly 321 disposed on the other end. The connecting portion 3222 connects to the channel housing 3221 and is used to fix the laser transceiver assembly 300 to external components (components of the lidar 10 other than the laser transceiver assembly 300, such as the base of the lidar 10). Specifically, the connecting portion 3222 may be provided with threaded holes, bolt holes, or pin holes for fixing, allowing the laser transceiver assembly 300 to be fixed within the lidar 10 using fasteners such as screws, bolts, or pins.

[0072] Since the angles of the laser emitted and received by the laser transceiver assembly 300 need to be arranged according to actual design requirements, and the laser receiver 323 is connected to the fixing member 322, the structural design of the connecting part 3222 as part of the fixing member 322 allows the angle of the laser 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 between the connecting part 3222 and the channel housing 3221. In other words, when the connecting part 3222 is part of the fixing member 322, the angle of the laser emitted or received by the laser transceiver assembly 300 within the lidar 10 can be indirectly adjusted by adjusting the angle between the axis of the threaded hole, bolt hole, or pin hole of the connecting part 3222 and the axis of the through hole of the channel housing 3221.

[0073] For example, when the laser transceiver assembly 300 is disposed on the aforementioned first rotating part 100, the angle between the laser emitted or received by the laser transceiver assembly 300 and the rotation axis 20 needs to be specially designed according to actual requirements. However, when the connecting part 3222 is part of the fixing member 322, the angle between the axis of the threaded hole, bolt hole or pin hole on the connecting part 3222 and the axis of the through hole of the fixing member 322 can be indirectly adjusted. In other words, the arrangement design of the laser transceiver assembly 300 relative to the lidar 10 is transformed into the structural design of the simple component 322, which reduces the design difficulty.

[0074] The mirror groups in the laser emitting device 310 are used to collimate the emitted laser beam, but it is difficult to make the emitted laser beam an ideal 0° beam. Therefore, the emitted laser has a small diffusion angle, which makes the spot formed by the reflected laser beam larger than the spot formed by the emitted laser beam. Therefore, if the emitted laser beam passing through the light-transmitting aperture 3311 is reflected back by a non-detector (for example, the emitted laser beam is not directed at the detector and is reflected back by other components midway), a portion of it will inevitably fall on the mirror surface around the light-transmitting aperture 3311 and be received by the laser receiving device 320 after reflection. The laser beam reflected back by the non-detector is a useless interference laser beam. If this interference laser beam is reflected by the first reflecting mirror 331 to the second reflecting mirror 332, it is easily received by the laser receiving device 320 and forms an interference signal.

[0075] To address the aforementioned issues, in this embodiment, the laser emitting device 313 includes multiple emitting units, each capable of emitting laser light. These emitting units are arranged in a straight line, and the straight line in which they are arranged is perpendicular to the channel axis of the laser emitting channel 333. For example... Figure 17 and Figure 19As shown, the first reflector 331 has a straight-line non-reflective area. The length of the non-reflective area is parallel to the straight line arranged by each transmitting unit, and the center of the non-reflective area coincides with the center of the light-transmitting aperture 3311. When the aforementioned non-reflective area is formed on the first reflector 331, the laser reflected back from the non-detector object will most likely be reflected to the non-emitting area. Since the non-reflective area does not reflect laser, the laser reflected back from the non-detector object will not be reflected to the second reflector 332, thus preventing the formation of interference signals and improving the detection accuracy of the laser transceiver assembly 300.

[0076] Specifically, a light-absorbing coating or light-absorbing plating can be applied to the surface of the first reflector 331 to form a non-reflective area (i.e., the entire surface of the mirror is first coated with a reflective plating, and then a light-absorbing coating or light-absorbing plating is applied to the non-reflective area); alternatively, a reflective plating can be applied only to the non-reflective area of ​​the first reflector 331 (i.e., no reflective plating is applied to the non-reflective area); or the reflective plating on the non-reflective area of ​​the first reflector 331 can be removed, for example, by creating a groove at the location of the non-reflective area on the first reflector 331, so that the non-emissive area cannot reflect laser light.

[0077] The reflector component 400 is used to reflect both the emitted and reflected laser beams, causing the emitted laser beam to change direction and illuminate the object being detected, and to receive the reflected laser beam and change its direction to illuminate the corresponding laser transceiver component 300. Specifically, the reflector component 400 is connected to the second rotating part 200 and can rotate with the second rotating part 200. When the second rotating part 200 rotates, the angle of the emitted laser beam relative to the reflector component on the plane perpendicular to the rotation axis 20 changes, and the reflection angle of the emitted laser beam through the reflector component changes accordingly, thereby allowing the lidar 10 to form a certain field of view.

