Rotating mirror laser radar system

Abstract

The application provides a rotating mirror laser radar system, comprising: a laser emission array configured to generate an emission beam; an emission optical assembly arranged downstream of the laser emission array to receive the emission beam; a two-dimensional multi-faceted rotating mirror arranged downstream of the emission optical assembly, comprising a plurality of mirror facets rotatably arranged about a rotation axis; a return light receiving lens group configured to focus a return light beam generated by the scanning light beam; and a receiving detector array arranged downstream of the return light receiving lens group and configured to receive the return light beam; wherein the plurality of mirror facets of the two-dimensional multi-faceted rotating mirror have different angles relative to the rotation axis. In the rotating mirror laser radar system of the application, the angles of the mirror facets of the two-dimensional multi-faceted rotating mirror relative to the rotation axis are different, each mirror facet can turn the incident light beam to different areas in the vertical direction, the vertical resolution is increased without increasing components, the mirror facets can receive more return light, and the ranging range and signal-to-noise ratio are increased.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a rotating mirror lidar system. Background Technology

[0002] Since LiDAR entered the field of autonomous driving, its development in the automotive sector has been booming. Initially, Velodyne's mechanical rotating scanning radar had the widest application range and obtained a large amount of experimental data. However, due to its mechanical rotating structure, it was difficult to pass the stringent automotive-grade certification, thus preventing its application in mass-produced vehicles. Furthermore, it also faced issues related to price, size, and resolution.

[0003] Alternative solutions include hybrid solid-state radar and all-solid-state radar. The former includes MEMS micro-mirror solutions, rotating mirror solutions, and prism solutions. Each of these solutions has mass-produced products that have been or will soon be installed on mass-produced vehicles, making it a relatively mature approach at present.

[0004] In hybrid solid-state radar, the rotating mirror scheme currently mainly uses one-dimensional rotating mirrors, that is, each reflecting surface is deflected at the same angle relative to the rotation axis. Therefore, the reflected beams also point to the same position. It is generally used with a single-axis micro-mirror or a swing mirror, or the transmitting / receiving part uses multiple packaged single-channel transmitting / receiving devices stacked to increase the beam. However, the number of scanning lines that can be achieved by this method is very limited, and the overall resolution is also limited by this. Summary of the Invention

[0005] Based on this, in order to solve the above-mentioned technical problems, this application provides a rotating mirror lidar system that can improve resolution.

[0006] This application provides a rotating mirror lidar system, including:

[0007] A laser emitting array configured to generate an emitted beam;

[0008] An optical emission component is disposed downstream of the laser emission array in the direction of beam propagation to receive the emitted beam;

[0009] A two-dimensional multi-faceted rotating mirror, disposed downstream of the emitting optical component in the direction of beam propagation, includes a plurality of reflective mirrors rotatably disposed about a rotation axis, the reflective mirrors being configured to reflect the emitted beam via the emitting optical component to form a scanning beam directed toward the scanning field of view;

[0010] An echo receiving lens assembly, disposed along the propagation direction of the echo beam, is configured to focus the echo beam generated by the scanning beam in the scanning field of view; and

[0011] A receiving detector array is positioned downstream of the echo receiving lens group in the direction of echo beam propagation and configured to receive the echo beam.

[0012] In this case, the angles between the multiple reflecting mirrors of the two-dimensional multifaceted rotating mirror and the rotation axis are not equal.

[0013] In one embodiment, the center of gravity of the two-dimensional multifaceted rotating mirror is located on the rotation axis, and the number of the reflecting mirrors in the two-dimensional multifaceted rotating mirror is even.

[0014] In one embodiment, the laser emitting array is an EEL array, which includes a laser emitting array chip driver board, a laser emitting array chip, and a beam combining component. The laser emitting array chip driver board drives the laser emitting array chip to emit light, and the beam combining component combines the light beams from the laser emitting array chip.

[0015] Alternatively, the laser emitting array may be an i*j emitting array composed of an n*m VCSEL array that emits from the surface, where n and m are integers greater than or equal to 1 and i and j are not simultaneously equal to 1, and i and j are less than or equal to n and m, respectively.

[0016] Alternatively, the laser emitting array may be formed using a fiber laser through a beam splitter or diffraction device to create an i*j emitting array.

