A laser radar emitting device and a laser radar system

Abstract

The application provides a laser radar emitting device and a laser radar system. The laser radar emitting device comprises a bottom shell, a laser, a detector, a mirror, a motor and a controller. The laser is used for emitting first laser and second laser, and the mirror is used for reflecting the first laser to the detector. The controller is connected with the motor and used for controlling the motor, so as to drive the mirror to move, so that the laser radar emitting device works in time division, and the normal scanning work is not affected while the working state of the laser is monitored.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser radar scanning system, in particular to a laser radar emitting device and a laser radar system. BACKGROUND

[0002] The laser radar system is a system that a laser is emitted by a laser, the light beam is collimated into parallel light by a collimating system, the light beam is received by a receiving system after interacting with a target, and finally the information of the target is obtained through photoelectric conversion and information processing. The laser radar system generally includes a laser emitting system, a scanning system, a receiving system, and a data processing system. At present, the laser needs to be monitored in real time during the use of the laser radar to determine whether it is running normally.

[0003] At present, the laser radar system with laser monitoring function generally has a common optical path system, the emission and reception are integrated, the emitted laser is divided into two beams by a beam splitter, which are used for scanning and monitoring respectively, and the accuracy of monitoring the working state of the laser is low. SUMMARY

[0004] The present application provides a laser radar emitting device and a laser radar system, which can improve the accuracy of monitoring the working state of the laser.

[0005] To solve the above problems, one technical means adopted by the present application is to provide a laser radar emitting device. The laser radar emitting device includes a bottom shell, a laser, a detector, a mirror, a motor, and a controller. The laser is arranged on the bottom shell and is used to emit a first laser at a first time and a second laser at a second time. The detector is arranged on the bottom shell and is used to receive the first laser. The mirror is rotatably arranged on the light path of the laser and is used to reflect the first laser to the detector to monitor the laser and allow the second laser to be emitted to scan the target. The motor is arranged on the bottom shell and is connected with the mirror and is used to drive the mirror to rotate. The controller is electrically connected with the laser and the motor respectively and is used to control the laser to emit the first laser at the first time and the second laser at the second time. The first time is the time when the mirror moves to the light path of the laser, and the second time is the time when the mirror moves out of the light path of the laser.

[0006] The mirror is rotatably arranged on the light path of the laser. The motor is used to drive the mirror to rotate. The first time is the time when the mirror moves to a first predetermined angle or a third predetermined angle, and the second time is the time when the mirror rotates to a second predetermined angle.

[0007] The laser radar emitting device further comprises a laser reflection plate arranged on the bottom shell and cooperating with the mirror to reflect the first laser to the detector, and the outgoing light of the first laser from the laser and the reflected light of the first laser entering the detector are parallel to each other.

[0008] The laser radar emitting device further comprises an isolation plate arranged on the bottom shell; the mirror has a first reflection surface, and a first part of the first reflection surface and a second part of the first reflection surface are arranged on opposite sides of the isolation plate; the laser reflection plate has opposite first and second ends arranged on opposite sides of the isolation plate; the first end is provided with a first reflection inclined surface, and the second end is provided with a second reflection inclined surface; when the first reflection surface is rotated to a first predetermined angle, the first laser is reflected to the detector in sequence through the first part of the reflection surface, the first reflection inclined surface, the second reflection inclined surface and the second part of the reflection surface, and the outgoing light of the first laser and the reflected light of the first laser are located on opposite sides of the isolation plate, respectively.

[0009] The isolation plate comprises a first isolation plate and a second isolation plate; the first isolation plate has a first through hole; the second isolation plate is arranged in the first through hole and can rotate relative to the first isolation plate; the mirror is arranged on the second isolation plate and rotates together with the second isolation plate; a first part of the mirror and a second part of the mirror are arranged on opposite sides of the second isolation plate, respectively; the first part of the mirror has a first part of the reflection surface, and the second part of the mirror has a second part of the reflection surface.