[0078] Understandably, when the first rotating part 100 includes a housing 112 and the second rotating part 200 is disposed inside the first rotating part 100, the housing 112 may include a light-transmitting part 113, which is configured to be light-transmitting so that emitted and reflected laser light can pass through. The housing 112 may be made entirely of a light-transmitting material, or only the parts through which emitted and reflected laser light need to pass may be made of a light-transmitting material, such as a highly transparent filter. When the housing 112 has a light-transmitting part 113, the housing 112 may be integrally formed from two materials (one light-transmitting material and one opaque material); it may also be integrally formed from a light-transmitting material, and then a light-shielding layer (which may be light-shielding ink or light-shielding sticker, etc.) may be attached to the parts where light is not needed; or the housing 112 may be divided into two parts, one light-transmitting and one opaque, which are formed separately and then assembled to form a complete housing 112.

[0079] In this embodiment, the reflecting assembly 400 includes at least two reflectors 410. For example, the reflecting assembly 400 may include two, three, four, or more reflectors 410. Specifically, each reflector 410 in the reflecting assembly 400 is arranged around the rotation axis 20, and at least two reflectors 410 have different angles with the plane perpendicular to the rotation axis 20. That is, regardless of the number of reflectors 410, there are always two reflectors 410 that can reflect the emitted laser light from the laser transceiver assembly 300 in different directions, and the projections of these two directions in the 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.

[0080] In this embodiment, during the stroke of the reflective component 400 as the second rotating part 200 rotates relative to the first rotating part 100, each reflector 410 is configured to reflect the emitted laser emitted by the laser transceiver component 300 to the object being detected, and simultaneously reflect the reflected laser reflected back from the object being detected back to the corresponding laser transceiver component 300. That is, the reflected laser emitted by each reflector 410, after illuminating the object being detected, will be reflected back to the laser transceiver component 300 by the same reflector. When there is only one laser transceiver component 300, and the first rotating part 100 rotates relative to the second rotating part 200 within a certain angle, the laser emitted and received by this laser transceiver component 300 is reflected by one reflector 410, and the other reflectors 410 do not work (i.e., do not reflect laser). When the first rotating part 100 rotates relative to the second rotating part 200 within another angle, the previously working reflector 410 becomes inactive, and another reflector takes over.

[0081] Of course, when the number of laser transceiver components 300 is multiple (two or more) and less than the number of reflectors 410, then two or more reflectors 410 can work simultaneously. When the number of laser transceiver components 300 is greater than the number of reflectors 410, it is also possible for one reflector 410 to simultaneously reflect two laser beams from different laser transceiver components 300.

[0082] In this embodiment, the lidar 10 has two advantages. First, the reflective component 400 can rotate relative to the laser transceiver component 300, and each laser transceiver component 300 forms a field of view that covers a certain angle in a direction perpendicular to the rotation axis 20. Second, the reflective component 400 in this embodiment has at least two reflective mirrors 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 reflective mirrors 410 with different angles is offset in a direction parallel to the rotation axis 20. Consequently, the lidar 10 forms at least two detection field of view that are offset in a direction parallel to the rotation axis 20. Compared with the single detection field of view in the prior art, the field of view is wider. The lidar 10 can also partially overlap the at least two detection field of view, and the detection accuracy of the overlapping field of view is higher.

[0083] In the aforementioned embodiments, the lidar 10 may contain only one laser transceiver component 300. The lasers generated and received by the laser transceiver component 300 are alternately reflected by multiple reflectors 410, and each reflector 410 alternately reflects the laser from the laser transceiver component 300 by rotating around the rotation axis 20. In order to switch the reflection state of each reflector 410, in one embodiment, the second rotating part 200 can be made to reciprocate within a preset angle to switch the working state of each reflector 410. For example, when the second rotating part 200 includes two reflectors 410 with different included angles to the plane perpendicular to the rotation axis 20, and each reflector 410 corresponds to a working angle of ten degrees (here, it 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 ten-degree range, 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 ten-degree range, the other reflector 410 can reflect the laser of the laser transceiver assembly 300), the second rotating part 200 can rotate twenty degrees about the rotation axis 20 in the first direction to switch the working state of the two reflectors 410, and then rotate twenty degrees about the rotation axis 20 in the second direction (the opposite direction of the first direction) to switch the working state of the two reflectors 410 again. During the above operation, the second rotating part 200 is in a reciprocating rotation state.

[0084] In addition to reciprocating relative to the first rotating part 100 within a specific angle, in another embodiment, the second rotating part 200 can also continuously rotate relative to the first rotating part 100 (i.e., always rotating in a single direction). Specifically, the second rotating part 200 is configured to have a rotational stroke relative to the first rotating part, and the rotational stroke is 360 degrees. That is to say, when the second rotating part 200 rotates relative to the first rotating part 100 about the rotation axis 20, it only continuously rotates in one direction (i.e., the second rotating part 200 simply repeats the above-mentioned rotational stroke), instead of reciprocating within a specific angle. Continuous rotation in one direction can also achieve the purpose of switching the working states of each reflector 410, and it is not necessary to precisely control the rotation process of the second rotating part 200.