[0017] In one embodiment, the laser emitting array chip includes two or more 1*N array chips arranged side by side on the laser emitting array chip driver board;

[0018] The laser emitting array chip includes a 1*M array chip and a 1*N array chip arranged side by side on the laser emitting array chip driver board, wherein M≠N;

[0019] Alternatively, the laser emitting array chip can be a 1*2N single array chip;

[0020] Alternatively, the laser emitting array chip includes two or more 1*N array chips, each of which is die-bonded on a corresponding laser emitting array chip driver board, and the two or more driver boards are arranged side by side. In one embodiment, the laser emitting array chip is a 1*N array chip, and two of the laser emitting array chips are arranged side by side on the laser emitting array chip driver board. The beam combining component is used to combine the first beam and the second beam emitted by the two laser emitting array chips together to form a 2*N array. The laser emitting array chip driver board selectively illuminates the best light-emitting points in the array of laser emitting array chips to illuminate N light-emitting points on the 2*N array.

[0021] In one embodiment, the receiving detector array is an APD array, and the receiving detector array uses a 2*N array to match the laser emitting array one-to-one; or, the receiving detector array uses a 1*N array, with each unit corresponding to the illumination area of ​​a 2*1 unit of the laser emitting array.

[0022] Alternatively, the receiver detector array (600) may be a SiPM or SPAD array.

[0023] In one embodiment, the beam combining component includes two first beam shaping elements, a first reflector, a second reflector, and a second beam shaping element. The first reflector and the second reflector are placed alternately. The two first beam shaping elements pre-shape the first beam and the second beam, respectively. The pre-shaped first beam is sequentially directed toward the first reflector, the second reflector, and the second beam shaping element. The pre-shaped second beam is sequentially directed toward the second reflector and the second beam shaping element.

[0024] In one embodiment, the laser emitting array chip driver board includes a circuit board, a driving circuit array and a gating device disposed on the circuit board, wherein the driving circuit array illuminates the corresponding light-emitting points in the laser emitting array chip through the gating device.

[0025] In one embodiment, the transmitting optical component includes a beam combining and shaping element and a mirror assembly. The mirror assembly includes a small mirror and a large mirror. The transmitted beam passes through the beam combining and shaping element along the transmission beam propagation direction and is then reflected by the small mirror to the two-dimensional multifaceted rotating mirror. The echo beam is reflected by the two-dimensional multifaceted rotating mirror to the large mirror and then reflected to the echo receiving lens assembly.

[0026] Alternatively, the transmitting optical component includes a beam combining and shaping element and a perforated mirror. The transmitted beam passes through the beam combining and shaping element along the transmission beam propagation direction and is then directed into the opening in the perforated mirror before entering the two-dimensional multifaceted rotating mirror. The echo beam is reflected by the two-dimensional multifaceted rotating mirror to the perforated mirror and then to the echo receiving lens group.

[0027] Alternatively, the transmitting optical assembly includes a beam combining and shaping element and a semi-transparent mirror. The transmitted beam passes through the beam combining and shaping element along the transmission direction of the transmitted beam and is then transmitted to the semi-transparent mirror and onto the two-dimensional multi-faceted rotating mirror. The echo beam is reflected by the two-dimensional multi-faceted rotating mirror to the semi-transparent mirror and then to the echo receiving lens group.

[0028] In one embodiment, the laser emitting array, the beam combining and shaping element, the emitting optical assembly, the echo receiving lens group, and the receiving detector array are symmetrically arranged on both sides of the two-dimensional multifaceted rotating mirror.

[0029] The rotating mirror lidar system of this application has at least the following beneficial effects: In the rotating mirror lidar system of this application, the angle between each reflector of the two-dimensional multi-faceted rotating mirror and the rotation axis is different. Each reflector can deflect the incident beam to different areas in the vertical direction, which increases the vertical resolution by several times without adding components. The reflector is also much larger than the mirror of beam deflecting devices such as micro-mirrors, which can receive more echoes and increase the ranging range and signal-to-noise ratio. Attached Figure Description

[0030] Figure 1 This is a layout diagram of a rotating mirror lidar system according to an embodiment of this application;

[0031] Figure 2 for Figure 1 A schematic diagram of the scanning field of view of a two-dimensional multi-faceted rotating mirror;

[0032] Figure 3 This is a schematic diagram of the structure of a two-dimensional multi-faceted rotating mirror in a rotating mirror lidar system according to another embodiment of this application;

[0033] Figure 4 This is a schematic diagram of the structure of a two-dimensional multi-faceted rotating mirror in a rotating mirror lidar system according to another embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the optical path of a laser emitting array;

[0035] Figure 6 for Figure 5 A schematic diagram of the structure of the laser emission array chip driver board in the diagram;

[0036] Figure 7 This is a schematic diagram showing the laser beam before and after beam combining of the laser emission array.