[0010] The second isolation plate has a second through hole, and the mirror passes through the second through hole; the mirror comprises a first mirror and a second mirror, which are fixed on opposite sides of the second isolation plate and arranged in the same plane.

[0011] The first through hole and the second isolation plate are circular in shape and match in size.

[0012] The isolation plate has a third through hole, and the mirror comprises a first mirror and a second mirror; the first mirror has a first part of the reflection surface, and the second mirror has a second part of the reflection surface; the first mirror and the second mirror are located on opposite sides of the isolation plate, arranged in the same plane, and fixedly connected by a rotating shaft arranged in the third through hole, so that the mirror can rotate relative to the isolation plate.

[0013] The mirror further has a second reflection surface opposite to the first reflection surface, a third part of the second reflection surface and a fourth part of the second reflection surface are arranged on opposite sides of the isolation plate; when the second reflection surface is rotated to a first predetermined angle, the first laser is reflected to the detector in sequence through the third part of the reflection surface, the first reflection inclined surface, the second reflection inclined surface and the fourth part of the reflection surface.

[0014] The first laser reflection plate is arranged on one side of the reflector close to the bottom shell or one side of the reflector away from the bottom shell.

[0015] The laser radar emitting device further comprises a second laser reflection plate having opposite third and fourth ends arranged on opposite sides of the isolation plate, the third end is provided with a third reflection inclined surface, and the fourth end is provided with a fourth reflection inclined surface; the first laser reflection plate and the second laser reflection plate are arranged on one side of the reflector close to the bottom shell and one side of the reflector away from the bottom shell respectively; when the first reflection surface or the second reflection surface rotates to the first predetermined angle, the first reflection surface or the second reflection surface, the first reflection inclined surface and the second reflection inclined surface cooperate to reflect the first laser to the detector; when the first reflection surface or the second reflection surface rotates to the third predetermined angle, the first reflection surface or the second reflection surface, the third reflection inclined surface and the fourth reflection inclined surface cooperate to reflect the first laser to the detector.

[0016] The first time is the time for the reflector to rotate to the first predetermined angle and the third predetermined angle; the first predetermined angle is an angle of 45 degrees between the first reflection surface or the second reflection surface and the outgoing light of the first laser, the third predetermined angle is an angle of 135 degrees between the first reflection surface or the second reflection surface and the outgoing light of the first laser, and the second predetermined angle is an angle range in which the reflector allows the second laser to be emitted.

[0017] To solve the above technical problems, another technical solution adopted by the present application is to provide a laser radar system. The laser radar system comprises a laser radar emitting device, a scanning device, a receiving device and a data processing device; wherein the laser radar emitting device is used for emitting laser and monitoring the working state of the laser.

[0018] The laser radar emitting device and the laser radar system provided by the present application emit the first laser at the first time and emit the second laser at the second time, the first laser is used for monitoring the laser, and the second laser is used for scanning the target object, thereby improving the accuracy of the working state monitoring of the laser. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0020] Figure 1 is a structural schematic diagram of the laser radar emitting device provided by an embodiment of the present application;

[0021] Figure 2 is Figure 1A structure diagram of a laser radar emitting device component after disassembly;

[0022] Figure 3a A structure diagram of an isolation plate according to an embodiment of the present application;

[0023] Figure 3b A structure diagram of an isolation plate according to another embodiment of the present application;

[0024] Figure 4a A structure diagram of an isolation plate and a mirror after assembly according to an embodiment of the present application;

[0025] Figure 4b A structure diagram of an isolation plate and a mirror after assembly according to another embodiment of the present application;

[0026] Figure 5 A structure diagram of a laser reflecting plate according to an embodiment of the present application;

[0027] Figure 6 A structure diagram of a laser reflecting plate according to another embodiment of the present application;

[0028] Figure 7 A light path trajectory diagram according to an embodiment of the present application;

[0029] Figure 8a A working principle diagram of a laser radar emitting device when monitoring according to an embodiment of the present application;

[0030] Figure 8b A working principle diagram of a laser radar emitting device when scanning according to an embodiment of the present application;