[0085] When the second rotating part 200 rotates continuously in one direction relative to the first rotating part 100, if there are gaps between the reflectors 410, it can easily lead to a waste of the travel of the second rotating part 200 (i.e., when the second rotating part 200 rotates to a certain position, no reflector 410 can reflect the laser from the laser transceiver assembly 300, so the lidar 10 cannot work at this moment). In order to make full use of the rotation travel of the second rotating part 200, in one embodiment, every two adjacent reflectors 410 can be connected to each other along the circumference of the rotation axis 20, so that there are no gaps between the reflectors 410. Further, in this embodiment, the number of reflectors 410 can be three or more, and the reflectors 410 are connected to form a ring-shaped reflector group. For example, when the number of reflectors 410 is three, the reflecting surface of the three reflectors 410 can be the outer surface of a triangular pyramid or the outer surface of a triangular frustum. When the number of reflectors 410 is four, the reflecting surface of the four reflectors 410 can be the outer surface of a square pyramid or the outer surface of a square frustum. The structure formed when there are multiple reflectors 410 can be similarly combined, and will not be elaborated here. When the reflectors are combined to form the above structure, no matter where the second rotating part 200 rotates, the reflectors 410 can reflect the laser of the laser transceiver assembly 300, thereby improving the working efficiency of the lidar 10.

[0086] When the reflectors are combined to form a ring-shaped reflector group, the second rotating part 200 may include a rotating platform 210 for arranging the reflectors 410. The rotating platform 210 is connected to the second rotating part 200 and can rotate about the rotation axis 20. Specifically, the rotation axis 20 may pass through the rotating platform 210 or be offset from the rotating platform 210. The rotating platform 210 includes multiple reflecting surfaces 211, and each reflector 410 is arranged one-to-one on the reflecting surface 211. In particular, when the ring-shaped reflector group formed by the reflectors is the outer surface of a triangular pyramid, the rotating platform 210 is also triangular pyramidal. When the ring-shaped reflector group formed by the reflectors is the outer surface of a truncated pyramid, the rotating platform 210 can also be truncated pyramidal. In this embodiment, as... Figures 6 to 7 As shown, the reflective assembly 400 includes eight reflectors 410, and the rotating stage 210 is octagonal in shape. Each reflector 410 is arranged one-to-one on the eight outer surfaces of the rotating stage 210 (i.e., the eight reflecting surfaces 211 of the rotating stage 210).

[0087] Of course, in other embodiments, the number of reflective surfaces 211 of the rotating stage 210 can be more than the number of reflective mirrors 410. For example, when the number of reflective mirrors 410 is one, the rotating stage 210 can still be octagonal, and one of the reflective surfaces 211 on the rotating stage 210 is provided with a reflective mirror 410, while the other reflective surfaces 211 are not provided with reflective mirrors 410.

[0088] In a preferred embodiment, when the reflectors are combined into a ring-shaped reflector group, there can be multiple reflector groups, and these multiple reflector groups are arranged along a direction parallel to the rotation axis 20 of the lidar 10. For example, there can be two ring-shaped reflector groups, each with eight reflectors 410. The angles between the sixteen reflectors 410 in the two reflector groups and the plane perpendicular to the rotation axis 20 are all different, and the angles between each reflector 410 in one reflector group and the plane perpendicular to the rotation axis 20 are all greater than the angles between each reflector 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 along a direction parallel to the rotation axis 20. This structure allows the lidar 10 to have a larger detection field of view. Understandably, when the two reflector groups are in a certain position, the laser emitted and received by the laser transceiver assembly 300 is reflected by one of the reflector groups, and the lidar 10 has one detection field of view. When the lidar 10 needs to be used in other scenarios, the two reflector groups can be adjusted so that both emitting mirror groups translate along a direction parallel to the rotation axis 20, thereby switching the working reflector group. The detection field of view corresponding to the switched reflector group is different from that corresponding to the previous reflector group. Therefore, the above structure allows the lidar 10 to have two different detection fields of view, enabling the lidar 10 to adapt to two different working scenarios.

[0089] Of course, in other embodiments, even if the reflector groups are not combined into a ring structure, there can be multiple reflector groups, and each reflector group is arranged in a direction parallel to the rotation axis 20.

[0090] It should be noted that any component with a reflective surface capable of reflecting laser light can be called a reflector 410. For example, the reflector 410 can be a reflective coating (specifically a silver coating) on ​​the reflective surface 211 of the rotary table 210. The reflector 410 can also be a complete mirror structure, and can be connected to the reflective surface 211 of the rotary table 210 by adhesive bonding.

[0091] When the reflector 410 is bonded to the reflective surface 211 on the rotary table 210, adhesive can be applied to the reflective surface 211 of the rotary table 210 first, and then the reflector 410 is 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 finely adjusted, thereby making the positioning of the reflector 410 more accurate.