[0037] The component labels in the diagram are as follows:

[0038] Laser emitting array 100; beam combining and shaping element 200; mirror group 300; two-dimensional multi-faceted rotating mirror 400; echo receiving lens group 500; receiving detector array 600; scanning field of view 700.

[0039] Reflecting mirror 400A, reflecting mirror 400C, reflecting mirror 400D, reflecting mirror 400B;

[0040] Laser emitting array chip driver board 110, laser emitting array chip 120, first beam shaping element 130, first reflector 140, second reflector 150, second beam shaping element 160, target field of view 170;

[0041] Circuit board 111, driving circuit array 112, gating device 113. Detailed Implementation

[0042] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0043] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The term "joint" as used herein refers to a connection in which two elements have power transmission. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the drawings. For example, if the device is flipped in the drawings, an element or feature described as "below" or "under" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0045] Please see Figure 1This application provides a rotating mirror lidar system, including a laser emitting array 100, a beam combining and shaping element 200, a mirror group 300, a two-dimensional multi-faceted rotating mirror 400, an echo receiving lens group 500, and a receiving detector array 600. The laser emitting array 100 is configured to generate an emitted beam; a beam combining and shaping element 200 and a reflector group 300 constitute an emitting optical component, which is located downstream of the laser emitting array 100 in the direction of beam propagation to receive the emitted beam from the laser emitting array 100; a two-dimensional multifaceted rotating mirror 400 is located downstream of the emitting optical component in the direction of beam propagation and includes a reflector surface rotatably disposed about a rotation axis, the reflector surface being configured to reflect the emitted beam from the emitting optical component to form a scanning beam directed toward the scanning field of view 700; an echo receiving lens group 500 is located in the direction of echo beam propagation and is configured to focus the echo beam generated by the scanning beam in the scanning field of view 700; a receiving detector array 600 is located downstream of the echo receiving lens group 500 in the direction of echo beam propagation and is configured to receive the echo beam.

[0046] In the illustrated embodiment, the rotating mirror lidar system is a dual-field-of-view lidar, that is, the laser emitting array 100, the beam combining and shaping element 200, the reflector group 300, the echo receiving lens group 500 and the receiving detector array 600 are symmetrically arranged on both sides of the two-dimensional multifaceted rotating mirror 400.

[0047] During operation, the emitted beam from the laser emitting array 100 passes through the beam combining and shaping element 200 and is directed towards the reflector group 300. It is reflected by the small reflector to two reflector surfaces 400A and 400B of the two-dimensional multifaceted rotating mirror 400 at different tilt angles. Then, it is emitted to the left and right fields of view. The echo beam is reflected by the reflector surfaces 400A and 400B of the two-dimensional multifaceted rotating mirror 400 to the large mirror surface of the reflector group 300. It is then reflected to the echo receiving lens group 500, converged, and received and amplified by the receiving detector array 600.

[0048] In this embodiment, the reflector group 300 is replaced by a perforated reflector. After the laser emission array 100 is beam-compressed, it passes through the opening in the perforated reflector onto the surface of the two-dimensional multifaceted rotating mirror 400. The perforated reflector reflects the light onto the echo receiving lens group 500, and then it is received and amplified by the detector array 600. In other embodiments, the reflector group 300 is replaced by a semi-transparent mirror. The emitted beam passes through the beam combining and shaping element 200 along the beam propagation direction and then strikes the semi-transparent mirror. The emitted beam is transmitted onto the reflector surface of the two-dimensional multifaceted rotating mirror 400, and the semi-transparent mirror reflects the echo beam reflected by the two-dimensional multifaceted rotating mirror 400 to the echo receiving lens group 500. The reflector group 300, the perforated reflector, or the semi-transparent mirror are used to improve the efficiency of the receiving system coaxial with the transmitter, thereby improving the signal-to-noise ratio.