[0031] Figure 9a A mechanism diagram of a laser radar emitting device according to a second embodiment of the present application;

[0032] Figure 9b A mechanism diagram of a laser radar emitting device according to a third embodiment of the present application;

[0033] Figure 10a A working principle diagram of a laser radar emitting device when monitoring according to a fourth embodiment of the present application;

[0034] Figure 10b A working principle diagram of a laser radar emitting device when scanning according to a fourth embodiment of the present application;

[0035] Figure 11 A structure diagram of a laser radar system according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] With reference to the drawings and embodiments described below, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0037] The terms “first”, “second”, “third” in the present application are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first”, “second”, “third” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “a plurality of” is at least two, such as two, three, etc., unless otherwise specifically limited. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0038] In this document, reference to “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification is not necessarily all referring to the same embodiment, nor is it necessarily referring to a particular embodiment that is independent of or alternative to other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0039] The present application will be described in detail below with reference to the drawings and embodiments.

[0040] Please refer to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of a laser radar emitting device provided by an embodiment of the present application, Figure 2 is Figure 1Figure 1 is a schematic diagram of a laser radar emitting device according to an embodiment of the present application. In this embodiment, a laser radar emitting device 10 is provided, which emits first laser L1 at a first time to monitor the working state of the laser, and emits second laser L2 at a second time to scan a target object. The laser radar emitting device 10 can be used in different fields, such as the field of optical detection technology. Specifically, the laser radar emitting device 10 comprises a bottom shell 12, a laser 19, a detector 18, a mirror 15, a laser reflecting plate 14, a motor 17 and a controller.

[0041] The laser 19, the detector 18, the mirror 15, the laser reflecting plate 14 and the motor 17 are all arranged on the bottom shell 12. Specifically, the laser 19 and the detector 18 are installed in an optical lens barrel 11 and arranged on the bottom shell together with the optical lens barrel 11. In this embodiment, the laser 19 and the detector 18 are parallel to each other and have the same height in the optical lens barrel 11, so as to ensure that the first laser L1 emitted by the laser 19 can be reflected to the detector 18 through the cooperation of the mirror 15 and the laser reflecting plate 14. Please refer to Figure 7 , the emergent light L11 of the first laser L1 is parallel to the reflected light L12 after being reflected by the mirror 15 and the laser reflecting plate 14. The laser 19 emits the first laser L1 at the first time to monitor the working state of the laser 19; please refer to Figure 8b , the laser 19 emits the second laser L2 at the second time to scan the target object. The detector 18 receives the reflected light of the first laser L1 emitted by the laser 19 after being reflected by the mirror 15 and the laser reflecting plate 14, so as to monitor the working state of the laser 19. The motor 17 is installed on a motor fixing frame 16 and arranged on the bottom shell 12 together with the motor fixing frame 16; the motor 17 is connected with the mirror 15 and the controller 100, so that the controller can control the motor 17 to rotate and drive the mirror 15 to rotate together when the laser radar emitting device 10 works.

[0042] Further, the laser radar emitting device 10 further comprises an isolation plate 13 arranged on the bottom shell 12, which is used to isolate the emergent light of the first laser L1 from the reflected light after being reflected by the mirror 15 and the laser reflecting plate 14. The shape and size of the isolation plate 13 are not limited and can be designed as needed. The isolation plate 13 can be arranged separately from or abutted to the optical lens barrel 11, for example, so that the laser 19 and the detector 18 are located on opposite sides of the isolation plate 13 respectively.

