Rotating mirror laser radar and electronic equipment

Abstract

The present application provides a rotating mirror laser radar, comprising a base, a reflector, at least two transceiver modules and a drive assembly. The base comprises a bearing surface. The reflector is rotatably arranged on the base, and comprises a first reflective surface and a second reflective surface arranged back to back. At least two transceiver modules are divided into two groups, which are symmetrically arranged about the rotation axis of the reflector, so as to transmit sensing light beams to the field of view space through the reflector from different angles and receive light signals from the field of view space. The drive assembly rotates the reflector to direct the first reflective surface and the second reflective surface toward the transceiver module at different time periods, so that the transceiver module alternately senses the field of view space in three dimensions through the first reflective surface and the second reflective surface; wherein, the two groups of transceiver modules form two mutually separated field of view spaces symmetrically distributed about the rotation axis of the reflector through the reflector. The present application also provides an electronic device comprising a rotating mirror laser radar.

Description

[0001] This application is a divisional application of the invention patent application with the application date of March 14, 2024, application number 202410289456.8, and invention name “A rotating mirror laser radar and electronic equipment”. Technical Field

[0002] The present application relates to the field of photoelectric detection, and in particular to a rotating mirror laser radar and electronic equipment. Background Art

[0003] Due to its advantages of long sensing distance, high accuracy, and low energy consumption, LiDAR is widely used in consumer electronics, smart driving, unmanned aerial vehicles, AR / VR and other fields. Existing rotating mirror LiDAR uses a periscope optical path formed by a rotating 45-degree tilt mirror and a transceiver module fixed below the mirror to achieve scanning sensing of different angles of the field of view by the sensing beam. However, due to the optical path characteristics of the plane mirror, LiDAR with this structure can only achieve single-line scanning of one transceiver module, and cannot achieve multi-line scanning of the field of view by setting up multiple transceiver modules. Therefore, the sensing range of its field of view in the vertical direction will be greatly limited, and the 45-degree mirror can only complete one detection of a certain angle in the field of view when it rotates one circle, resulting in a low detection frame rate. Summary of the Invention

[0004] In view of this, the present application provides a rotating mirror laser radar and related electronic equipment that can improve the problems of the existing technology.

[0005] In a first aspect, the present application provides a rotating mirror laser radar configured to sense three-dimensional information of objects within a preset field of view based on the time-of-flight principle. The rotating mirror laser radar comprises:

[0006] A base including a bearing surface;

[0007] a reflector, comprising a first reflective surface and a second reflective surface disposed opposite to each other, the reflector being rotatably disposed on the base about a rotation axis, the rotation axis being perpendicular to the supporting surface, the first reflective surface and the second reflective surface being disposed on opposite sides of the rotation axis;

[0008] At least two transceiver modules, the at least two transceiver modules being divided into two groups, each group including at least one transceiver module, the two groups of transceiver modules being symmetrically arranged about the rotation axis of the reflector to transmit sensing light beams into the field of view through the reflector from different angles and receive light signals from the field of view, thereby performing three-dimensional information sensing of objects in the field of view; and

[0009] The driving component is configured to rotate the reflective element to direct the first reflective surface and the second reflective surface toward the transceiver module at different time periods, so that the transceiver module alternately senses three-dimensional information of the field of view space through the first reflective surface and the second reflective surface; wherein the two groups of transceiver modules form two mutually separated field of view spaces symmetrically distributed about the rotation axis of the reflective element through the reflective element.

[0010] In a second aspect, the present application provides an electronic device comprising an application module and the rotating mirror laser radar as described above, wherein the application module is configured to implement corresponding functions according to the detection results of the rotating mirror laser radar.

[0011] Beneficial effects of this application:

[0012] Compared with the existing periscope optical path formed by a 45-degree inclined reflector and a transceiver module fixedly arranged below the reflector, the present application can achieve multi-line scanning by alternately reflecting the scanning mode of the sensing light beam by rotating the first reflective surface and the second reflective surface set back to each other, thereby expanding the field of view space. Moreover, each rotation of the reflector can perform two rounds of scanning on the position with the same angle in the field of view space, thereby improving the detection frame rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the accompanying drawings.

[0014] Figure 1 A schematic diagram of the functional modules of an electronic device provided in one embodiment of the present application.

[0015] Figure 2 for Figure 1 Schematic diagram of the functional modules of an embodiment of the rotating mirror laser radar described in.

[0016] Figure 3 A schematic diagram of the exploded structure of a rotating mirror laser radar provided in one embodiment of the present application.

[0017] Figure 4 for Figure 3 Schematic diagram of the assembly structure of the rotating mirror laser radar described in .

[0018] Figure 5 A partial cross-sectional schematic diagram of a rotating mirror laser radar provided in one embodiment of the present application.

[0019] Figure 6 A schematic diagram of the assembly structure of a rotating mirror laser radar provided in another embodiment of the present application.

[0020] Figure 7 A schematic diagram of the optical path of a rotating mirror lidar provided in one embodiment of the present application.

[0021] Figure 8for Figure 7 Schematic diagram of the optical path of the far boundary angle of the rotating mirror laser radar described in.

[0022] Figure 9 for Figure 7 Schematic diagram of the optical path of the near-side boundary angle of the rotating mirror laser radar described in.

[0023] Figure 10 A schematic diagram of the external structure of a transceiver module provided in one embodiment of the present application.

[0024] Figure 11 A schematic diagram of the internal structure of a transceiver module provided in one embodiment of the present application.

[0025] Figure 12 A schematic diagram of the field of view and blind spots of a rotating mirror lidar provided in one embodiment of the present application.

[0026] Figure 13 A schematic diagram of the optical path of a rotating mirror lidar provided in one embodiment of the present application.

[0027] Figure 14 A schematic diagram of the optical path of a rotating mirror lidar provided in one embodiment of the present application.

[0028] Figure 15 A schematic diagram of the optical path of a rotating mirror lidar provided in one embodiment of the present application.

[0029] Figure 16 A schematic diagram of the optical path of a rotating mirror lidar provided in one embodiment of the present application.

[0030] Figure 17 A schematic diagram of a scenario in which a rotating mirror laser radar provided in one embodiment of the present application is applied to a sweeping robot. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and are not to be construed as limitations on the present application. In the description of the present application, it should be understood that the terms "first" and "second" are only used for description and are not to be construed as indicating or implying relative importance or implicitly indicating the number or arrangement order of the indicated technical features. Thus, the technical features defined as "first" and "second" may explicitly or implicitly include one or more of the technical features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integrated connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0033] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, only the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may reuse reference numbers and / or reference letters in different examples. This repetition is for the purpose of simplifying and clearly stating the present application and does not itself indicate a specific relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and materials provided in the description below are merely examples for implementing the technical solutions of the present application, but those of ordinary skill in the art should appreciate that the technical solutions of the present application may also be implemented by other processes and / or other materials not described below.

[0034] Further, described feature, structure can be combined in one or more embodiments in any suitable manner.In the description below, many specific details are provided so that the embodiments of the present application can be fully understood. However, it will be appreciated by those skilled in the art that even without one or more of the specific details, or by adopting other structures, components etc., the technical scheme of the present application can also be put into practice. In other cases, known structures or operations are not shown or described in detail to avoid blurring the key points of the present application.

[0035] An embodiment of the present application provides a rotating mirror laser radar configured to sense three-dimensional information of objects within a preset field of view based on the time-of-flight principle. The rotating mirror laser radar includes:

[0036] A base including a bearing surface;

[0037] a reflector, comprising a first reflective surface and a second reflective surface disposed opposite to each other, the reflector being rotatably disposed on the base about a rotation axis, the rotation axis being perpendicular to the supporting surface, the first reflective surface and the second reflective surface being disposed on opposite sides of the rotation axis;

[0038] At least two transceiver modules, the at least two transceiver modules being divided into two groups, each group including at least one transceiver module, the two groups of transceiver modules being symmetrically arranged about the rotation axis of the reflector to transmit sensing light beams into the field of view through the reflector from different angles and receive light signals from the field of view, thereby performing three-dimensional information sensing of objects in the field of view; and

[0039] The driving component is configured to rotate the reflective element to direct the first reflective surface and the second reflective surface toward the transceiver module at different time periods, so that the transceiver module alternately senses three-dimensional information of the field of view space through the first reflective surface and the second reflective surface; wherein the two groups of transceiver modules form two mutually separated field of view spaces symmetrically distributed about the rotation axis of the reflective element through the reflective element.

[0040] Optionally, in some embodiments, the first reflective surface and the second reflective surface are both continuous and complete surfaces.

[0041] Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are both planes and perpendicular to the supporting surface, and the first reflecting surface and the second reflecting surface are arranged parallel to each other.