[0049] A two-dimensional multi-faceted rotating mirror 400 is used to expand the scanning area in the vertical direction, thereby improving the vertical resolution. Furthermore, the larger mirror surface can receive more echo beams compared to other solutions, increasing the signal-to-noise ratio or measurement distance. Specifically, the left side of the rotating mirror lidar system corresponds to the left field of view, where the scanning order of the four sub-fields of view is mirror surface 400A, mirror surface 400C, mirror surface 400D, and mirror surface 400B; the right side of the rotating mirror lidar system corresponds to the right field of view, where the scanning order of the four sub-fields of view is mirror surface 400B, mirror surface 400A, mirror surface 400C, and mirror surface 400D, as shown below. Figure 2 As shown in the diagram, the two-dimensional multifaceted rotating mirror 400 completes the scanning of the entire field of view 700 after rotating once around the rotation axis.

[0050] To increase the field of view in the vertical direction, for example, to provide a field of view corresponding to 30° in the vertical direction, the angles between the relative rotation axes of the reflecting mirrors 400B, 400A, 400C, and 400D of the two-dimensional multifaceted rotating mirror 400 can be set to 3.75°, 11.25°, -3.75°, and -11.25°, respectively.

[0051] Obviously, the number of reflecting mirrors in the two-dimensional multifaceted rotating mirror 400 can also be other numbers, such as 6 mirrors (including reflecting mirrors 400A to 400F) and 8 mirrors (including reflecting mirrors 400A to 400H), as shown below. Figure 3 and Figure 4 As shown in the image.

[0052] Having an even number of reflective mirrors makes it easier to keep the center of gravity on the rotation axis, thus ensuring the stability of the two-dimensional multifaceted rotating mirror 400 during rotation. Of course, having an odd number of reflective mirrors can also be used after design.

[0053] The two-dimensional multi-faceted rotating mirror 400 has its reflecting mirrors tilted relative to the rotation axis. The angles between the multiple reflecting mirrors and the rotation axis are not equal, such as 3.75°, 11.25°, -3.75° and -11.25° as mentioned above. The angle (3.75°) of reflecting mirror 400A is opposite to the angle (-3.75°) of reflecting mirror 400D, and the angle (-11.25°) of reflecting mirror 400B is opposite to the angle (11.25°) of reflecting mirror 400C, thereby achieving a vertical field of view of 30°.

[0054] The cross-sectional shape of the two-dimensional multifaceted rotating mirror 400 on a plane perpendicular to the rotation axis is approximately a regular polygon, such as... Figure 1 The square in the middle, or Figure 3 , Figure 4 The regular hexagons and regular octagons shown are illustrated.

[0055] The reflective surfaces of the two-dimensional multifaceted rotating mirror 400 can increase the vertical resolution, or reduce the number of laser transmitters (LDs) and laser receivers (PDs) in the transmitter-receiver array while maintaining a certain resolution. Considering the typical 120° horizontal field of view (i.e., 60° field of view on one side), the number of reflective surfaces of the two-dimensional multifaceted rotating mirror 400 should not exceed 10. That is, the horizontal field of view corresponding to a single reflective surface is 36°: the angle between the incident beam and the outgoing beam is 72°. After removing the edge portions, it can correspond to a target field of view of 60°.

[0056] The angles between each reflector of the two-dimensional multifaceted rotating mirror 400 and the rotation axis can gradually change sequentially. Because the angles between each reflector of the two-dimensional multifaceted rotating mirror 400 and the rotation axis are different, each facet can deflect the incident beam to different areas in the vertical direction, increasing the vertical resolution several times without adding components. Moreover, multifaceted rotating mirrors have been widely used in printing / scanning systems for many years, and the product is very mature. Its reflector is also much larger than the mirror of beam deflecting devices such as micro-mirrors, which can receive more echoes, increase the ranging range and signal-to-noise ratio.

[0057] The die-based laser emitting array 100 and receiving detector array 600 are used to form a highly integrated, high vertical resolution emitting / receiving beam, which together with the two-dimensional multifaceted rotating mirror 400 forms an ultra-high vertical resolution.