[0043] Please refer to Figure 3a , Figure 3aThe structure diagram of the isolation plate provided in an embodiment of the present application is shown in FIG. 1. The isolation plate 13 includes a first isolation plate 131 and a second isolation plate 132. The first isolation plate 131 has a first through hole 1311, which is a circular through hole. The second isolation plate 132 is located in the first through hole 1311 of the first isolation plate 131. The shape of the second isolation plate 132 is consistent with that of the first through hole 1311, and the second isolation plate 132 can rotate relative to the first through hole 1311 in the first through hole 1311. The second isolation plate 132 has a second through hole 1322. The first isolation plate 131 and the second isolation plate 132 are fixedly connected to each other. Figure 4a , Figure 4a The structure diagram of the isolation plate and the mirror after assembly is shown in FIG. 2. In this embodiment, the mirror 15 includes a first mirror 151 and a second mirror 152 which are integrally formed. The mirror 15 passes through the second through hole 1322 so that the first mirror 151 and the second mirror 152 of the mirror 15 are fixed to opposite sides of the second isolation plate 132 and arranged in the same plane. Preferably, the second through hole 1322 has the same shape and size as the cross section of the mirror 15 and is in interference fit with the mirror 15, so as to ensure that the position of the second isolation plate 132 relative to the mirror 15 is fixed.

[0044] Please refer to Figure 3b , Figure 3b The structure diagram of the isolation plate provided in another embodiment of the present application is shown in FIG. 3. The isolation plate 13 includes a third through hole 133. Please refer to Figure 4b , Figure 4b The structure diagram of the isolation plate and the mirror after assembly is shown in FIG. 4. In this embodiment, the first mirror 151 and the second mirror 152 of the mirror 15 are in a split structure and are located on opposite sides of the isolation plate 13 and arranged in the same plane. The rotating shaft 134 passes through the third through hole 133, and the first mirror 151 and the second mirror 152 are fixedly connected by the rotating shaft passing through the third through hole 133, so that the mirror 15 can rotate relative to the isolation plate 13.

[0045] In any embodiment of the present application, the isolation plate 13 is a lightproof plate, and the material of the isolation plate can be metal alloy or acrylic, which is not limited in the present application. The first mirror 151 and the second mirror 152 of the mirror 15 are arranged on opposite sides of the isolation plate 13. Please refer to Figure 5, the laser reflection plate 14 has opposite first end 141 and second end 142, which are respectively arranged on opposite sides of the isolation plate 13; the first end 141 is provided with a first reflection inclined surface 1411, and the second end 142 is provided with a second reflection inclined surface 1422; when the mirror 15 is rotated to a first predetermined angle α, the first laser L1 is reflected by the first mirror 151, the first reflection inclined surface 1411, the second reflection inclined surface 1422 and the second mirror 152 in turn and then reaches the detector 18, and the emergent light L11 of the first laser L1 and the reflected light L12 of the first laser L1 are respectively located on opposite sides of the isolation plate 13; wherein the first predetermined angle α is an angle of 45° between the mirror 15 and the first laser L1, and in other specific embodiments of the application, the first predetermined angle α is also this angle. In this process, the isolation plate is located between the emergent light L11 and the reflected light L12 of the laser 19, which can avoid stray light and ensure the quality of the received data of the laser radar system.

[0046] Please refer to Figure 4a , Figure 4a The structure schematic diagram of the assembled isolation plate and mirror provided by an embodiment of the application, the mirror 15 has a first reflection surface 15a, and the mirror 15 includes a first mirror 151 and a second mirror 152; the first reflection surface 15a includes a first partial reflection surface 15a1 and a second partial reflection surface 15a2. Specifically, the first mirror 151 and the second mirror 152 are respectively fixed on opposite sides of the isolation plate 13 and are coplanar; wherein the first mirror 151 has the first partial reflection surface 15a1, and the second mirror 152 has the second partial reflection surface 15a2.

[0047] In this embodiment, when the mirror 15 is rotated to the first predetermined angle α, the first partial reflection surface 15a1 of the first reflection surface 15a reflects the emergent light L11 of the first laser L1 to the laser reflection plate 14, the laser reflection plate 14 cooperates to reflect the reflected light after the reflection of the first partial reflection surface 15a1 to the second partial reflection surface 15a2 of the first reflection surface 15a, and the second partial reflection surface 15a2 reflects the reflected light to the detector 18.