[0092] To store a certain amount of adhesive, in this embodiment, each reflective surface 211 of the rotating platform 210 is provided with an adhesive application groove 2111, and each groove 2111 is used to fill the adhesive for bonding the reflector 410. This ensures the strong bond between the reflector 410 and the rotating platform 210. Due to the presence of the adhesive application groove 2111, the thickness of the adhesive on the reflective surface 211 becomes uneven. After the adhesive solidifies, the stress on the reflector 410 becomes uneven. Furthermore, the uneven thickness of the adhesive causes uneven stress on the reflector 410 when it is pressed towards the reflective surface 211 during installation, making the reflector 410 prone to irregular deformation. To solve the above problems, in one embodiment, such as... Figure 8 As shown, each reflective surface 211 is provided with multiple adhesive application grooves 2111, each groove 2111 being annular and having their centers overlapping on the same reflective surface 211. This ensures that when the reflector 410 is pressed towards the reflective surface 211 and after the adhesive has solidified, the force on the reflector 410 is relatively uniform, thereby reducing the deformation of the reflector 410 and improving the accuracy of the detection field of view.

[0093] When the number of reflectors 410 is three or more, preferably, the angle between each reflector 410 and the plane perpendicular to the rotation axis 20 can be different. Further, in this embodiment, as... 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 of the rotation axis 20, from the initial reflector 410a to the end reflector 410b, the angle between each reflector 410 and the plane perpendicular to the rotation axis 20 gradually increases. This structure facilitates the fabrication of the reflector assembly and also allows the detection field of view of the laser transceiver assembly 20 to be shifted from bottom to top or from top to bottom (when the rotation axis 20 is arranged vertically), thereby strengthening the correlation between the scanned data and facilitating the analysis of the detected data.

[0094] Specifically, in this embodiment, along the circumference of the rotation axis 20, from the initial reflector 410a to the final reflector 410b, the included angle between any two adjacent reflectors 410 can be equal. For example, as... Figure 7The reflective assembly 400 shown has eight reflectors 410. The reflector 410 with the smallest angle to the plane perpendicular to the rotation axis 20 is called the initial reflector 410a, and the reflector 410 with the largest angle to the plane perpendicular to the rotation axis 20 is called the final reflector 410b. Along the circumference of the rotation axis 20, from the initial reflector 410a to the final reflector 410b, the angle between the first reflector 410 (i.e., the initial reflector 410a) and the second reflector 410 can be one degree (this is just an example; other degrees are possible 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, and so on, up to the angle between the seventh and eighth reflectors 410. The angle between the eighth reflector 410 (i.e., the final reflector 410b) and the first reflector 410 is seven degrees. In other words, when the angle between the initial reflector 410a and the final reflector 410b is X degrees, along the circumference of the rotation axis 20, from the initial reflector 410a to the final reflector 410b, the angle between any two adjacent reflectors 410 is X / 7 degrees.

[0095] When there are multiple reflectors 410 (two or more), in order to ensure that the reflectors 410 reflect the laser at a suitable angle, in this embodiment, the minimum value of the angle between each reflector 410 and the rotation axis 20 is greater than 0 degrees, and the maximum value is 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, etc.

[0096] When there are multiple reflectors 410, in order to successfully reflect the laser to the target, 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 used to reflect laser light). When the surface of the reflector 410 facing the rotation axis 20 is a reflective surface, in order to prevent the emitted 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 must be formed in the path of the emitted laser light, so that the emitted laser light is directed towards the object being detected. Since the reflective assembly 400 rotates around the rotation axis 20, the maximum angle enclosed by the reflectors 410 can only be 180 degrees, so that the emitted laser light of the laser transceiver assembly 300 will not be blocked by other non-reflective reflectors 410 when the reflector assembly rotates around the rotation axis 20. 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 lidar 10 (regardless of the number) only works for half 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 component 300 in the lidar 10 (regardless of the number) only works for a quarter of the time.

[0097] When the surface of the reflector 410 facing away from the rotation axis 20 is a reflective surface, the reflector 410 can be a plane mirror to facilitate its fabrication. In one embodiment, to improve the resolution of the lidar 10, the reflector 410 can be a convex mirror, specifically an arc surface, with the central axis of the arc surface intersecting the rotation axis 20, and the radius of the arc surface being 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 can be a concave mirror, specifically an arc surface, with the central axis of the arc surface intersecting the rotation axis 20.

[0098] When the surface of the reflector 410 facing the rotation axis 20 is a reflective surface, the reflector 410 can be a plane mirror to facilitate its manufacturing. In one embodiment, to improve the resolution of the lidar 10, the reflector 410 can be a concave mirror, specifically an arc surface, with the central axis of the arc surface intersecting the rotation axis 20. Furthermore, the radius of the 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 can be a convex mirror, specifically an arc surface, with the central axis of the arc surface intersecting the rotation axis 20.