[0058] The laser emitting array 100 can preferably use two 1*N EEL (edge-emitting laser) arrays, and the optical path of the laser emitting array 100 is as follows: Figure 5 As shown, the system includes a laser emitting array chip driver board 110, laser emitting array chips 120 (two 1*N arrays), a first beam shaping element 130, a first reflector 140, a second reflector 150, and a second beam shaping element 160. The laser emitting array chips 120 consist of two 1*N array chips.

[0059] During operation, two laser emitting array chips 120 are driven by a laser emitting array chip driver board 110 to emit beams. The first beam emitted by one of the laser emitting array chips 120 is initially shaped by a first beam shaping element 130 to reduce the large divergence angle of the fast axis, and then directed toward a first reflector 140 placed at a 45° angle to the optical path. It then exits vertically upward and is emitted horizontally by a second reflector 150 placed at a 45° angle to the optical path. The second beam emitted by the other laser emitting array chip 120 is initially shaped by the first beam shaping element 130 and then directed toward the second reflector 150. Finally, it is combined with the first beam and shaped together by a second beam shaping element 160 before exiting the beam scanning device or the target field of view 170.

[0060] In this design, the first reflector 140 and the second reflector 150 are staggered and positioned to target beams from two laser emitting array chips 120. This allows the beams from the two 1*N arrays of laser emitting array chips 120 to be combined adjacently, forming a 2*N array after combining and collimating. Through this optical design, the beams emitted by the 1*N arrays of laser emitting array chips 120 with complementary poor light-emitting points can be combined. Then, the laser emitting array chip driver board 110 selects and illuminates the corresponding good light-emitting points in each laser emitting array chip 120 array as needed, illuminating N light-emitting points on the 2*N array. Figure 7 As shown in the image.

[0061] like Figure 6 As shown, the driving circuit array 112 on the circuit board 111 of the laser emitting array chip driver board 110 drives the corresponding units in the laser emitting array chip 120 to emit light through the gating device 113, forming N laser spots, which are then combined together, as shown. Figure 7 As shown in the image.

[0062] In addition to using two 1*N EEL arrays as described above, the laser emitting array 100 can also be adopted in the following forms:

[0063] The laser emitting array chip 120 can also be an array of different units: a 1*M array and a 1*N array, where M≠N;

[0064] The laser emission array chip 120 uses a 1*2N single array chip to replace two 1*N arrays with the same units or two chips with different units.

[0065] The laser emitting array chip 120 consists of two 1*N array chips, which are die-bonded on two driving boards (two laser emitting array chip driving boards 110). The two driving boards are placed side by side and then combined.

[0066] The above embodiments only illustrate beam combining of two array chips; however, it is obvious that more than two chips can be used for beam combining. The laser emitting array 100 can also be a laser array formed by beam splitting of VCSEL (Vertical-Cavity Surface-Emitting Laser) array chips or fiber lasers. Existing VCSELs have relatively low single-point emission power; in this application, the laser emitting array 100 forms an emission channel through multiple emission points to increase power. The laser emitting array 100 uses an i*j emission array, where i and j are integers greater than or equal to 1, and i and j are not simultaneously equal to 1. The laser emitting array 100 uses an i*j emission array composed of n*m surface-emitting VCSEL arrays, where n and m are integers greater than or equal to 1, and i and j are less than or equal to n and m, respectively. Alternatively, the laser emitting array 100 uses fiber lasers to form an i*j emission array through beam splitting or diffraction devices.

[0067] The receiver detector array 600 can employ an APD (avalanche diode) array to match the layout of the emitting points of the laser emitting array 100 in the same way as the laser emitting array 100. The receiver detector array 600 uses a 2*N array to match the emitting end, achieving a one-to-one correspondence; alternatively, it can use a 1*N array, with each unit corresponding to the illumination area of ​​a 2*1 unit on the emitting end. The receiver of the receiver detector array 600 is a surface receiver, unlike the surface emission of the emitting end, and therefore can be placed side-by-side. The receiver detector array 600 can also use a SiPM (silicon photomultiplier tube) or SPAD (single-photon avalanche diode) array for receiving.