[0048] Please refer to Figure 4b , Figure 4bThe structure of the assembled isolating plate and mirror provided in another embodiment of the present application is shown in the schematic diagram, and the mirror 15 further has a second reflecting surface 15b opposite to the first reflecting surface 15a, i.e. the mirror 15 is arranged as a double-sided mirror; the second reflecting surface 15b includes a third partial reflecting surface 15b3 and a fourth partial reflecting surface 15b4, and the third partial reflecting surface 15b3 and the fourth partial reflecting surface 15b4 are arranged on opposite sides of the isolating plate 13. Specifically, the first mirror 151 has the first partial reflecting surface 15a1 of the first reflecting surface 15a and the third partial reflecting surface 15b3 of the second reflecting surface 15b, and the second mirror 152 has the second partial reflecting surface 15a2 of the first reflecting surface 15a and the fourth partial reflecting surface 15b4 of the second reflecting surface 15b.

[0049] In this embodiment, when the mirror 15 is rotated to the first predetermined angle a, the first partial reflecting surface 15a1 of the first reflecting surface 15a or the third partial reflecting surface 15b3 of the second reflecting surface 15b reflects the outgoing light L11 of the first laser L1 to the laser reflecting plate 14, and the laser reflecting plate 14 cooperates to reflect the reflected light reflected by the first partial reflecting surface 15b1 or the third partial reflecting surface 15b3 to the second partial reflecting surface 15a2 of the first reflecting surface 15a or the fourth partial reflecting surface 15b4 of the second reflecting surface 15b, and the second partial reflecting surface 15a2 or the fourth partial reflecting surface 15b4 reflects the reflected light to the detector 18.

[0050] Please refer to Figure 5 , Figure 5 The structure of the laser reflecting plate provided in an embodiment of the present application is shown in the schematic diagram, and the laser reflecting plate 14 is arranged on the bottom shell 12, and has opposite first and second ends 141 and 142 arranged on opposite sides of the isolating plate 13. The first end 141 has a first reflecting inclined surface 1411, and the second end 142 has a second reflecting inclined surface 1422; the inclination angles of the first and second reflecting inclined surfaces 1411 and 1422 are θ, and in this embodiment, θ is preferably 45°. It is easy to understand that the first and second ends 141 and 142 of the laser reflecting plate 14 are inclined surface structures symmetric about the center line of the laser reflecting plate 14, and the inclination angle θ of the inclined surface is preferably 45°. The laser reflecting plate 14 can be an integral structure or a split structure.

[0051] In a specific embodiment, the laser reflection plate 14 is arranged on the bottom shell 12, between the isolation plate 13 and the bottom shell 12, and spaced from the isolation plate 13, and the first end 141 and the second end 142 of the laser reflection plate 14 are arranged on opposite sides of the isolation plate 13, respectively. Preferably, a notch 136 is formed below the isolation plate 13, which allows the laser reflection plate 14 to pass through and be clamped with the laser reflection plate 14. Moreover, the laser reflection plate 14 is spaced from the bottom wall of the notch 136, so that the light reflected by the first partial reflection surface 15a1 or the third partial reflection surface 15b3 of the mirror 15 to the first reflection inclined surface 1411 of the laser reflection plate 14 can pass through the notch 136 and reach the second reflection inclined surface 1422 after reflection. In this embodiment, the light path trajectory of the first laser L1 can be seen from Figure 7 When the mirror 15 rotates to the first predetermined angle a, the first laser L1 is reflected by the first partial reflection surface 15a1 or the third partial reflection surface 15b3, the first reflection inclined surface 1411, the second reflection inclined surface 1422, and the second partial reflection surface 14a2 or the fourth partial reflection surface 14b4 in turn, and then reaches the detector 18, and the outgoing light L11 of the first laser L1 and the reflected light L12 of the first laser L1 are located on opposite sides of the isolation plate 13, respectively. See Figure 7 It can be understood that in this embodiment, since there is only one laser reflection plate 14, if the mirror 15 has only the first reflection surface 15a, the detector 18 can receive the reflected light L12 of the first laser L1 once when the mirror rotates one revolution; if the mirror 15 has the first reflection surface 15a and the second reflection surface 15b, the detector 18 can receive the reflected light L12 of the first laser L1 twice when the mirror rotates one revolution. In this embodiment, by arranging the mirror 15 and the laser reflection plate 14 and cooperating with each other, the outgoing light L11 and the reflected light L12 of the first laser L1 are parallel to each other, that is, by changing the light path direction of the first laser L1 through the mirror 15 and the laser reflection plate 14, the emission and reception are not shared, which creates conditions for the emission end and the reception end to be isolated, so that the isolation plate 13 is arranged, which can not only monitor the working state of the laser 19 in real time, but also avoid stray light, and ensure the quality of the received data of the laser radar system.