[0099] The above describes the case where there is only one laser transceiver component 300. When there are two or more laser transceiver components 300, the angle enclosed by each reflector 410 should be set to be smaller. Since the actual angle needs to be adjusted according to the placement of each laser transceiver component 300 and the number of laser transceiver components 300, it will not be elaborated here.

[0100] Compared to the above embodiments, in this embodiment, as Figures 2 to 6 As shown, the surfaces of each reflector 410 that are away from the rotation axis 20 are reflective surfaces. This structure ensures that the lasers reflected from each reflector 410 do not interfere with each other, meaning that each reflector 410 can be combined into a ring-shaped reflector group.

[0101] Regardless of whether the surface of the reflector 410 facing the rotation axis 20 or the surface of the reflector 410 away from the rotation axis 20 is a 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 of the angle θ should be in the range of 0° < θ < 90°. The optical axis of the laser transceiver assembly 300 can be either the center line of the emitted laser light or the center line of the reflected laser light received by the laser transceiver assembly 300. When both the emitted and reflected laser light of the laser transceiver assembly 300 can be emitted or received through the same opening (i.e., the opening of the laser emission channel 333), the center lines of the emitted and reflected laser light of the laser transceiver assembly 300 coincide, and the optical axis of the laser transceiver assembly 300 is the coincident center line. 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 emitted or received by the laser transceiver 300 and the reflecting surface of the reflector 410 can be 5 degrees, 10 degrees, 20 degrees, 40 degrees, 80 degrees, or 85 degrees, etc. The above describes the case where there is only one laser transceiver 300. Similarly, when there are multiple laser transceivers 300, the angle θ between the optical axis of each laser transceiver 300 and the reflecting surface of each reflector 410 should satisfy the aforementioned relationship of 0° < θ < 90°. For example, the angle between the laser emitted or received by each laser transceiver 300 and the reflecting surface of the reflector 410 can be 5 degrees, 10 degrees, 20 degrees, 40 degrees, 80 degrees, or 85 degrees, etc.

[0102] When the reflectors are combined into a ring-shaped reflector group, the number of laser transceiver components 300 can be one or more. When there are multiple laser transceiver components 300, each laser transceiver component 300 can be arranged around the rotation axis 20. Specifically, each laser transceiver component 300 can also be arranged in a circular array with the rotation axis 20 as the central axis. Within the rotation stroke of the second rotating part 200 around the rotation axis 20, the emitted laser light from each laser transceiver component 300 can be reflected by at least one reflector 410, and at least one reflected laser light reflected back from the reflector 410 can be received.

[0103] When there are multiple laser emitting components, the number of laser transceiver components 300 can be less than the number of reflectors 410 (in which case, when the lidar 10 is working, one reflector 410 may not reflect the laser), equal to the number of reflectors 410, or greater than the number of reflectors 410 (in which case, one reflector 410 may simultaneously reflect the lasers generated by two laser transceiver components 300). However, in this embodiment, to prevent mutual interference between the lasers transmitted between the laser transceiver components 300 and to maximize the reflectivity of each reflector 410, the number of laser transceiver components 300 is the same as the number of reflectors 410. For example, as shown... Figures 6 to 7 As shown, the lidar 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, which is eight. During the rotation of the second rotating part 200 around the rotation axis 20, each reflector 410 can reflect the laser generated by one laser transceiver component 300 (under the boundary conditions when the reflector 410 switches, one reflector 410 may reflect the laser generated by two laser transceiver components 300, while the other reflector 410 does not reflect the laser, and this situation is excluded).

[0104] In this embodiment, there are multiple laser transceiver components 300 and multiple transmitting mirrors, and the number of both is the same. Both the laser transceiver components 300 and the transmitting mirrors are arranged around the rotation axis 20, and each reflecting mirror 410 forms a ring-shaped reflecting mirror group. The angle between each reflecting mirror 410 and the plane perpendicular to the rotation axis 20 is different. This structure ensures that during the operation of the lidar 10, each laser transceiver component 300 can be in a working state at all times, and each reflecting mirror 410 is also in a working state at all times (when the number of reflecting mirrors 410 is large, at least one reflecting mirror 410 will be inactive at any given time; when the number of laser transceiver components 300 is large, if the reflecting mirrors 410 are not arranged in a ring shape, some laser transceiver components 300 may also be inactive at certain times), thus increasing the working efficiency of the lidar 10. On the other hand, it also enables the lidar 10 to have a 360-degree field of view in the direction perpendicular to the rotation axis 20, thus expanding the detection range of the lidar 10. Furthermore, the fields of view formed by each laser transceiver component 300 through different reflectors 410 do not overlap, resulting in a larger detection range in the direction parallel to the rotation axis 20.