[0068] Since rotating mirror lidar requires a 1*N emission beam, and in actual manufacturing, especially for high-power EEL (edge-emitting laser) chips used in lidar, the yield of a single channel is relatively low, and the yield of multi-channel array chips, especially those with ten or more channels, is even lower. If a single intact 1*N array chip is used as the transmitter, the excessively low yield and excessively high cost are simply unacceptable. The same applies to the receiver. This application, through the above-described laser emission array 100 and receiver detector array 600 configuration, allows almost all light-emitting points on the wafer to be used, which can significantly increase the vertical scan line count while reducing costs.

[0069] This application proposes a dual-field-of-view rotating mirror lidar system based on a two-dimensional multi-faceted rotating mirror, a perforated mirror / mirror group / semi-transparent and semi-reflective mirror, and a transmit / receive array. It can easily achieve a high resolution of 200 to 400 lines within the target's field of view (e.g., 120°*30°), far exceeding current radars, and provides ranging capabilities of over 300 meters for targets with 10% reflectivity. The number of lines is calculated by multiplying the number of mirrors in the two-dimensional multi-faceted rotating mirror by the number of points in the transmit / receive array. For example, using a 6-faceted rotating mirror and a 1*50 transmit / receive array, the number of lines can reach 300. The ranging capability, calculated based on the power of a single emission point combined with the size of the receiving aperture, can reach 300 meters.

[0070] In the rotating mirror lidar system of this application, the angles between each reflector of the two-dimensional multifaceted rotating mirror and the rotation axis are different. Each reflector can deflect the incident beam to different regions in the vertical direction, increasing the vertical resolution several times without adding components. The reflector surfaces are also much larger than those of beam-directing devices such as micro-mirrors, allowing for the reception of more echoes and increasing the ranging range and signal-to-noise ratio. The perforated mirror / mirror group is far superior to the semi-transparent mirror, which loses more than 75% of its emission energy, and can also effectively improve the signal-to-noise ratio. Furthermore, the transmit / receive array formed by the original wafer dicing directly improves the beamwidth and has a high degree of integration. Combined with the two-dimensional multifaceted rotating mirror, it can achieve extremely high vertical resolution and point frequency. In summary, the rotating mirror lidar system of this application can improve system resolution while reducing costs, simplifying the beam-directing mechanism, and reducing size due to high integration.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A rotating mirror lidar system, characterized in that, include: A laser emitting array (100) is configured to generate an emitted beam; An optical emission component is disposed downstream of the laser emission array (100) in the direction of beam propagation to receive the emitted beam; A two-dimensional multi-faceted rotating mirror (400) is disposed downstream of the emitting optical component in the direction of beam propagation and includes a plurality of reflective mirrors rotatably disposed about a rotation axis. The reflective mirrors are configured to reflect the emitting beam transmitted through the emitting optical component to form a scanning beam directed toward the scanning field of view (700). An echo receiving lens group (500) is disposed in the direction of echo beam propagation and configured to focus the echo beam generated by the scanning beam in the scanning field of view (700); as well as A receiver detector array (600) is disposed downstream of the echo receiver lens group (500) in the direction of echo beam propagation and is configured to receive the echo beam. The angles between the multiple reflecting mirrors of the two-dimensional multifaceted rotating mirror (400) and the rotation axis are not equal. The laser emitting array (100) includes a laser emitting array chip driver board (110), a laser emitting array chip (120), and a beam combining component. The laser emitting array chip driver board (110) drives the laser emitting array chip (120) to emit light, and the beam combining component combines the beams of the laser emitting array chip (120). The laser emitting array chip (120) includes two or more 1 N-array chips, each of the 1 The N-array chip is die-bonded on the corresponding laser emission array chip driver board (110), and two or more of the laser emission array chip driver boards (110) are arranged side by side; Complementing the poor luminous points 1 The combined light beam emitted by the laser emitting array chip (120) of the N array is selected by the laser emitting array chip driver board (110) to illuminate the corresponding good light-emitting points in the array of each laser emitting array chip (120) as required, in P N points are lit on an array of N, where P is an integer greater than or equal to 2.

2. The rotating mirror lidar system according to claim 1, characterized in that: The center of gravity of the two-dimensional multifaceted rotating mirror (400) is located on the rotation axis, and the number of the reflecting mirrors in the two-dimensional multifaceted rotating mirror (400) is even.