[0052] See Figure 6In another embodiment, the laser radar emitting device 10 comprises two laser reflection plates 14, i.e. a first laser reflection plate 14a and a second laser reflection plate 14b. Similar to the above embodiment, the laser reflection plate 14a has opposite first and second ends 14a1 and 14a2, which are respectively arranged on opposite sides of the isolation plate 13; wherein the first end 14a1 has a first reflection inclined surface 14a11, and the second end 14a2 has a second reflection inclined surface 14a22; the second laser reflection plate 14b has opposite third and fourth ends 14b3 and 14b4, which are respectively arranged on opposite sides of the isolation plate 13; wherein the third end 14b3 is provided with a third reflection inclined surface 14b33, and the fourth end 14b4 is provided with a fourth reflection inclined surface 14b44. The first and second laser reflection plates 14a and 14b are respectively arranged on the side of the reflector 15 close to the bottom shell 12 and the side away from the bottom shell 12.

[0053] In this embodiment, when the first reflection surface 15a or the second reflection surface 15b is rotated to the first predetermined angle a, the light path trajectory of the first laser L1 is the same as that in the above embodiment; when the first reflection surface 15a or the second reflection surface 15b is rotated to the third predetermined angle γ, wherein γ = a + 90 degrees, the first laser L1 is reflected by the first partial reflection surface 15a1 or the third partial reflection surface 15b3, the third reflection inclined surface 14b33, the fourth reflection inclined surface 14b44 and the second partial reflection surface 14a2 or the fourth partial reflection surface 14b4 in turn, and then reaches the detector, and the outgoing light of the first laser and the reflected light of the first laser are respectively located on opposite sides of the isolation plate. Wherein, the first predetermined angle a is 45 degrees, and the third predetermined angle γ is the angle between the reflector 15 and the first laser L1, which is 135°. It can be understood that in this embodiment, since there are two laser reflection plates 14, if the reflector 15 only has the first reflection surface 15a, the detector 18 can receive the reflected light L12 of the first laser L1 twice when the reflector rotates one revolution; if the reflector 15 has the first reflection surface 15a and the second reflection surface 15b, the detector 18 can receive the reflected light L12 of the first laser L1 four times when the reflector rotates one revolution; thus, the monitoring frequency of the working state of the laser 19 in the laser radar emitting device is higher than that in the above embodiment, and the monitoring efficiency is improved.

[0054] The controller is electrically connected with the motor 17 and the laser 19 respectively. Please refer to Figure 8a When the reflector 15 is rotated to the first predetermined angle a or the third predetermined angle γ, i.e. at the first time, the controller controls the laser 19 to emit the first laser L1. Please refer to Figure 8bWhen the mirror 15 rotates to a second predetermined angle β, i.e. at a second time, the controller controls the laser 19 to emit a second laser L2. In the present application, the first predetermined angle α is 45 degrees, the third predetermined angle γ is 135 degrees, and the second predetermined angle β is a certain angle range and is related to the width W (reference numeral) of the mirror 15, which can be adjusted according to the width of the mirror 15.

[0055] It can be understood that in another embodiment, referring to Figure 9a , the emergent light L11 of the first laser L1 is parallel to the reflected light L12 reflected by the mirror 15 and the laser reflecting plate 14 but is in the plane perpendicular to the bottom shell 12. In this embodiment, the laser reflecting plate 14 only needs a reflecting slope.