[0105] When there are multiple laser transceiver components 300, in one embodiment, the angle between the laser emitted or received by each laser transceiver component 300 and the rotation axis 20 can be different, thus obtaining 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 part 100 can rotate while the second rotating part 200 remains stationary. In this way, since the angle between the laser emitted and received by each laser transceiver component 300 and the rotation axis 20 is different, each laser transceiver component 300 can form an independent detection field of view as it rotates with the first rotating part 100.

[0106] The first rotating part 100 and the second rotating part 200 of the rotating device can rotate simultaneously, or only one of them can rotate. Since the first rotating part 100 is connected to the laser transceiver component 300, electrical equipment such as the circuit board 140 needs to be connected to the first rotating part 100. However, how to direct power to the first rotating part 100 when it rotates becomes a challenge. Simultaneously, when the first rotating part 100 rotates, the data signal detected by the laser transceiver component 300 on the first rotating part 100 also needs to be transmitted to the stationary second rotating part 200, resulting in high signal transmission costs.

[0107] In one embodiment, to facilitate the manufacturing of the lidar 10, the first rotating part 100 can be provided with a fixing structure for fixing the lidar 10. The fixing structure can be any mechanical structure capable of fixing the lidar 10; for example, it can be a fastener 322 with bolt holes, pins, or threaded holes. That is, when installing the lidar 10, the fixing structure on the first rotating part 100 can be installed with the component on which the lidar 10 needs to be installed, so that the first rotating part 100 remains stationary relative to the component. In the operating state of the lidar 10, the first rotating part 100 remains stationary, while the second rotating part 200 rotates relative to the first rotating part 100. On the one hand, this eliminates the need for electrical equipment for the rotating part of the lidar 10, resulting in a simpler structure and lower manufacturing cost; on the other hand, since the laser transceiver assembly 300 is not fixed, the detected signal is easier to transmit.

[0108] Of course, in other embodiments, the second rotating part 200 can also be provided with a fixed structure. After the lidar 10 is installed, the second rotating part 200 remains stationary, while the first rotating part 100 rotates relative to the second rotating part 200. This facilitates the positioning of the reflector 410, thereby making it easier to adjust 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, it is necessary to transmit the data detected on the first rotating part 100 to the second rotating part 200, and it is also necessary to transmit the power from the second rotating part 200 to the first rotating part 100. The specific implementation method has been disclosed in the prior art and will not be elaborated here.

[0109] In another preferred embodiment, both the first rotating part 100 and the second rotating part 200 can be provided with a fixed structure. The user can decide which part to keep stationary and which part to rotate according to actual needs.

[0110] The first rotating part 100 and the second rotating part 200 can employ any known structure to achieve relative rotation between them. Specifically, in this embodiment, the first rotating part 100 may include a base and a support shaft 130. The second rotating part 200 is rotatably connected to the support shaft 130 of the first rotating part 100 and can rotate about the central axis of the support shaft 130 (i.e., the aforementioned rotation axis 20 may be parallel to or coincide with the central axis of the support shaft 130). The second rotating part 200 may be connected to the middle of the support shaft 130 or to the end of the support shaft 130 opposite to the base. Figure 2 , 3 as well as Figure 10As shown, in this embodiment, the second rotating part 200 is connected to the end of the support shaft 130 that is away from the first rotating part 100. In particular, the rotating platform 210 may also be connected to the end of the support shaft 130 that is away from the first rotating part 100. After the rotating platform 210 is arranged on the support shaft 130, each reflecting surface 211 on the rotating platform 210 is arranged around the central axis of the support shaft 130.

[0111] 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 via a shaft hole fit, or the two can be connected using a bearing. For ease 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 drive device 500. When the drive device 500 drives 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 via a shaft hole fit or a bearing, the second rotating part 200 can also be simultaneously connected to the drive device 500. Specifically, the second rotating part 200 can be connected to the stator of the drive device 500, and the support shaft 130 can be connected to the rotor of the drive device 500; or the second rotating part 200 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. By using the drive device 500 to simultaneously connect the second rotating part 200 and the support shaft 130, the rotational connecting element (such as an unnecessary bearing) between the second rotating part 200 and the support shaft 130 can be omitted, thus reducing production costs.

[0112] When the lidar 10 is driven by the drive device 500, in order to guide the current to the drive device 500, it is necessary to connect the drive device 500 with a wire. The wire needs to introduce the current from the end of the support shaft 130 away from the second rotating part 200; that is, the wire needs to extend along the length of the support shaft 130. To avoid tangling the wires, they need to be arranged close to the support shaft 130. Preferably, as follows... Figure 6 , Figure 10 as well as Figure 18 As shown, in this embodiment, the support shaft 130 includes a cross-section 131 extending along its own axial direction, and the cross-section 131 is a plane. On the one hand, the cross-section 131 facilitates the positioning of the support shaft 130, so that the support shaft 130 can transmit torque to the second rotating part 200 well; on the other hand, the wire connected to the drive device 500 can also extend close to the cross-section 131, so that the wire can be closely attached to the support shaft 130, which facilitates the arrangement of the wire.