[0042] Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are both planes and perpendicular to the supporting surface, and the first reflecting surface and the second reflecting surface are arranged parallel to each other.

[0043] Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are both planes, one of the first reflecting surface and the second reflecting surface is perpendicular to the supporting surface and the other is inclined at a preset angle relative to the supporting surface.

[0044] Optionally, in some embodiments, each group includes multiple transceiver modules, and the multiple transceiver modules respectively transmit sensing light signals to the field of view space and receive light signals from the field of view space through the reflector at different inclination angles compared to the supporting surface; wherein the inclination angles corresponding to different transceiver modules vary arbitrarily.

[0045] Optionally, in some embodiments, the inclination angles of the multiple transceiver modules in the same group gradually decrease in the order in which the transceiver modules are arranged from bottom to top in a direction perpendicular to the carrying surface.

[0046] Optionally, in some embodiments, the transceiver modules arranged from bottom to top in a direction perpendicular to the carrying surface first gradually decrease to zero at an upward tilt angle relative to the carrying surface, and then gradually increase at a downward tilt angle relative to the carrying surface.

[0047] Optionally, in some embodiments, the transceiver module directly transmits a sensing light beam to the field of view space and receives a light signal from the field of view space through reflection of the reflector, and multiple transceiver modules respectively transmit a sensing light beam and receive a light signal from the field of view space at their respective corresponding tilt angles.

[0048] Optionally, in some embodiments, a plurality of reflectors are further included, and the plurality of reflectors are respectively arranged corresponding to the plurality of transceiver modules. The plurality of transceiver modules are respectively reflected by the corresponding reflectors and transmit sensing light beams to the field of view space and receive light signals from the field of view space through the reflective components at their respective inclination angles.

[0049] Optionally, in some embodiments, different transceiver modules transmit sensing light beams to the field of view space through the same reflection position on the first reflection surface and / or the second reflection surface, and different transceiver modules receive light signals from the field of view space through the same reflection position on the first reflection surface and / or the second reflection surface.

[0050] Optionally, in some embodiments, the plurality of transceiver modules transmit sensing light signals to the field of view space and receive light signals from the field of view space through the reflector at an angle upwardly inclined relative to the carrying surface, an angle parallel to the carrying surface and / or an angle downwardly inclined relative to the carrying surface.

[0051] An embodiment of the present application also provides an electronic device, which includes the rotating mirror laser radar. The electronic device realizes corresponding functions based on the three-dimensional information obtained by the rotating mirror laser radar. The electronic device is, for example, a mobile phone, a car, a robot, an access control / monitoring system, a smart door lock, an unmanned vehicle, a drone, etc. The three-dimensional information is, for example, proximity information, depth information, distance information, coordinate information, etc. of an object in the field of view. Among them, the three-dimensional information can be used, for example, in 3D modeling, identity recognition, automatic driving, machine vision, monitoring, drone control, augmented reality (AR) / virtual reality (VR), simultaneous localization and mapping (SLAM), object proximity judgment and other fields, and this application does not limit this.

[0052] Taking a sweeping robot as an example, a rotating mirror laser radar is set in the sweeping robot. The rotating mirror laser radar can scan the surrounding environment by quickly and repeatedly emitting a sensing beam to obtain point cloud data reflecting the three-dimensional information of the surrounding environment. Specifically, the rotating mirror laser radar emits a sensing beam to the surrounding environment, and receives the echo beam reflected by each object in the surrounding environment. By calculating the time delay (i.e., the flight time) between the emission time of the sensing beam and the time when the echo beam is received and sensed, the distance / depth information of each object is determined. At the same time, the rotating mirror laser radar can also determine the angle information of the sensing beam emitted to the field of view space, and combine the distance / depth information of each object with the emission angle of the sensing beam corresponding to the information to generate a three-dimensional map including each object in the scanned surrounding environment, and use this three-dimensional map to guide the movement of the sweeping robot.

[0053] Hereinafter, an embodiment in which a rotating mirror laser radar is applied to an electronic device will be described in detail with reference to the accompanying drawings.

[0054] Figure 1 This is a schematic diagram of the functional modules of the rotating mirror laser radar provided in an embodiment of the present application applied to electronic equipment. Figure 2 This is a schematic diagram of the functional modules of the rotating mirror laser radar provided in an embodiment of the present application.

[0055] Reference Figure 1 and Figure 2 The electronic device 1 includes a rotating mirror laser radar 10. The rotating mirror laser radar 10 can detect three-dimensional information of an object 2 within its field of view. The field of view can be defined as the three-dimensional spatial range within which the rotating mirror laser radar 10 can effectively detect three-dimensional information, and can also be referred to as the field of view angle or field of view range of the rotating mirror laser radar 10. The three-dimensional information may include, but is not limited to, one or more of the following: proximity information of the object 2, depth information on the surface of the object 2, distance information of the object 2, and spatial coordinate information of the object 2.

[0056] The electronic device 1 may include an application module 20, which is configured to perform predetermined operations or implement corresponding functions based on the detection results of the rotating mirror lidar 10. For example, but not limited to: controlling the movement of the electronic device 1 for obstacle avoidance or navigation based on the three-dimensional information of the object 2 within the field of view; or implementing 3D modeling, identity recognition, machine vision, etc. based on the depth information of the surface of the object 2. In other words, the application module 20 may include a combination of the hardware required to perform the aforementioned operations and implement the aforementioned functions, and the software required to control and coordinate the operation of the hardware.

[0057] The electronic device 1 may further include a storage medium 30, which may support the storage requirements of the electronic device 1 and / or the rotating mirror laser radar 10 during operation. Figure 1 As shown, in some embodiments, the storage medium 30 may be disposed inside the electronic device 1. Figure 2 As shown, in some embodiments, the storage medium 30 may also be disposed inside the rotating mirror laser radar 10 .

[0058] The electronic device 1 may further include a processor 40, which can support the data processing requirements of the electronic device 1 and / or the rotating mirror laser radar 10 during operation. Figure 1 As shown, in some embodiments, the processor 40 may be disposed inside the electronic device 1. Figure 2 As shown, in some embodiments, the processor 40 may also be disposed inside the rotating mirror lidar 10 .

[0059] Optionally, in some embodiments, the rotating mirror laser radar 10 can be, for example, a dToF measurement device that performs three-dimensional information sensing based on the direct time of flight (dToF) principle. The dToF measurement device can emit a sensing beam in the field of view and receive the sensing beam reflected by the object 2 in the field of view. The time difference between the emission moment and the reception moment of the reflected sensing beam is called the flight time t of the sensing beam. The three-dimensional information of the object 2 can be obtained by calculating half of the distance traveled by the sensing beam in the flight time t. Where c is the speed of light.

[0060] In other embodiments, the rotating mirror laser radar 10 may also be an indirect time of flight (iToF) measurement device that performs three-dimensional information sensing based on the iToF measurement principle. The iToF measurement device obtains three-dimensional information of the object 2 by comparing the phase difference between the sensing light beam when it is emitted and when it is reflected and received.

[0061] In the following embodiments of the present application, the rotating mirror laser radar 10 is mainly used as an example for description as a dToF measurement device.

[0062] In some embodiments, as Figure 2 As shown, the rotating mirror lidar 10 includes a base 12, a reflector 14, at least one transceiver module 16, a drive module 17, and a control module 18. The transceiver module 16 transmits a sensing light beam into the field of view through the reflector 14 and receives a return light signal from the field of view. The reflector 14 is rotatably connected to the base 12, and the drive module 17 is configured to rotate the reflector 14 to achieve scanning sensing at different angular positions within the field of view.

[0063] The transceiver module 16 includes a transmitting component 160, a receiving component 164, and a processing module 166. The transmitting component 160 is configured to transmit a sensing light beam into the field of view to detect three-dimensional information of an object 2 within the field of view. Part of the sensing light beam will be reflected by the object 2 and returned. The reflected sensing light beam echo carries the three-dimensional information of the object 2. Part of the sensing light beam echo can be sensed by the receiving component 164 to obtain the three-dimensional information of the object 2. The receiving component 164 is configured to sense light signals from the field of view and output corresponding light sensing signals. By analyzing the light sensing signals, three-dimensional information detection of the object 2 within the field of view can be achieved. It should be understood that the light signals sensed by the receiving component 164 may include photons of the sensing light beam echo reflected by the object 2 within the field of view and photons of ambient light within the field of view.

[0064] The processing module 166 is configured to analyze and process the optical sensing signal to obtain the time when the sensing beam echo is sensed by the receiving component 164. For example, the optical sensing signal is processed and analyzed based on the time-correlated single photon counting (TCSPC) technique to obtain the time when the sensing beam echo is sensed by constructing a photon count histogram. Furthermore, the processing module 166 is configured to obtain three-dimensional information of the object 2 based on the time difference between the emission time of the sensing beam and the time when the reflected beam is sensed.