[0056] It can be understood that in yet another embodiment, referring to Figure 9b , the emergent light L11 of the first laser L1 is perpendicular to the reflected light L12 reflected by the mirror 15 and the laser reflecting plate 14, the detector 18 is arranged on the optical lens barrel 11, and the detector 18 is directly arranged on the bottom shell 12. In this embodiment, the laser reflecting plate is not needed.

[0057] It can be understood that in yet another embodiment, referring to Figure 10a and Figure 10b , the mirror 15 can also not rotate relative to the bottom shell 12 but slide relative to the bottom shell 12, for example, slide along the direction at the first predetermined angle α to the emergent light of the laser emitted by the laser 19. When the mirror 15 slides to the light path of the emergent light of the laser emitted by the laser 19, the emergent light of the laser is reflected by the mirror 15 and the laser reflecting plate 14 to reach the detector 18, i.e. at this time, the laser emitted by the laser 19 is the first laser L1. When the mirror 15 slides out of the light path of the emergent light of the laser emitted by the laser 19, the emergent light of the laser is emitted and reaches the target object, i.e. at this time, the laser emitted by the laser 19 is the second laser L2. The first time is the time when the mirror moves to the light path of the laser, and the second time is the time when the mirror moves out of the light path of the laser.

[0058] Please refer to Figure 11 , Figure 11is a structural schematic block diagram of a laser radar system provided by an embodiment of the present application; in the embodiment, a laser radar system 1000 is provided, and the configuration of the laser radar system 1000 comprises the laser radar transmitting device 10, the scanning device 20, the receiving device 30 and the data processing device 40 provided by the above embodiments. The laser radar transmitting device 10, the scanning device 20, the receiving device 30 and the data processing device 40 are electrically connected to each other. In the embodiment, the system adopts a time-sharing working mode to perform the monitoring of the working state of the laser 19 and the laser scanning work, that is, when the mirror 15 rotates to a first predetermined angle a or a third predetermined angle g, the laser radar system 1000 performs the monitoring of the working state of the laser 19; when the mirror 15 rotates to a second predetermined angle b, the laser radar system 1000 performs the scanning work. The second predetermined angle b is an angle range in which the mirror 15 allows the second laser L2 to be emitted, and the angle range can be changed by changing the size of the mirror 15 and the distance between the mirror 15 and the laser 19; the second laser L2 is the laser for scanning the target object.

[0059] In the embodiment, the laser radar system adopts the time-sharing working mode, which does not affect the normal scanning work while monitoring the working state of the laser 19, and the isolation plate 13 is arranged to effectively isolate the transmitting end and the receiving end of the system, thereby avoiding the stray light and improving the data quality received by the detector 18.

[0060] The above is only the embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and the drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A lidar transmitting device, characterized in that, include: Bottom shell; A laser, mounted on the bottom shell, is used to emit a first laser at a first time and a second laser at a second time. A detector, mounted on the bottom shell, is used to receive the first laser beam; A reflector, rotatably mounted on the laser's optical path, is used to reflect the first laser beam to the detector for real-time monitoring of the laser's operating status and to allow the second laser beam to be emitted for scanning the target object. A first laser reflector is disposed on the bottom shell and cooperates with the reflector to reflect the first laser to the detector, such that the outgoing light of the first laser emitted from the laser and the reflected light of the first laser entering the detector are parallel to each other. A motor, mounted on the bottom shell and connected to the reflector, is used to drive the reflector to move. A controller, electrically connected to both the laser and the motor, is used to control the laser to emit the first laser beam at a first time and the second laser beam at a second time; wherein the first time is the time during which the reflector moves into the optical path of the laser beam, and the second time is the time during which the reflector moves out of the optical path of the laser beam; An isolation plate is disposed on the bottom shell; The isolation plate includes a first isolation plate and a second isolation plate; the first isolation plate has a first through hole, and the second isolation plate is disposed within the first through hole and is rotatable relative to the first isolation plate; the reflector is disposed on the second isolation plate and rotates together with the second isolation plate; the first part and the second part of the reflector are respectively disposed on opposite sides of the second isolation plate; or, The isolation plate has a third through hole, and the reflector includes a first reflector and a second reflector. The first reflector and the second reflector are located on opposite sides of the isolation plate, are coplanar, and are fixedly connected by a rotating shaft passing through the third through hole, so that the reflector can rotate relative to the isolation plate.