[0113] When the second rotating part 200 includes a rotating platform 210, and the rotating platform 210 is connected to the end of the support shaft 130 opposite to the first rotating part 100, the rotating platform 210 can be connected to the aforementioned drive device 500. Specifically, the rotating platform 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 electrical equipment to be connected to the stator, connecting the support shaft 130 to the stator allows the second rotating part 200 and the rotating platform 210 to be free from the need for electrical equipment to be connected.

[0114] Of course, in one embodiment, the stator of the drive device 500 can be connected to the rotary table 210, and the rotor can be connected to the support shaft 130. With the above structure, to reduce the size of the lidar 10, the rotary table 210 can be hollow, meaning the rotary table 210 defines an internal cavity, the drive device 500 is disposed within the internal cavity of the rotary table 210, and the rotation shaft of the rotor of the drive device 500 extends out of the internal cavity of the rotary table 210 and connects to the support shaft 130. This structure, where the drive device 500 is disposed within the internal cavity of the rotary table 210, allows the drive device 500 to occupy almost no additional space, improving the space utilization of the lidar 10.

[0115] When the fixing structure is connected to the first rotating part 100, the fixing structure can be specifically connected to the base of the first rotating part 100. In this embodiment, the base also includes a mounting surface 1111, and the aforementioned support shaft 130 is connected to the mounting surface 1111 of the base. The central axis of the support shaft 130 can also be arranged perpendicular to the mounting surface 1111. The aforementioned laser transceiver assembly 300 is connected to the mounting surface 1111 of the base, thereby facilitating the emission of outgoing laser light towards the reflector 410 and the reception of reflected laser light from the reflector 410.

[0116] To power the laser transceiver assembly 300 connected to the base and to transmit the data detected by the laser transceiver assembly 300, the first rotating part 100 also needs to be connected to a circuit board 140. However, the circuit board 140 has many components and a complex structure, and its reflective surface is uneven, easily generating stray light. This stray light can easily mix with the reflected laser, affecting the detection accuracy of the lidar 10. Furthermore, the laser transceiver assembly 300 reaches high temperatures when its power is high, and the circuit board 140 is prone to damage from prolonged exposure to high temperatures.

[0117] To solve the above problems, such as Figures 3 to 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 opposite to the mounting surface 1111, and together with the surface of the base opposite to the mounting surface 1111, defines a receiving cavity. The receiving cavity is used to accommodate the circuit board 140 of the lidar 10, which 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, reducing the stray light entering the laser transceiver assembly 300. On the other hand, since the circuit board 140 is not in the same sealed space as the laser transceiver assembly 300, the high temperature generated by the laser transceiver assembly 300 has a reduced impact on the circuit board 140, extending the life of the circuit board 140.

[0118] like Figure 2 as well as Figure 10 As shown, the base may specifically include an outer shell 112 and a base plate 111. The outer shell 112 is arranged around the outer periphery of the base plate 111, and one end of the outer shell 112, the base plate 111, and the bottom shell 120 together define the aforementioned receiving cavity for accommodating the circuit board 140. The other end of the outer shell 112 and one side of the base plate 111 with the aforementioned mounting surface 1111 together define a chamber for accommodating the laser transceiver assembly 300. In order to guide the power on the circuit board 140 to the laser transceiver assembly 300, in this embodiment, the base plate 111 of the base is provided with a plurality of through holes 1112, and the laser transceiver assembly 300 is electrically connected to the circuit board 140 through the through holes 1112.

[0119] Preferably, in order to maximize the sealing of the receiving cavity, such as Figures 11 to 12 As shown, in this embodiment, the ends of each laser transceiver component 300 that are away from the reflector 410 pass through the through holes 1112 on the base plate 111 one by one. On the one hand, this facilitates the electrical connection between the laser transceiver component 300 and the circuit board 140. On the other hand, it also allows each through hole 1112 to be sealed by each laser transceiver component 300, thereby improving the sealing of the cavity.

[0120] In this embodiment, as 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 lidar 10 also includes an angle measuring device. Specifically, the angle measuring device includes a code disk 610 and an optical element 620. The code disk 610 is connected to the second rotating part 200 and includes code teeth arranged around the rotation axis 20. The optical element 620 is connected to the end of the support shaft 130 opposite to the first rotating part 100. The optical element 620 cooperates with the code disk 610 to monitor the number of swept code teeth, thereby monitoring the rotation angle of the second rotating part 200 relative to the first rotating part 100.

[0121] Preferably, when the rotary table 210 is hollow, in order to reduce the volume of the lidar 10, the code disk 610 can be placed in the internal cavity of the rotary table 210, and the code teeth of the code disk 610 extend out of the internal cavity of the rotary table 210 to cooperate with the optical device 620.