3. The rotating mirror lidar system according to claim 1, characterized in that: The light combining component includes two or more first beam shaping elements (130) and two or more reflectors (140, 150), with each of the two or more first beam shaping elements (130) and the two or more reflectors (140, 150) corresponding to one of the two or more array chips. The laser emitting array (100) is an EEL array; Alternatively, the laser emitting array (100) uses a fiber laser to form i through a beam splitter or diffraction device. j-emission array.

4. The rotating mirror lidar system according to claim 3, characterized in that: Two or more of the 1 The beams emitted by the N-array chip are initially shaped by the corresponding first beam shaping element (130) and reflected by the corresponding reflectors (140, 150) to form a row of beams. The laser emitting array chip (120) includes 1 laser emitting array chip driver board (110) arranged side by side. M-array chip and 1 N-array chip, where M≠N.

5. The rotating mirror lidar system according to claim 4, characterized in that: The laser emitting array chip (120) is 1 N-array chip, two laser emitting array chips (120) are arranged side by side on the laser emitting array chip driver board (110), and the beam combining component is used to combine the first beam and the second beam emitted by the two laser emitting array chips (120) together to form 2 The laser emitting array chip driver board (110) selectively illuminates the good light-emitting points in the array of the laser emitting array chip (120) to achieve 2 N light-up points are lit on an N array.

6. The rotating mirror lidar system according to claim 5, characterized in that: The receiver detector array (600) employs an APD array, and the receiver detector array (600) uses 2 An array of N, used to match the laser emitting array (100) one-to-one; or, the receiving detector array (600) using 1 N arrays, each unit corresponding to receive 2 of the laser emitting array (100). Irradiation area of ​​unit 1; Alternatively, the receiver detector array (600) may be a SiPM or SPAD array.

7. The rotating mirror lidar system according to claim 3, characterized in that: The beam combining assembly includes two first beam shaping elements (130), a first reflector (140), a second reflector (150), and a second beam shaping element (160). The first reflector (140) and the second reflector (150) are placed alternately. The two first beam shaping elements (130) respectively pre-shape the first beam and the second beam. The pre-shaped first beam is sequentially directed toward the first reflector (140), the second reflector (150), and the second beam shaping element (160). The pre-shaped second beam is sequentially directed toward the second reflector (150) and the second beam shaping element (160).

8. The rotating mirror lidar system according to claim 3, characterized in that: The laser emitting array chip driver board (110) includes a circuit board (111) and a driving circuit array (112) and a gating device (113) disposed on the circuit board (111). The driving circuit array (112) illuminates the corresponding light-emitting points in the laser emitting array chip (120) through the gating device (113).

9. The rotating mirror lidar system according to claim 1, characterized in that: The transmitting optical assembly includes a beam combining and shaping element (200) and a mirror assembly (300). The mirror assembly (300) includes a small mirror and a large mirror. The transmitted beam passes through the beam combining and shaping element (200) along the transmission beam propagation direction and is then reflected by the small mirror to the two-dimensional multifaceted rotating mirror (400). The echo beam is reflected by the two-dimensional multifaceted rotating mirror (400) to the large mirror and then reflected to the echo receiving lens assembly (500). Alternatively, the transmitting optical assembly includes a beam combining and shaping element (200) and a perforated mirror. The transmitted beam passes through the beam combining and shaping element (200) along the transmission beam propagation direction and then enters the opening in the perforated mirror before being incident on the two-dimensional multifaceted rotating mirror (400). The echo beam is reflected by the two-dimensional multifaceted rotating mirror (400) to the perforated mirror and then to the echo receiving lens group (500). Alternatively, the transmitting optical assembly includes a beam combining and shaping element (200) and a semi-transparent mirror. The transmitted beam passes through the beam combining and shaping element (200) along the transmission direction of the transmitted beam and is transmitted to the semi-transparent mirror and then to the two-dimensional multi-faceted rotating mirror (400). The echo beam is reflected by the two-dimensional multi-faceted rotating mirror (400) to the semi-transparent mirror and then to the echo receiving lens group (500).

10. The rotating mirror lidar system according to any one of claims 1 to 9, characterized in that: The laser emitting array (100), the emitting optical component, the echo receiving lens group (500), and the receiving detector array (600) are symmetrically arranged on both sides of the two-dimensional multifaceted rotating mirror (400).

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