Rotating mirror laser radar and beam scanning sensing method and electronic equipment thereof

Abstract

The present application provides a rotating mirror laser radar and a beam scanning sensing method and electronic device thereof. The rotating mirror laser radar includes a transmitting rotating mirror, which has a first reflecting surface and a second reflecting surface; a light emitting module is configured to transmit a first transmitting light beam to the first reflecting surface along a first direction, and transmit a second transmitting light beam to the second reflecting surface along a second direction; the first transmitting light beam reflected by the first reflecting surface and the second transmitting light beam reflected by the second reflecting surface jointly form a sensing light beam emitted to a field of view range along the same scanning direction; the receiving module is configured to perform distance sensing according to the received light beam; the receiving rotating mirror has a third reflecting surface and a fourth reflecting surface; the third reflecting surface and the fourth reflecting surface are configured to reflect the light beam returned from the field of view range along the scanning direction to the receiving module; the transmitting rotating mirror and the receiving rotating mirror rotate synchronously to deflect the scanning direction of the sensing light beam within a preset angle range; thereby effectively improving the transmitting efficiency and the receiving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of rotating mirror laser radar, and in particular to a rotating mirror laser radar and a beam scanning sensing method and electronic equipment thereof. Background Art

[0002] A rotating mirror laser radar usually includes a rotating mirror, a transmitting module and a receiving module. The transmitting module and the receiving module respectively transmit a light beam outward and receive a returned light beam through a corresponding reflecting surface. However, due to the area of ​​a single reflecting surface, when the deflection angle is large, part of the light beam cannot be effectively transmitted and received, thereby reducing the transmitting efficiency and receiving efficiency of the rotating mirror laser radar. In this case, if the reflecting surface is increased, the volume of the rotating mirror will increase exponentially, which is not conducive to the miniaturization of the rotating mirror laser radar. If the deflection angle is limited to the angle range in which the light beam can be effectively reflected, the field of view angle range that the rotating mirror laser radar can detect will be reduced, affecting the performance of the rotating mirror laser radar. If the diameter of the sensing beam is reduced so that it can be effectively reflected by a reflecting surface, the total energy of the sensing beam will be reduced, affecting the distance measurement performance of the laser radar. Summary of the invention

[0003] In view of this, the present application provides a rotating mirror laser radar and its beam scanning sensing method and electronic equipment that can improve the problems of the prior art.

[0004] In a first aspect, the present application provides a rotating mirror laser radar, comprising:

[0005] An emitting rotating mirror has a first reflecting surface and a second reflecting surface;

[0006] A light emitting module, configured to emit a first emission light beam along a first direction to the first reflecting surface, and to emit a second emission light beam along a second direction to the second reflecting surface; wherein the first emission light beam reflected by the first reflecting surface and the second emission light beam reflected by the second reflecting surface jointly form a sensing light beam emitted toward a field of view along the same scanning direction;

[0007] a receiving module configured to perform distance sensing based on the received light beam; and

[0008] The receiving rotating mirror has a third reflecting surface and a fourth reflecting surface; the third reflecting surface and the fourth reflecting surface are configured to reflect the light beam returning from the field of view along the scanning direction to the receiving module; wherein the transmitting rotating mirror rotates synchronously with the receiving rotating mirror to deflect the scanning direction of the sensing light beam within a preset angle range.

[0009] In a second aspect, the present application provides an electronic device, comprising an application device and the rotating mirror laser radar as described above, wherein the application device is connected to the rotating mirror laser radar, and the application device is used to perform preset operations based on the ranging results obtained by the rotating mirror laser radar.

[0010] In a third aspect, the present application provides a beam scanning sensing method of a rotating mirror laser radar, which is used to scan and sense a preset field of view, wherein the laser radar includes a transmitting rotating mirror and a receiving rotating mirror; the transmitting rotating mirror has a first reflecting surface and a second reflecting surface; the receiving rotating mirror has a third reflecting surface and a fourth reflecting surface; the beam scanning sensing method includes:

[0011] Emitting two light beams in different directions to the first reflection surface and the second reflection surface of the emission rotating mirror respectively, and forming sensing light beams emitted to the field of view along the same scanning direction after being reflected by the corresponding first reflection surface and the second reflection surface;

[0012] Reflecting the light beam returned from the field of view along the scanning direction to the receiving module through the third reflecting surface and the fourth reflecting surface of the receiving rotating mirror, respectively, so that the receiving module performs distance sensing according to the received light beam; and

[0013] The transmitting mirror and the receiving mirror are synchronously rotated to deflect the scanning direction of the sensing light beam within a preset angle range.