[0065] Optionally, in some other embodiments, the processing module 166 can also perform three-dimensional information sensing based on the indirect Time of Flight (iToF) measurement principle, and obtain the three-dimensional information of the object 2 by comparing the phase difference between when the sensing light beam is emitted and when it is reflected back and received.

[0066] Optionally, in some other embodiments, the processing module 166 can also perform three-dimensional information sensing based on the frequency modulated continuous wave (FMCW) measurement principle, by interfering the returned light and the emitted light, and using mixing detection technology to measure the frequency difference between the sending and receiving, and then converting the frequency difference into the distance of the target object.

[0067] exist Figure 2 In the embodiment shown, the processing module 166 may be provided on the rotating mirror laser radar 10. It should be understood that in some other embodiments, all or part of the functional units of the processing module 166 may also be provided on the electronic device 1.

[0068] In some embodiments, the sensing beam can be, for example, a plurality of laser pulses emitted sequentially. The transmitting assembly 160 is configured to emit the laser pulses as the sensing beam according to a preset time sequence. The sensing beam is reflected by the reflector 14 into the field of view space. As the reflector 14 rotates, the sensing beam can be emitted to the field of view partitions located at different orientations within the field of view space in a time-sharing manner according to a preset scanning method. Thus, the transceiver module 16 transmits a plurality of sensing beam pulses to each field of view partition via the reflector 14 according to the corresponding preset time sequence, and analyzes the time distribution of the sensed light signal to obtain three-dimensional information of the corresponding field of view partition. This process can be regarded as a field of view partition detection period, and scanning the multiple field of view partitions one by one in this manner is regarded as completing a frame detection of the entire field of view space, which can obtain the distance information of all the field of view partitions in the entire field of view space, which can be used to construct a point cloud of the entire field of view space. That is, a frame detection of the field of view space includes multiple field of view partition detection periods corresponding to the field of view partition scanning.

[0069] Optionally, the sensing light beam is, for example, visible light, infrared light or near-infrared light, with a wavelength range of, for example, 390 nanometers (nm)-780nm, 700nm-1400nm, 800nm-1000nm, 900nm-1600nm, etc.

[0070] The reflector 14, the driving module 17 and the transceiver module 16 are mounted on the base 12. In some embodiments, Figure 3 and Figure 4 As shown, the base 12 includes a substrate 120, a side wall 122 and a cover plate 124. The side wall 122 extends from the side edge of the substrate 120 to form a receiving groove 126 together with the substrate 120. The cover plate 124 is arranged on the other side of the side wall 122 opposite to the substrate 120 to cover the receiving groove 126. The side surface of the cover plate 124 facing away from the substrate 120 is the exposed supporting surface 1240 of the base 12.

[0071] The driving module 17 includes a driving component 172 and a rotating component 174. The rotating component 174 is rotatably connected to the base 12. The driving component 172 is mounted on the base 12 to drive the rotating component 174. The reflector 14 is fixedly mounted on the rotating component 174 to rotate relative to the base 12 along with the rotating component 174.

[0072] Optionally, in Figure 3 and Figure 4In the illustrated embodiment, the rotating component 174 includes a turntable 1742 and a rotating bearing 1744. The turntable 1742 is rotatably connected to the base plate 120 via the rotating bearing 1744. The driving component 172 includes a drive motor 1722, a pulley 1724, and a transmission belt 1726. The drive motor 1722, the pulley 1724, and the transmission belt 1726 can all be disposed within the receiving groove 126 of the base 12. The pulley 1724 is mounted on the output shaft of the drive motor 1722, and the pulley 1724 drives the turntable 1742 to rotate via the transmission belt 1726. The reflector 14 is fixedly mounted on the surface of the turntable 1742 and can rotate along with the turntable 1742 about a rotation axis 140. It should be understood that the rotation axis 140 can be a physical axis or a virtual axis about which the reflector 14 rotates, and this is not limited in this application. The cover plate 124 is provided with a rotation hole 1242, which seals the receiving groove 126. The surface of the turntable 1742 and the reflector 14 mounted thereon are exposed through the rotation hole 1242. The surface of the turntable 1742 and the supporting surface 1240 of the cover plate 124 are arranged substantially parallel to each other. The rotation axis 140 is arranged perpendicular to the surface of the turntable 1742 and, in turn, is also perpendicular to the supporting surface 1240 of the cover plate 124.

[0073] See Figure 5 The rotating bearing 1744 includes an inner ring 1745 and an outer ring 1746 that are rotatably connected to each other. Optionally, the inner ring 1745 can be fixedly mounted on the base plate 120 of the pedestal 12, and the outer ring 1746 can be fixedly connected to the bottom of the rotating disk 1742. The outer ring 1746 can be rotatably mounted on the inner ring 1745 to achieve a rotational connection between the rotating disk 1742 and the pedestal 12. Alternatively, in other examples, the outer ring can be fixedly mounted on the base plate 120 of the pedestal 12, and the inner ring can be fixedly connected to the bottom of the rotating disk 1742 via a connector. The inner ring can be rotatably embedded in the hollow interior of the outer ring to achieve a rotational connection between the rotating disk 1742 and the pedestal 12.

[0074] Alternatively, as Figure 6 As shown, in some other embodiments, the rotating component 174 includes a rotating shaft 1741 and a shaft sleeve 1743. The reflector 14 is fixed to the rotating shaft 1741, and the rotating shaft 1741 is rotatably connected to the base 12 via the shaft sleeve 1743. The driving component 172 includes a driving motor disposed within the base 12. The output shaft of the driving motor is connected to the rotating shaft 1741 to drive the reflector 14 to rotate via the rotating shaft 1741. Optionally, the rotating shaft 1741 may pass through the reflector 14 along the axis of symmetry of the reflector 14. In this case, the rotation axis 140 of the reflector 14 is the physical rotating shaft 1741.

[0075] See also Figure 2 、 Figure 4 、 Figures 7 to 9 The reflector 14 includes a first reflective surface 141 and a second reflective surface 142 disposed in opposite directions to each other. The sensing light beam emitted by the transceiver module 16 is reflected by the first reflective surface 141 or the second reflective surface 142 to the field of view of the rotating mirror laser radar 10. The light signal from the field of view is reflected by the first reflective surface 141 or the second reflective surface 142 to the transceiver module 16. The driving module 17 rotates the reflector 14 to direct the first reflective surface 141 and the second reflective surface 142 toward the transceiver module 16 at different time periods, so that the transceiver module 16 alternately senses the three-dimensional information of the field of view through the first reflective surface 141 and the second reflective surface 142. The transceiver module 16 can be fixedly mounted on the supporting surface 1240 of the base 12 to transmit the sensing light beam toward the reflector 14 and receive the light signal reflected back by the reflector 14.

[0076] Optionally, in Figures 7 to 9 In the illustrated embodiment, the first reflective surface 141 and the second reflective surface 142 are both planar and perpendicular to the supporting surface 1240. The first reflective surface 141 and the second reflective surface 142 are arranged parallel to each other. For example, the reflective element 14 is a thin flat rectangular parallelepiped, and the first reflective surface 141 and the second reflective surface 142 are respectively a pair of parallel rectangular planes facing each other along the thickness direction of the flat rectangular parallelepiped. It is understood that the reflective element 14 can be formed by bonding a pair of plane mirrors facing each other, or by forming reflective planes on a pair of facing outer surfaces of a flat plate. This application does not impose specific limitations on this.

[0077] Alternatively, in other embodiments, the first and / or second reflective surfaces may be arranged obliquely relative to the support surface 1240; or the first and / or second reflective surfaces 141 and / or 142 may be non-planar, such as cylindrical, spherical, or aspherical surfaces. It should be understood that any reflective element 14 structure capable of scanning and sensing different positions in the field of view space alternately through different reflective surfaces during rotation falls within the scope of protection of the inventive concept of this application.

[0078] See also Figure 7-Figure 8The field of view that can be scanned by the reflection energy of the reflector 14 includes a first field of view and a second field of view. The reflector 14 rotates around the rotation axis 140 on the base 12. The first reflecting surface 141 and the second reflecting surface 142 are respectively arranged on opposite sides of the rotation axis 140. The corresponding first field of view and the second field of view are separated from each other and symmetrically distributed about the rotation axis 140. That is, the first field of view and the second field of view are not connected and are distributed non-continuously. The first field of view and the second field of view are separated by a first blind zone and a second blind zone on opposite sides respectively. The first field of view, the first blind zone, the second field of view and the second blind zone can be arranged in sequence around the rotation axis 140 of the reflector 14. In the above-mentioned illustrated embodiment, the rotation axis 140 can also be one of the symmetry axes of the reflector 14. It should be understood that in some other embodiments, the rotation axis 140 may not be the symmetry axis of the reflector 14.