[0122] like Figures 21 to 22 As shown, a second aspect of this application also provides an autonomous driving device 1, which includes the lidar 10 described in any of the above embodiments. The device 1 can be any device capable of laser detection; specifically, it can be a vehicle. The vehicle includes a vehicle body 70, and the lidar 70 can be mounted on the exterior of the vehicle body 70 or embedded within it. When the lidar 10 is located on the exterior of the vehicle body 70, it is preferably located on the roof of the vehicle body 70.

[0123] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0124] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A laser transceiver assembly for lidar, characterized in that, include: A laser emitting device includes a first emitting mirror group, a second emitting mirror group, and a laser emitting device. The laser emitting device is connected to the first emitting mirror group, and the emitted laser emitted by the laser emitting device passes sequentially through the first emitting mirror group and the second emitting mirror group. The second emitting mirror group is connected to the first emitting mirror group, and the second emitting mirror group is configured to be movable relative to the first emitting mirror group in a direction parallel to the emitted laser. A laser receiving device includes a receiving mirror assembly, a fixing member, and a laser receiving device. The fixing member defines a through hole. The receiving mirror assembly is disposed on one side of the fixing member and the laser receiving device is disposed on the other side, so that the laser receiving device can receive reflected laser light that passes through the receiving mirror assembly and the through hole in sequence. The transceiver housing connects the side of the second emitting mirror group away from the laser emitting device and the side of the receiving mirror group away from the laser receiving device. The emitted laser passes through the transceiver housing and is emitted outside the lidar. The reflected laser reflected back by the external object being detected passes through the transceiver housing and is directed towards the laser receiving device. The transceiver housing includes an outer shell, a first reflector, and a second reflector. The outer shell defines a laser emission channel and a laser receiving channel. The first reflector is disposed in the laser emission channel and has a light-transmitting hole for the emitted laser to pass through. The first reflector is used to emit the reflected laser to the second reflector. The second reflector is disposed in the laser receiving channel and is used to reflect the reflected laser back from the first reflector to the laser receiving device.

2. The laser transceiver assembly as described in claim 1, characterized in that, The first emitting mirror group includes a first emitting mirror tube, and the second emitting mirror group includes a second emitting mirror tube. The end of the first emitting mirror tube away from the laser emitting device is sleeved on the end of the second emitting mirror tube close to the laser emitting device.

3. The laser transceiver assembly as described in claim 2, characterized in that, The end of the first emitting lens tube facing away from the laser emitting device is threadedly connected to the end of the second emitting lens tube near the laser emitting device; or The end of the first emitting lens barrel facing away from the laser emitting device is used to bond to the end of the second emitting lens barrel that is close to the laser emitting device.

4. The laser transceiver assembly as described in claim 2, characterized in that, The end of the second emitting lens tube facing away from the laser emitting device is embedded in the laser emitting channel and is configured to move within the laser emitting channel in a direction parallel to the channel axis of the laser emitting channel.

5. The laser transceiver assembly as described in claim 4, characterized in that, The end of the second emitting lens tube facing away from the laser emitting device is threadedly connected to the inner peripheral wall of the laser emitting channel; and / or The end of the second emitting lens barrel facing away from the laser emitting device is used to bond to the inner peripheral wall of the laser emitting channel.

6. The laser transceiver assembly as described in claim 1, characterized in that, The channel axis of the laser receiving channel is parallel to the channel axis of the laser emitting channel.

7. The laser transceiver assembly as described in claim 1, characterized in that, The receiving mirror assembly is completely placed within the receiving channel, and the end of the fixing member facing away from the laser receiving device is connected to the laser receiving channel.

8. The laser transceiver assembly as described in claim 7, characterized in that, The receiving mirror assembly is configured to move within the laser receiving channel in a direction parallel to the channel axis of the laser receiving channel.

9. The laser transceiver assembly as described in claim 8, characterized in that, The receiving mirror assembly is threadedly connected to the inner peripheral wall of the laser receiving channel; and / or The laser receiving mirror assembly is used to bond to the inner peripheral wall of the laser receiving channel.

10. The laser transceiver assembly as described in claim 1, characterized in that, The fastener includes a channel housing and a connecting portion. The channel housing defines the through hole, and the connecting portion connects to the channel housing and is used to fix the laser transceiver assembly to an external component.

11. The laser transceiver assembly as described in claim 1, characterized in that, The laser emitting device includes multiple emitting units, each of which can emit the emitted laser. The emitting units are arranged in a straight line, and the straight line is perpendicular to the channel axis of the laser emitting channel. The first reflector has a non-reflective area in the shape of a straight strip, the length direction of the non-reflective area is parallel to the straight strip, and the center of the non-reflective area coincides with the center of the light-transmitting hole.

12. A lidar, characterized in that, Includes the laser transceiver assembly as described in any one of claims 1-11.

13. An autonomous driving device, characterized in that, Including the lidar as described in claim 12.

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