[0014] Beneficial effects of the present application: Different from the prior art: The rotating mirror laser radar provided in the embodiment of the present application combines incident light beams from different directions into sensing light beams along the same scanning direction after reflection through different reflecting surfaces of the transmitting rotating mirror. Without increasing the transmitting rotating mirror and limiting the beam deflection angle and beam diameter, all the light beams emitted by the light-emitting module can be reflected as sensing beams, thereby improving the transmission efficiency of the rotating mirror laser radar without increasing the transmitting rotating mirror, which is beneficial to the miniaturization of the rotating mirror laser radar and does not increase the driving burden of the motor; at the same time, there is no need to limit the deflection angle and beam diameter of the transmitting rotating mirror to the light beam, thereby ensuring the total energy of the sensing beam and avoiding adverse effects on the far-sightedness performance of the rotating mirror laser radar. Similarly, the receiving module can improve the efficiency of receiving the light beam by receiving the light beam returned from the field of view along the scanning direction through the different reflecting surfaces of the receiving rotating mirror. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1a-Figure 1c It is a schematic diagram of the paths of the emitted light beam and the received light beam during the rotation of the transfer mirror in the related art.

[0016] Figure 2 A schematic diagram of the functional modules of a rotating mirror laser radar provided in one embodiment of the present application applied to an electronic device.

[0017] Figures 3 to 6 A top view of the side where the transmitting rotating mirror of the rotating mirror laser radar provided in different embodiments of the present application is located.

[0018] Figure 7 A top view of the side where the receiving rotating mirror of the rotating mirror laser radar provided in one embodiment of the present application is located.

[0019] Figure 8 Schematic diagram of the three-dimensional structure of the transmitting mirror and the receiving mirror.

[0020] Fig. 9 A schematic diagram of the structure of a transmitting rotating mirror and a receiving rotating mirror provided in another embodiment of the present application.

[0021] Figures 10 to 12 A top view of the side where the receiving rotating mirror of the rotating mirror laser radar provided in different embodiments of the present application is located.

[0022] Fig.13 The schematic diagram is a structural diagram of setting a light-isolating plate between the transmitting rotating mirror and the receiving rotating mirror.

[0023] Fig.14 A flow chart of a beam scanning sensing method of a rotating mirror laser radar provided in one embodiment of the present application.

[0024] Description of Reference Numerals

[0025] 100-electronic equipment; 10-application device; 20-rotating mirror laser radar;

[0026] 1 / 1'-transmitting mirror; 11-first reflecting surface; 12-second reflecting surface; 2-light-emitting module; 21-light-emitting assembly; 21a-first light-emitting assembly; 21b-second light-emitting assembly; 211-light-emitting unit; 212-collimating element; 22-spectrometer; 221-fifth reflecting surface; 222-sixth reflecting surface; 23-first transmission module; 231-first reflector; 232-second reflector; 233-ninth reflector; 24-second transmission module; 241-third reflector; 242-fourth reflector; 243-tenth reflector; 3- Receiving module; 31-receiving component; 31a-first receiving component; 31b-second receiving component; 311-receiving unit; 312-receiving lens; 32-third transmission module; 321-fifth reflector; 322-sixth reflector; 323-eleventh reflector; 33-fourth transmission module; 331-seventh reflector; 332-eighth reflector; 333-twelfth reflector; 34-focusing device; 341-seventh reflective surface; 342-eighth reflective surface; 4-receiving rotating mirror; 41-third reflective surface; 42-fourth reflective surface; 5-light-isolating plate. DETAILED DESCRIPTION

[0027] 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 having 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 cannot be understood 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 cannot be understood 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 technical features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] In the description of this application, it should be noted that, unless otherwise clearly specified or limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] The disclosure below provides many different embodiments or examples to implement the 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 the purpose is not to limit the present application. In addition, the present application may reuse reference numerals and / or reference letters in different examples, and this repetition is to simplify and clearly state the present application, which itself does not indicate the specific relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and materials provided in the description below are only examples for implementing the technical solutions of the present application, but those of ordinary skill in the art should be aware that the technical solutions of the present application may also be implemented by other processes and / or other materials not described below.