[0079] The first field of view can be defined as the three-dimensional spatial range that can be scanned by the sensing light beam emitted by the transceiver module 16 after being reflected by the first reflective surface 141 during the rotation of the reflector 14. Since the transceiver module 16 is arranged on the bearing surface 1240, the transmitting component 160 and the receiving component 164 are arranged in a superimposed manner along a first direction perpendicular to the bearing surface 1240. The angular variation range of the first field of view along the first direction depends on the divergence angle of the sensing light beam emitted by the transmitting component 160 and the field of view angle of the receiving component 164. The transceiver module 16 emits the sensing light beam along a second direction parallel to the bearing surface 1240. The angular variation range of the first field of view along the second direction is the deflection range of the angle of the sensing light beam after being reflected by the first reflective surface 141 as the reflector 14 rotates, which is related to the structural dimensions of the reflector 14 and the transceiver module 16 and the rotation angle of the reflector 14. The angular variation range of the first field of view space along the second direction can be intuitively displayed by projecting the first field of view space onto the first plane parallel to the carrying surface 1240. The boundary angle of the projection of the first field of view space onto the first plane includes the far boundary angle θ at which the sensing light beam deviates the farthest from the transceiver module 16 after being reflected by the first reflective surface 141. far The angle θ at which the sensing light beam deviates from the nearest near-side boundary of the transceiver module 16 after being reflected by the first reflective surface 141 is near It should be understood that, in the normal working state set for the rotating mirror laser radar 10, the first direction is the vertical direction, the second direction is the horizontal direction, and the first plane is the horizontal plane.

[0080] Figure 8 and Figure 9 Schematic diagram of the boundary angle of the first field of view of the rotating mirror radar 10 projected on the horizontal plane. Figure 8 and Figure 9 In the illustrated embodiment, the first reflecting surface 141 and the second reflecting surface 142 of the reflecting element 14 are both planes. The reflecting element 14 is symmetrically distributed about its own rotation axis 140. The rotation axis 140 is arranged perpendicular to the supporting surface 1240 of the base 12. The transceiver module 16 emits a sensing light beam aligned with the rotation axis 140 of the reflecting element 14 along a second direction parallel to the supporting surface 1240. The point where the rotation axis 140 of the reflecting element 14 and the supporting surface 1240 of the base 12 intersect perpendicularly is taken as the origin, the vertically upward direction along the rotation axis 140 away from the supporting surface 1240 is taken as the positive direction of the Z axis, the direction in which the sensing light beam is emitted by the transceiver module 16 is taken as the positive direction of the X axis, and the direction from the origin to the outside of the rotating mirror laser radar 10 is taken as the positive direction of the Y axis. A rectangular coordinate system is established as a reference, and the far boundary angle θ far It can be defined as the angle formed between the direction in which the sensing light beam emitted by the transceiver module 16 deviates farthest from the transceiver module 16 after being reflected by the reflector 14 and the positive direction of the X-axis. At this time, the edge light of the sensing light beam emitted by the transceiver module 16 is reflected by the edge of the first reflective surface 141 closest to the transceiver module 16, and the reflector 14 rotates to the critical position where it can fully reflect the sensing light beam. far =2×(θ1+θ2), in, is the cross-sectional width of the sensing beam emitted by the transceiver module 16, R is the radius of the reflector 14 rotating around the rotation axis 140, H is the distance between the first reflective surface 141 and the second reflective surface 142, θ1 is the angle between a vertical line and the central axis of the sensing beam, the vertical line being the vertical line between the edge of the reflector 14 closest to the transceiver module 16 and the rotation axis 140, and θ2 is the angle between the vertical line and the first reflective surface 141. The near-side boundary angle θ near It can be defined as the angle formed between the direction in which the sensing light beam emitted by the transceiver module 16 deviates from the nearest direction of the transceiver module 16 after being reflected by the reflector 14 and the positive direction of the X-axis. At this time, the edge light of the sensing light beam emitted by the transceiver module 16 after being reflected by the reflector 14 can just pass through the edge of the transceiver module 16, and the reflector 14 rotates to the critical position where the reflected sensing light beam can just be fully transmitted to the rear of the transceiver module 16. near =180°-θ3-θ4, in, is the cross-sectional width of the sensing light beam emitted by the transceiver module 16, R is the radius of the reflector 14 rotating around the rotation axis 140, H is the distance between the first reflecting surface 141 and the second reflecting surface 142, L is the distance between the transceiver module 16 and the center of the rotation axis 140, θ3 is the angle between a vertical line and the central axis of the sensing light beam reflected by the reflector 14, the vertical line is a vertical line between the edge of the transceiver module 16 that the sensing light beam reflected by the transceiver module 16 just passes through and the intersection point of the central axis of the sensing light beam when it is emitted from the transceiver module 16 on the reflecting surface, and θ4 is the angle between the vertical line and the central axis of the sensing light beam when it is emitted from the transceiver module 16.

[0081] The second field of view can be defined as the three-dimensional space range that can be scanned by the sensing light beam emitted by the transceiver module 16 and reflected by the second reflective surface 142 during the rotation of the reflector 14. Since the second field of view is symmetrical with the first field of view about the rotation axis 140 of the reflector 14, the distal boundary angle θ of the second field of view projected on the first plane parallel to the supporting surface 1240 is far and the proximal boundary angle θ near It can also be calculated in the above way. Figure 7 As shown, the far side boundary angle θ of the first field of view space is far Angle θ with the far side boundary of the second field of view space far The range between can be defined as the first blind zone, and the near side boundary angle θ of the first field of view space is near Angle θ with the near side boundary of the second field of view space near The range between can be defined as the second blind zone. If the reflector 14 rotates to the direction in which the first reflective surface 141 and the second reflective surface 142 are parallel to the direction in which the sensing light beam is emitted by the transceiver module 16 as the starting position, during the process of the reflector 14 rotating one circle from the starting position, the sensing light beam is reflected by the first reflective surface 141 and the second reflective surface 142 of the reflector 14 respectively to complete two rounds of scanning of the first field of view space and the second field of view space. Therefore, the rotating mirror laser radar 10 of the present application, by setting the first reflective surface 141 and the second reflective surface 142 opposite to each other of the reflector 14, only needs to be matched with a transceiver module 16 to realize two rounds of scanning of the first field of view space and the second field of view space during the process of the reflector 14 rotating one circle, which is conducive to reducing component costs and can also increase the scanning frequency of the field of view space.

[0082] It should be understood that, for an embodiment in which the transceiver module 16 is provided only on one side of the reflector 14 , the first blind zone is farther from the transceiver module 16 and may also be referred to as a far-side blind zone, and the second blind zone is closer to the transceiver module 16 and may also be referred to as a near-side blind zone.

[0083] It should be understood that the angle range covered by the first field of view space and the second field of view space along the first direction perpendicular to the bearing surface 1240 is related to the divergence angle of the sensing light beam emitted by the emitting component 160 and the field of view angle of the receiving component 164, and has nothing to do with the angle at which the sensing light beam is deflected in the first field of view space and the second field of view space after being reflected by the reflector 14.

[0084] It should be understood that the first reflective surface 141 and the second reflective surface 142 are both continuous and complete surfaces, and the sensing light beam emitted and the received light signal by the transceiver module 16 are reflected at corresponding positions on the first reflective surface 141 and the second reflective surface 142 respectively.

[0085] It should be understood that the transmitting component 160 and the receiving component 164 of the transceiver module 16 are arranged in a stacked manner along a first direction perpendicular to the carrying surface 1240, and the setting order of the transmitting component 160 and the receiving component 164 of the same transceiver module 16 along the first direction can be interchanged, that is, the transmitting component 160 can be on the top and the receiving component 164 can be on the bottom, or the receiving component 164 can be on the top and the transmitting component 160 can be on the bottom. This application does not make specific provisions for this.

[0086] Optionally, in Figure 10 and Figure 11 In the illustrated embodiment, the transceiver module 16 further includes a module frame 1671 and a module base plate 1672. A transmitting optical channel 169 and a receiving optical channel 166, which are isolated from each other, are provided inside the module frame 1671, corresponding to the transmitting component 160 and the receiving component 164, respectively. The module base plate 1672, which may be, for example, a circuit board, is mounted on one end of the module frame 1671 to seal the openings of the transmitting optical channel 169 and the receiving optical channel 166, respectively, formed at the end of the module frame 1671. A transmitting through hole 163 and a receiving through hole 165 are provided at the other end of the module frame 1671, which is opposite to the module base plate 1672, corresponding to the transmitting optical channel 169 and the receiving optical channel 166, respectively.