2. The lidar transmitting device according to claim 1, characterized in that, The reflector is rotatably disposed on the optical path of the laser; the motor is used to drive the reflector to rotate; the first time is the time when the reflector moves to a first predetermined angle or a third predetermined angle, and the second time is the time when the reflector rotates to a second predetermined angle.

3. The lidar transmitting device according to claim 2, characterized in that, The reflector has a first reflective surface, and a first part of the first reflective surface and a second part of the first reflective surface are respectively disposed on opposite sides of the isolation plate; the first laser reflector has a first end and a second end, which are respectively disposed on opposite sides of the isolation plate; the first end is provided with a first reflective inclined surface, and the second end is provided with a second reflective inclined surface; When the first reflective surface rotates to the first predetermined angle, the first laser light passes through the first part of the reflective surface, the first reflective inclined surface, the second reflective inclined surface, and the second part of the reflective surface in sequence before reaching the detector, such that the emitted light of the first laser light and the reflected light of the first laser light are located on opposite sides of the isolation plate.

4. The lidar transmitting device according to claim 3, characterized in that, The first part of the reflector has the first part of the reflective surface, and the second part of the reflector has the second part of the reflective surface.

5. The lidar transmitting device according to claim 1, characterized in that, The second isolation plate has a second through hole through which the reflector passes; The reflector includes a first reflector and a second reflector, which are fixed to opposite sides of the second isolation plate and are arranged on the same plane.

6. The lidar transmitting device according to claim 1, characterized in that, The first through hole and the second partition plate are both circular in shape and their sizes match each other.

7. The lidar transmitting device according to claim 3, characterized in that, The first reflector has the first portion of the reflective surface, and the second reflector has the second portion of the reflective surface.

8. The lidar transmitting device according to claim 3, characterized in that, The reflector also has a second reflective surface opposite to the first reflective surface, and the third and fourth portions of the second reflective surface are respectively disposed on opposite sides of the isolation plate; When the second reflective surface rotates to the first predetermined angle, the first laser beam is reflected sequentially by the third reflective surface, the first reflective inclined surface, the second reflective inclined surface, and the fourth reflective surface before reaching the detector.

9. The lidar transmitting device according to claim 3 or 8, characterized in that, The first laser reflector is disposed on the side of the reflector close to the bottom shell or away from the bottom shell.

10. The lidar transmitting device according to claim 3 or 8, characterized in that, Also includes: The second laser reflector has a third end and a fourth end, which are respectively disposed on opposite sides of the isolation plate; the third end is provided with a third reflective slope, and the fourth end is provided with a fourth reflective slope; the first laser reflector and the second laser reflector are respectively disposed on the side of the reflector closer to the bottom shell and the side farther away from the bottom shell. When the first or second reflective surface is rotated to the first predetermined angle, the first or second reflective surface, the first reflective inclined surface, and the second reflective inclined surface cooperate to reflect the first laser to the detector; when the first or second reflective surface is rotated to the third predetermined angle, the second or second reflective surface, the third reflective inclined surface, and the fourth reflective inclined surface cooperate to reflect the first laser to the detector.

11. The lidar transmitting device according to claim 3 or 8, characterized in that, The first time is the time it takes for the reflector to rotate to the first predetermined angle and the third predetermined angle; the first predetermined angle is the angle of 45 degrees between the first reflective surface or the second reflective surface and the emitted light of the first laser; the third predetermined angle is the angle of 135 degrees between the first reflective surface or the second reflective surface and the emitted light of the first laser; and the second predetermined angle is the range of angles within which the reflector allows the second laser to be emitted.

12. A lidar system, characterized in that, include: A lidar transmitter, a scanning device, a receiving device, and a data processing device; wherein the lidar transmitter is the lidar transmitter as described in any one of claims 1-11.

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