[0087] The transmitting assembly 160 includes a transmitting lens 1620 and a light source 1622. The light source 1622 is disposed on the module base plate 1672 at a position corresponding to the transmitting light channel 169. The transmitting lens 1620 is correspondingly disposed within the transmitting through hole 163. The light beam emitted by the light source 1622 is emitted outward through the transmitting lens 1620 to serve as the sensing light beam emitted by the transmitting assembly 160. It should be understood that the transmitting lens 1620 can be a single lens or a lens combination including multiple lenses.

[0088] The light source 1622 includes one or more light-emitting units 1623, and the light-emitting unit 1623 is configured to emit a light beam. The light-emitting unit 1623 can be a light-emitting device in the form of a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, referred to as VCSEL, which can also be translated as a vertical resonant cavity surface emitting laser), an edge emitting laser (Edge Emitting Laser, EEL), a light-emitting diode (Light Emitting Diode, LED), a laser diode (Laser Diode, LD), a fiber laser, etc. Among them, the edge emitting laser can be a Fabry Perot (FP) laser, a distributed feedback (DFB) laser, an electro-absorption modulated laser (Electro-absorption Modulated, EML), etc., and the embodiments of the present application are not limited to this.

[0089] The receiving component 164 includes a receiving lens 1640 and a photoelectric sensing chip 1642. The photoelectric sensing chip 1642 is arranged at a position corresponding to the receiving light channel 166 on the module base plate 1672, and is configured to sense the light signal transmitted from the field of view space through the receiving optical device 144 and output a corresponding light sensing signal. Optionally, the photoelectric sensing chip 1642 may include a single sensing pixel 1643 or include multiple sensing pixels 1643 to form a pixel array. The receiving lens 1640 is correspondingly arranged in the receiving through hole 165. Optionally, the receiving lens 1640 can be a lens or a lens group including multiple lenses. The field of view space can be divided into multiple field of view partitions according to the reflection angle of the reflector 14. The light signal from the corresponding field of view partition is reflected by the reflector 14 and transmitted to the corresponding sensing pixel by the receiving lens 1640 for sensing. The optical signal from the field of view partition includes photons from the ambient light in the field of view partition and, when an object 2 is present in the field of view partition, also includes a sensing beam echo formed by the sensing light beam emitted to the field of view partition and reflected back by the object 2. The processing module 166 processes and analyzes the optical sensing signal output by the sensing pixel 1643 to obtain three-dimensional information of the object 2 in the corresponding field of view partition. Optionally, in some embodiments, an optical film layer 1644 may be further provided on the light incident side of the photosensitive pixel 1643.

[0090] Optionally, one of the photosensitive pixels 1643 may include a single or multiple photoelectric conversion devices. The photoelectric conversion device is configured to sense the received light signal and convert it into a corresponding electrical signal as the light sensing signal output. Optionally, the photoelectric conversion device is, for example, a single photon avalanche diode (SPAD), an avalanche photon diode (APD), a silicon photomultiplier (SiPM) arranged in parallel with multiple SPADs, and / or other suitable photoelectric conversion elements.

[0091] Optionally, in some embodiments, the receiving component 164 may also include a peripheral circuit (not shown) composed of one or more devices such as a signal amplifier and an analog-to-digital converter (ADC), and the peripheral circuit may be partially or fully integrated in the photoelectric sensing chip 1642.

[0092] Optionally, in Figure 10 and Figure 11 In the illustrated embodiment, the diameter of the receiving lens 1640 is greater than the diameter of the transmitting lens 1620, and the focal length of the receiving lens 1640 is greater than the focal length of the transmitting lens 1620. Correspondingly, the distance between the receiving lens 1640 and the module base plate 1672 is greater than the distance between the transmitting lens 1620 and the module base plate 1672, so that the module frame 1671 forms a stepped shape with a height difference at the other end opposite the module base plate 1672. It should be understood that the larger size and longer focal length of the receiving lens 1640 can accommodate a light sensing chip with a larger sensing area, which is beneficial for receiving light signals and can improve the signal-to-noise ratio of the rotating mirror lidar 10.

[0093] Optionally, in Figure 3 、 Figure 4 and Figure 6 In some of the illustrated embodiments, the rotating mirror lidar 10 includes a single transceiver module 16, which can be disposed on the supporting surface 1240 of the base 12. The transmitting optical axis and the receiving optical axis of the transceiver module 16 are both disposed parallel to the supporting surface 1240 and directed toward the rotation axis 140 of the reflector 14. In this case, the angular range covered by the field of view of the entire rotating mirror lidar 10 along a first direction perpendicular to the supporting surface 1240 depends on the angular range covered by the combined field of view of the single transceiver module 16 along the first direction. The combined field of view of the transceiver module 16 can be understood as the portion where the transmitting field of view of the transmitting component 160 transmitting the sensing light beam overlaps with the receiving field of view of the receiving component 164 receiving the optical signal.

[0094] Optionally, in some other embodiments, the rotating mirror laser radar 10 may also include multiple transceiver modules 16 disposed on the supporting surface 1240. The multiple transceiver modules 16 may be arranged one by one in sequence along a first direction perpendicular to the supporting surface 1240, and the multiple transceiver modules 16 have the same projection position on the supporting surface 1240. In this case, the angular range covered by the field of view of the entire rotating mirror laser radar 10 along the first direction may be the superposition of the combined field of view angles of the multiple transceiver modules 16 along the first direction. Thus, by disposing multiple transceiver modules 16 along the vertical first direction, the angular range covered by the field of view of the rotating mirror laser radar 10 along the first direction can be increased.

[0095] Specifically, in Figure 5 As shown, multiple transceiver modules 16 can be set at the same position around the reflector 14, that is, multiple transceiver modules 16 have the same projected position on the plane where the supporting surface 1240 of the base 12 is located. The transmitting optical axis and the receiving optical axis of the same transceiver module 16 are parallel to each other and are close to each other, so the transmitting optical axis and the receiving optical axis of the same transceiver module 16 can be approximated as the corresponding receiving and transmitting optical axis of the transceiver module 16. Optionally, in the Figure 5 In the illustrated embodiment, the transceiver modules 16 may each have a light-receiving and light-emitting axis parallel to the support surface 1240 of the base 12. Alternatively, in other embodiments, the light-receiving and light-emitting axes of some of the transceiver modules 16 may be tilted relative to those of other transceiver modules 16.

[0096] The plurality of transceiver modules 16 in the above embodiment are all arranged at the same position around the reflector 14 and can be regarded as a group of transceiver modules 16. For example, the plurality of transceiver modules 16 can be stacked in sequence on the supporting surface 1240 of the base 12 along a first direction perpendicular to the supporting surface 1240; or, the rotating mirror laser radar 10 can further include a bracket 15 (see Figure 13 ), multiple transceiver modules 16 are respectively arranged on the bracket 15, and the bracket 15 is fixedly set on the bearing surface 1240 of the base 12. The transceiver module 16 is fixed by the bracket 15, which makes it easy to set the inclination angle of the transceiver module 16 relative to the bearing surface 1240.

[0097] Optionally, in some embodiments, the rotating mirror laser radar 10 includes at least two transceiver modules 16, which can be divided into at least two groups, each group including at least one transceiver module 16. The transceiver modules 16 belonging to the same group of the at least two groups of transceiver modules 16 are located at the same position around the reflector 14, while the transceiver modules 16 of different groups are respectively arranged at different positions around the reflector 14. That is, one or more transceiver modules 16 of the same group have the same projection position on the plane where the supporting surface 1240 of the base 12 is located, while the projections of the transceiver modules 16 of different groups on the plane where the supporting surface 1240 of the base 12 is located are respectively located at different positions. It should be understood that the rotating mirror laser radar 10 can form different corresponding fields of view by arranging multiple groups of transceiver modules 16 at different positions around the reflector 14, and the range covered by the overall field of view of the rotating mirror laser radar 10 can be increased by superimposing them.

[0098] Specifically, in Figure 12 and Figure 13In some of the illustrated embodiments, the multiple transceiver modules 16 included in the rotating mirror lidar 10 are divided into two groups, which can be respectively labeled as a first group of transceiver modules 161 and a second group of transceiver modules 162. The positions of the two groups of transceiver modules 161 and 162 around the reflector 14 are symmetrically distributed about the rotation axis 140 of the reflector 14, and the transceiver light axes of the two groups of transceiver modules 161 and 162 are both directed toward the rotation axis 140. It should be understood that the field of view formed by each group of transceiver modules 16 through the reflector 14 is the collection of the fields of view formed by each transceiver module 16 in the group through the reflector 14. The first group of transceiver modules 161 forms a first field of view and a second field of view through the reflector 14, and the second group of transceiver modules 162 forms a third field of view and a fourth field of view through the reflector 14. Since the two groups of transceiver modules 161 and 162 are symmetrically distributed about the rotation axis 140 of the reflector 14, according to the above analysis related to the field of view space, the projection area of the first field of view space on the plane where the supporting surface 1240 of the base 12 is located coincides with the projection area of the third field of view space on the plane where the supporting surface 1240 of the base 12 is located, and the projection area of the second field of view space on the plane where the supporting surface 1240 of the base 12 is located coincides with the projection area of the fourth field of view space on the plane where the supporting surface 1240 of the base 12 is located. Together, the angular ranges covered by the first and second viewing spaces along a first direction perpendicular to the supporting surface 1240 of the base 12 are related to the tilt angle of the light-receiving and light-emitting axis of each transceiver module 16 in the first group of transceiver modules 161 relative to the supporting surface 1240. The angular ranges covered by the third and fourth viewing spaces along the first direction perpendicular to the supporting surface 1240 of the base 12 are related to the tilt angle of the light-receiving and light-emitting axis of each transceiver module 16 in the second group of transceiver modules 162 relative to the supporting surface 1240. Thus, the first and second groups of transceiver modules 161, 162, can jointly form two mutually isolated viewing spaces symmetrically distributed about the rotation axis 140 of the reflector 14, via the reflector 14. It should be understood that the rotating mirror laser radar 10 in the present application adopts multiple groups of transceiver modules 16 symmetrically distributed about the rotation axis 140 of the reflector 14. Different groups of transceiver modules 16 can simultaneously use the first reflective surface 141 and the second reflective surface 142 of the reflector 14 to sense different field of view spaces respectively, which can improve the frame rate of the rotating mirror laser radar 10 for sensing the field of view space.

[0099] Optionally, in some embodiments, each group of transceiver modules 16 includes multiple transceiver modules 16. The multiple transceiver modules 16 in the same group have the same projected position on the plane where the supporting surface 1240 is located and are arranged sequentially along a first direction perpendicular to the supporting surface 1240 of the base 12. The transmitting and receiving light axes of the multiple transceiver modules 16 in the same group have different upward inclination angles relative to the supporting surface 1240 of the base 12, and the inclination angles corresponding to different transceiver modules 16 vary in equal steps. For example, the upward tilt angles corresponding to the multiple transceiver modules 16 in the same group decrease arithmetic progression at a preset first tilt angle interval in the order in which the transceiver modules 16 are arranged vertically upward from the support surface 1240. That is, the higher the transceiver module 16 is vertically upward along the first direction, the smaller the upward tilt angle of its transceiver light axis relative to the support surface 1240 of the base 12. Moreover, the upward tilt angles of the transceiver light axes corresponding to two adjacent transceiver modules 16 in the arrangement sequence relative to the support surface 1240 of the base 12 are separated by the same first tilt angle interval. Among the multiple groups of transceiver modules 16 arranged in sequence perpendicular to the support surface 1240, the upward tilt angles of the transceiver light axes corresponding to two transceiver modules 16 with the same order but belonging to different groups are separated by a preset second tilt angle interval relative to the support surface 1240 of the base 12, and the second tilt angle interval is smaller than the first tilt angle interval. It should be understood that by disposing multiple transceiver modules 16 along the vertical first direction, with the inclination angles of the light-receiving and light-receiving axes sequentially varying, the rotating mirror laser radar 10 can utilize the principle of mirror reflection to detect multiple field-of-view sub-areas arranged along the first direction corresponding to the multiple sequentially varying inclination angles, thereby expanding the field-of-view angle range that the entire rotating mirror laser radar 10 can detect along the first direction. It should be understood that the inventive concepts related to the inclination angle arrangement of the multiple transceiver modules 16 described in this embodiment can be applied to reflectors with different reflective surface shapes, such as a single-sided rotating mirror with only one reflective surface, a multi-sided rotating mirror with multiple reflective surfaces, etc.

[0100] Optionally, in some embodiments, the receiving and transmitting light axes corresponding to the multiple transceiver modules 16 of the rotating mirror laser radar 10 can all point to the same position on the reflector 14, that is, the multiple transceiver modules 16 transmit sensing light beams to the field of view space through the same reflection position on the first reflective surface 141 and / or the second reflective surface 142, and receive light signals from the field of view space through the same reflection position on the first reflective surface 141 and / or the second reflective surface 142. Therefore, combined with the arrangement in which the inclination angles of the receiving and transmitting light axes corresponding to the multiple transceiver modules 16 decrease in the order in which the respective transceiver modules 16 are arranged upward along the first direction, only a small reflection area is required to enable the multiple transceiver modules 16 to respectively detect multiple field of view partitions with different inclination angles, thereby reducing the size of the reflector 14 and facilitating the miniaturization of the rotating mirror laser radar 10. It should be understood that the invention ideas related to the setting of the reflection positions of multiple transceiver modules 16 on the reflective element recorded in this paragraph of the embodiment can be applied to reflective elements with different reflective surface shapes, such as: a single-sided rotating mirror with only one reflective surface, a multi-sided rotating mirror with multiple reflective surfaces, etc.

[0101] Specifically, in Figure 13In the embodiment shown, the rotating mirror laser radar 10 includes a first group of transceiver modules 161 and a second group of transceiver modules 162. The positions of the first group of transceiver modules 161 and the second group of transceiver modules 162 arranged around the reflector 14 are symmetrically distributed about the rotation axis 140 of the reflector 14, that is, the projection positions of the multiple transceiver modules 1611-1614 of the first group of transceiver modules 161 on the plane where the bearing surface 1240 of the base 12 is located and the projection positions of the multiple transceiver modules 1625-1628 of the second group of transceiver modules 162 on the plane where the bearing surface 1240 of the base 12 is located are relative to the reflector 14. The first group of transceiver modules 161 includes four transceiver modules 16, which are labeled as a first transceiver module 1611, a second transceiver module 1612, a third transceiver module 1613, and a fourth transceiver module 1614, arranged from top to bottom along a first direction perpendicular to the support surface 1240 of the base 12. The transceiver optical axes of the first transceiver modules 16 are parallel to the plane of the support surface 1240 of the base 12. That is, the transceiver optical axes of the first transceiver modules 1611 are tilted at zero angle relative to the support surface 1240 of the substrate 120, enabling detection of a field of view segment tilted between -2 degrees and 2 degrees relative to the support surface 1240 of the base 12. The second transceiver module 1612 has a light-receiving and light-emitting axis tilted upward at an angle of 8 degrees relative to the supporting surface 1240 of the base 12. The reflector 14 can detect field-of-view sub-areas tilted upward at a range of 6 to 10 degrees relative to the supporting surface 1240 of the base 12. The third transceiver module 1613 has a light-receiving and light-emitting axis tilted upward at a range of 16 degrees relative to the supporting surface 1240 of the base 12. The reflector 14 can detect field-of-view sub-areas tilted upward at a range of 14 to 18 degrees relative to the supporting surface 1240 of the base 12. The fourth transceiver module 1614 has a light-receiving and light-emitting axis tilted upward at a range of 24 degrees relative to the supporting surface 1240 of the base 12. The reflector 14 can detect field-of-view sub-areas tilted upward at a range of 22 to 26 degrees relative to the supporting surface 1240. As can be seen, the corresponding transceiver light axes of two adjacent transceiver modules 16 in the first group of transceiver modules 161 each have the same first tilt angle interval of 8 degrees relative to the support surface 1240 of the base 12. The second group of transceiver modules 162 includes four transceiver modules 16, which, arranged from top to bottom along a first direction perpendicular to the support surface 1240 of the base 12, can be labeled as the fifth transceiver module 1625, the sixth transceiver module 1626, the seventh transceiver module 1627, and the eighth transceiver module 1628. The transceiver light axis of the fifth transceiver module 1625 is tilted upward at an angle of 4 degrees relative to the support surface 1240 of the base 12. The reflector 14 can detect field of view segments tilted upward at angles of 2 to 6 degrees relative to the support surface 1240 of the base 12.The sixth transceiver module 1626 has a light-receiving and light-receiving axis tilted upward at an angle of 12 degrees relative to the supporting surface 1240 of the base 12. The reflector 14 can detect field-of-view sub-areas tilted upward by 10 to 14 degrees relative to the supporting surface 1240 of the base 12. The seventh transceiver module 1627 has a light-receiving and light-receiving axis tilted upward at an angle of 20 degrees relative to the supporting surface 1240 of the base 12. The reflector 14 can detect field-of-view sub-areas tilted upward by 18 to 22 degrees relative to the supporting surface 1240 of the base 12. The eighth transceiver module 1628 has a light-receiving and light-receiving axis tilted upward at an angle of 28 degrees relative to the supporting surface 1240 of the base 12. The reflector 14 can detect field-of-view sub-areas tilted upward by 26 to 30 degrees relative to the supporting surface 1240 of the base 12. Thus, it can be seen that the corresponding transceiver light axes of two adjacent transceiver modules 16 in the second transceiver module group 1628 each have the same first tilt angle interval of 8 degrees relative to the support surface 1240 of the base 12. For two transceiver modules 16 in the same order within the first transceiver module group 161 and the second transceiver module group 162, for example, the first transceiver module 1611 and the fifth transceiver module 1625, the second transceiver module 1612 and the sixth transceiver module 1626, the third transceiver module 1613 and the seventh transceiver module 1627, and the fourth transceiver module 1614 and the eighth transceiver module 1628, each have a predetermined second tilt angle interval of 4 degrees relative to the upward tilt angle of the support surface 1240 of the base 12. Thus, the four transceiver modules 16 of the first group of transceiver modules 161 and the four transceiver modules 16 of the second group of transceiver modules 162 can cover eight different angled field of view partitions, sequentially spliced, within a range of -2 to 30 degrees along a first direction perpendicular to the supporting surface 1240 of the base 12, through the first field of view space and the second field of view space formed by the reflector 14. Each field of view partition is detected by a corresponding transceiver module 16, and the angle range covered by each field of view partition is the second tilt angle interval of 4 degrees. The light receiving and transmitting axes of the total eight transceiver modules 16 of the first group of transceiver modules 161 and the second group of transceiver modules 162 can all point to the same position on the reflector 14, that is, these eight transceiver modules 16 can transmit sensing light beams and receive light signals by reflection from approximately the same position on the first reflective surface 141 and the second reflective surface 142. In this case, the height of the reflector 14 only needs to be slightly higher than the first transceiver module 16 arranged at the top, whose corresponding light-receiving and light-emitting axis is parallel to the supporting surface 1240 of the base 12. Therefore, the size of the reflector 14 is reduced to a large extent, which is conducive to the miniaturization of the rotating mirror laser radar 10.

[0102] The rotating mirror laser radar 10 may also include a bracket 15, which is provided corresponding to a group of transceiver modules 16 and is used to support and fix multiple transceiver modules 16 in the same group, so that the light-receiving axes of the multiple transceiver modules 16 are directed to the reflector 14 at corresponding tilt angles. The bracket 15 includes a support plate 150 that supports the transceiver module 16 located at the bottom, and a support plate 154 that extends from the end of the support plate 150 along the arrangement direction of the transceiver modules 16. Multiple transceiver modules 16 in the same group are fixed on the support plate 154 at their corresponding tilt angles. Figure 13 In the illustrated embodiment, the rotating mirror lidar 10 includes a first bracket 151 corresponding to a first group of transceiver modules 161 and a second bracket 152 corresponding to a second group of transceiver modules 162. The first bracket 151 and the second bracket 152 extend from opposite sides of the base 12, respectively. The four transceiver modules 16 of the first group of transceiver modules 161 are fixed to the first bracket 151 at preset angles, and the four transceiver modules 16 of the second group of transceiver modules 162 are fixed to the second bracket 152 at preset angles. Optionally, the first bracket 151 and the second bracket 152 may be integral with the base 12, that is, part of the base 12; or the first bracket 151 and the second bracket 152 may be separate components from the base 12 and mounted to the base 12 via fixings.

[0103] Optionally, in Figure 14 In the illustrated embodiment, a group of transceiver modules 16 may also include a transceiver module 16 with a downwardly tilted light-transmitting axis. In this case, the tilt angles of the light-transmitting axes of the multiple transceiver modules 16 in the same group gradually decrease upward to horizontal, and then gradually increase downward, as the transceiver modules 16 are arranged from bottom to top along a first direction perpendicular to the support surface 1240 of the base 12. For transceiver modules 16 with downwardly tilted light-transmitting axes, the reflector 14 can detect the field of view below the horizontal plane, thereby expanding the angular range covered by the rotating mirror lidar 10's field of view along the first direction perpendicular to the support surface 1240 of the base 12.

[0104] In such Figure 13 and Figure 14 In the illustrated embodiment, the first reflective surface 141 and the second reflective surface 142, which are disposed in opposite directions on the reflector 14, are parallel to each other and perpendicular to the supporting surface 1240 of the base 12. In this case, the same transceiver module 16 can perform two inspections on the same tilted field of view partition using the first reflective surface 141 and the second reflective surface 142 during one rotation of the reflector 14, achieving a relatively high inspection frame rate.

[0105] Optionally, in some other embodiments, one of the reflective surfaces on the reflector 14, the first reflective surface 141 or the second reflective surface 142, may also be tilted at a preset angle relative to the other reflective surface, that is, one of the reflective surfaces is still perpendicular to the supporting surface 1240 of the base 12, while the other reflective surface is tilted at a preset angle relative to the supporting surface 1240. For example, in Figure 15 In the embodiment shown, the first reflecting surface 141 is perpendicular to the supporting surface 1240 of the base 12, and the second reflecting surface 142 is inclined 2 degrees relative to the first reflecting surface 141. Correspondingly, the second reflecting surface 142 is inclined 88 degrees compared to the supporting surface 1240. The first group of transceiver modules 161 and the second group of transceiver modules 162 are still symmetrically distributed about the rotation axis 140 of the reflector 14. In this case, the same transceiver module 16 can detect two field of view partitions with different inclination angles respectively through the first reflecting surface 141 and the second reflecting surface 142, and the number of field of view partitions with different inclination angles that the corresponding rotating mirror laser radar 10 can detect can be doubled. However, during the process of the reflector 14 rotating one circle, the same transceiver module 16 can only detect the field of view partition with the corresponding inclination angle once through one reflecting surface, and the detection frame rate will be lower than the case where the two reflecting surfaces are arranged in parallel. It should be understood that in some embodiments, one of the reflective surfaces on the reflective member 14 can also be configured to be a structure that can switch between two states: parallel to the other reflective surface and inclined to the other reflective surface, thereby being able to achieve two viewing fields covering different angle ranges in the vertical direction according to the usage scenario.

[0106] In such Figure 13-15 In the illustrated embodiment, the corresponding receiving and transmitting light axes of the multiple transceiver modules 16 are directed directly toward the reflector 14. That is, the transceiver modules 16 transmit sensing light beams and receive light signals at corresponding tilt angles, and the transmitted sensing light beams and received light signals are directly reflected by the reflector 14. In this case, the multiple transceiver modules 16, in addition to being arranged sequentially along a first direction perpendicular to the supporting surface 1240, must also be tilted according to the tilt angles of their respective receiving and transmitting light axes. Due to the spatial interference between the transceiver modules 16 tilted at different angles, a larger lateral installation space is required as a whole.

[0107] Optionally, in some other embodiments, the rotating mirror laser radar 10 further includes a reflector 168 corresponding to each transceiver module 16, and the light receiving and emitting axes of the multiple transceiver modules 16 can first be bent by the corresponding multiple reflectors 168 and then point to the reflector 14 at a corresponding tilt angle. Thus, the multiple transceiver modules 16 of the same group can be uniformly and closely arranged in parallel with each other in the same direction, and the respective light receiving and emitting axes are first emitted from the corresponding transceiver modules 16 in parallel with each other, and then bent by the corresponding reflectors 168 and point to the reflector 14 at a preset tilt angle. It should be understood that the tilt position of each reflector 168 is set according to the tilt angle at which the corresponding light receiving and emitting axis needs to point to the reflector 14. In this case, the multiple transceiver modules 16 can be regularly and closely arranged, which can reduce the lateral size of the entire rotating mirror laser radar 10. For example, in a case such as Figure 16In the illustrated embodiment, the rotating mirror lidar 10 includes a first group of transceiver modules 161 and a second group of transceiver modules 162. The first group of transceiver modules 161 includes four transceiver modules 16, and the second group of transceiver modules 162 includes four transceiver modules 16. The first group of transceiver modules 161 and the second group of transceiver modules 162 are respectively arranged on opposite sides of the reflector 14 and symmetrically distributed about the rotation axis 140 of the reflector 14. The four transceiver modules 16 in the same group are uniformly arranged upward and parallel to each other. Each transceiver light axis is first emitted from the corresponding transceiver module 16 in a first direction perpendicular to the supporting surface 1240 of the base 12, and then is bent by four corresponding reflectors 168 and directed toward the reflector 14 at a corresponding tilt angle. The rotating mirror laser radar 10 may also include a supporting plate 13, which is arranged corresponding to a group of transceiver modules 16, and is used to support and fix multiple transceiver modules 16 in the same group and multiple reflectors 168 arranged corresponding to the multiple transceiver modules 16, so that the light receiving and transmitting axes of the multiple transceiver modules 16 are bent by the corresponding reflector 14 and point to the reflector 14 at the corresponding inclination angle. Specifically, the rotating mirror laser radar 10 includes a first carrier plate 131 corresponding to the first group of transceiver modules 161 and a second carrier plate 132 corresponding to the second group of transceiver modules 162. The first carrier plate 131 and the second carrier plate 132 are respectively arranged on opposite sides of the reflector 14. The four transceiver modules 16 of the first group of transceiver modules 161 and the corresponding four reflectors 168 are fixedly mounted on the surface of the first carrier plate 131. The four transceiver modules 16 of the second group of transceiver modules 162 and the corresponding four reflectors 168 are fixedly mounted on the surface of the second carrier plate 132. The first carrier plate 131 and the second carrier plate 132 are respectively connected to opposite sides of the base 12. It should be understood that the inventive concept described in this embodiment related to the respective corresponding reflectors 168 of the multiple transceiver modules 16 can be applied to reflectors with different reflective surface shapes, such as a single-sided rotating mirror with only one reflective surface, a multi-sided rotating mirror with multiple reflective surfaces, etc.

[0108] Optionally, in some embodiments, Figure 2 As shown, the rotating mirror laser radar 10 further includes an angle sensor 19 configured to sense the rotation angle of the reflector 14 to determine the corresponding orientation of the field of view sensed by the transceiver module 16 at the rotation angle. The angle sensor 19 can be, for example, a capacitive encoder, a photoelectric encoder, or a magnetic encoder, etc., which is not limited in this application.

[0109] The control module 18 can be configured to control the transceiver module 16 to transmit the sensing light beam at a preset frequency; can also be configured to adjust the preset rotation speed of the reflector 14 according to the detection frame rate to be achieved; can also be configured to adjust the step angle of the rotation of the reflector 14 through the drive module 17 according to the angular resolution required for detection, etc. Thus, the rotating mirror lidar 10 can detect three-dimensional information of the field of view partitions corresponding to the rotation angles of the reflector 14 in the field of view space through the transceiver module 16. As the reflector 14 rotates, three-dimensional information of all field of view partitions corresponding to each rotation angle in the field of view space can be obtained, which can be used to construct a three-dimensional point cloud of the field of view space.

[0110] In some embodiments, all or part of the functional units in the control module 18 and / or the processing module 166 may include firmware solidified in the storage medium 30 or computer software code stored in the storage medium 30, and executed by one or more corresponding processors 40 to control related components to implement corresponding functions. The processor 40 is, for example, but not limited to, an application processor (AP), a central processing unit (CPU), a microcontroller unit (MCU), etc. The storage medium 30 includes, but is not limited to, flash memory, electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), a hard disk, etc.

[0111] In some embodiments, the processor 40 and / or storage medium 30 may be disposed within the rotating mirror lidar 10, for example, integrated on the same circuit board as the beam scanning module 12 or the receiving component 164. Alternatively, in other embodiments, the processor 40 and / or storage medium 30 may be disposed elsewhere within the electronic device 1, for example, on the main circuit board of the electronic device 1.

[0112] In some embodiments, part or all of the functional units of the control module 18 and / or the processing module 166 may also include hardware, for example, implemented by any one of the following technologies or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing logical functions on data signals, a dedicated integrated circuit having a suitable combinational logic gate circuit, a programmable gate array (PGA), a field programmable gate array (FPGA), a driving circuit for a specific object, etc.

[0113] It is understood that the hardware used to implement the functions of the control module 18 and / or the processing module 166 can be set in the rotating mirror laser radar 10. The hardware used to implement the functions of the control module 18 and / or the processing module 166 can also be set in other locations of the electronic device 1, such as: on the main circuit board of the electronic device 1.

[0114] like Figure 17 As shown, in some embodiments, the rotating mirror laser radar 10 is, for example, a laser radar, and the electronic device 1 is, for example, a sweeping robot. The laser radar can be installed on the top of the sweeping robot to detect three-dimensional information in the field of view around the sweeping robot and realize navigation of the sweeping robot accordingly.

[0115] Compared with the laser radar that uses a rotating 45-degree tilt mirror and a transceiver module 16 fixedly set under the reflector to achieve sensing, the laser radar provided in the present application uses a double-sided reflector 14 and a transceiver module 16 set side by side. The detection frame rate can be improved through the double reflecting surface, and the angle range covered by the field of view of the rotating mirror laser radar 10 in the vertical direction can be significantly expanded by setting multiple groups of transceiver modules 16 with different tilt angles.

[0116] It should be noted that the technical solution to be protected by this application may satisfy only one of the above embodiments or multiple embodiments at the same time. That is to say, the embodiment composed of one or more of the above embodiments also falls within the scope of protection of this application.

[0117] Throughout this specification, reference to terms such as "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0118] It should be understood that the various parts of the embodiments of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above-mentioned embodiments, multiple functional units can be implemented using software or firmware stored in a storage medium and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0119] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A rotating mirror laser radar configured to sense three-dimensional information of objects within a preset field of view based on the time-of-flight principle, characterized in that: include: A base including a bearing surface; a reflector, comprising a first reflective surface and a second reflective surface disposed opposite to each other, the reflector being rotatably disposed on the base about a rotation axis, the rotation axis being perpendicular to the supporting surface, the first reflective surface and the second reflective surface being disposed on opposite sides of the rotation axis; At least two transceiver modules, the at least two transceiver modules being divided into two groups, each group including at least one transceiver module, the two groups of transceiver modules being symmetrically arranged about the rotation axis of the reflector to transmit sensing light beams into the field of view through the reflector from different angles and receive light signals from the field of view, thereby performing three-dimensional information sensing of objects in the field of view; and The driving assembly is configured to rotate the reflective element to direct the first reflective surface and the second reflective surface toward the same transceiver module at different time periods, so that the transceiver module alternately senses three-dimensional information of the field of view space through the first reflective surface and the second reflective surface; wherein the two groups of transceiver modules form two mutually separated field of view spaces symmetrically distributed about the rotation axis of the reflective element through the reflective element.

2. The rotating mirror laser radar according to claim 1, characterized in that: The first reflecting surface and the second reflecting surface are both continuous and complete surfaces.

3. The rotating mirror laser radar according to claim 1, characterized in that: The first reflecting surface and the second reflecting surface are both planes and perpendicular to the carrying surface, and the first reflecting surface and the second reflecting surface are arranged parallel to each other.

4. The rotating mirror laser radar according to claim 1, characterized in that: The first reflecting surface and the second reflecting surface are both planes, one of the first reflecting surface and the second reflecting surface is perpendicular to the supporting surface, and the other is inclined at a preset angle relative to the supporting surface.

5. The rotating mirror laser radar according to claim 1, characterized in that: Each group includes multiple transceiver modules, and the multiple transceiver modules respectively transmit sensing light signals to the field of view space and receive light signals from the field of view space through the reflector at different inclination angles compared to the supporting surface; wherein the inclination angles corresponding to different transceiver modules vary arbitrarily.

6. The rotating mirror laser radar according to claim 5, characterized in that: The inclination angles of the multiple transceiver modules in the same group gradually decrease in the order in which the transceiver modules are arranged from bottom to top in a direction perpendicular to the carrying surface.

7. The rotating mirror laser radar according to claim 6, characterized in that: The transceiver modules arranged from bottom to top along a direction perpendicular to the carrying surface first gradually decrease in inclination angle relative to the carrying surface to zero, and then gradually increase in inclination angle relative to the carrying surface to a downward angle.

8. The rotating mirror laser radar according to claim 5, characterized in that: The transceiver module directly transmits a sensing light beam to the field of view space and receives a light signal from the field of view space through reflection of the reflector. The multiple transceiver modules respectively transmit a sensing light beam and receive a light signal from the field of view space at their respective corresponding tilt angles.

9. The rotating mirror laser radar according to claim 5, characterized in that: It also includes multiple reflectors, which are respectively arranged corresponding to the multiple transceiver modules. The multiple transceiver modules are respectively reflected by the corresponding reflectors and transmit sensing light beams to the field of view space and receive light signals from the field of view space through the reflective components at their respective inclination angles.

10. The rotating mirror laser radar according to claim 1, characterized in that: Different transceiver modules transmit sensing light beams to the field of view space through the same reflection position on the first reflection surface and / or the second reflection surface, and different transceiver modules receive light signals from the field of view space through the same reflection position on the first reflection surface and / or the second reflection surface.

11. The rotating mirror laser radar according to claim 7, characterized in that: The multiple transceiver modules transmit sensing light signals to the field of view space and receive light signals from the field of view space through the reflector at an angle upwardly inclined relative to the carrying surface, an angle parallel to the carrying surface and / or an angle downwardly inclined relative to the carrying surface.

12. An electronic device, characterized in that: The electronic device comprises a rotating mirror laser radar as described in any one of claims 1 to 11, and further comprises an application module, wherein the application module is configured to implement corresponding functions according to the detection results of the rotating mirror laser radar.

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