[0030] Further, described features, structures can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided so that the embodiments of the present application can be fully understood. However, those skilled in the art will appreciate that, even without one or more of the specific details, or 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.

[0031] like Figure 1a-Figure 1c As shown, Figure 1a-Figure 1cThe figure is a schematic diagram of the paths of the transmitted and received light beams during the rotation of the rotating mirror in the related art. In the related art, the transmitting module and the receiving module respectively transmit the light beam outward and receive the returned light beam through their corresponding reflection surfaces. However, due to the limitation of the area of ​​a single reflection surface, such as Figure 1c , when the deflection angle of the transmitting rotating mirror 1' is large, part of the transmitting light beam incident on the transmitting rotating mirror 1' cannot be effectively reflected to the field of view, thereby reducing the transmitting efficiency of the rotating mirror laser radar. Similarly, when the deflection angle is large, part of the light beam returning from the field of view incident on the receiving rotating mirror cannot be effectively reflected to the receiving module, thereby reducing the receiving efficiency of the rotating mirror laser radar.

[0032] In this case, if the problem is solved by increasing the area of ​​the rotating mirror's reflective surface, the volume of the rotating mirror will increase exponentially, which is not conducive to the miniaturization of the rotating mirror laser radar. Moreover, in practical applications, the rotating mirror may be limited by the driving ability of its driving components and the internal structure of the rotating mirror laser radar, and the area of ​​the rotating mirror's reflective surface cannot be increased. If the deflection angle of the beam scanning is limited to the angle range in which the beam can be fully effectively reflected, the field of view angle range of the rotating mirror laser radar detection will be reduced, which will have an adverse effect on the performance of the rotating mirror laser radar.

[0033] Based on this, an embodiment of the present application provides a rotating mirror laser radar that can improve the transmission efficiency and receiving efficiency without increasing the volume of the rotating mirror or reducing the effective deflection angle of the rotating mirror to the light beam.

[0034] An embodiment of the present application provides a rotating mirror laser radar, which includes:

[0035] An emitting rotating mirror has a first reflecting surface and a second reflecting surface;

[0036] The light emitting module is configured to emit a first emission light beam along a first direction to a first reflection surface, and emit a second emission light beam along a second direction to a second reflection surface; wherein the first emission light beam reflected by the first reflection surface and the second emission light beam reflected by the second reflection surface jointly form a sensing light beam emitted toward a field of view along the same scanning direction;

[0037] a receiving module configured to perform distance sensing based on the received light beam; and

[0038] The receiving rotating mirror has a third reflecting surface and a fourth reflecting surface; the third reflecting surface and the fourth reflecting surface are configured to reflect the light beam returning from the field of view along the scanning direction to the receiving module; wherein the transmitting rotating mirror and the receiving rotating mirror rotate synchronously to deflect the scanning direction of the sensing light beam within a preset angle range.

[0039] Optionally, in some embodiments, the light emitting module includes:

[0040] a light emitting assembly configured to emit an incident light beam;

[0041] A beam splitter configured to split an incident light beam emitted by the light emitting component into a first emission light beam and a second emission light beam emitted in different directions;

[0042] A first transmission module, disposed on an optical path of the first emission light beam and configured to transmit the first emission light beam to the first reflection surface;

[0043] The second transmission module is disposed on the optical path of the second emission light beam and is configured to transmit the second emission light beam to the second reflection surface.

[0044] Optionally, in some embodiments, the spectroscopic device includes two reflective surfaces that are arranged at a relative angle; a portion of the incident light beam is reflected by one of the two reflective surfaces to form the first emission light beam, and another portion of the incident light beam is reflected by the other of the two reflective surfaces to form the second emission light beam.

[0045] Optionally, in some embodiments, the light emitting assembly and the emission mirror are arranged on the same side of the spectrometer or respectively on two opposite sides of the spectrometer.

[0046] Optionally, in some embodiments, the light emitting module includes:

[0047] A first light emitting component is configured to emit a light beam directly toward the first reflecting surface to form a first emitted light beam;

[0048] The second light-emitting component is configured to emit a light beam directly to the second reflecting surface to form a second emitted light beam.

[0049] Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are perpendicular to each other; the third reflecting surface and the fourth reflecting surface are perpendicular to each other.

[0050] Optionally, in some embodiments, the transmitting mirror and / or the receiving mirror is a four-sided mirror; the four-sided mirror includes four reflecting surfaces connected vertically in sequence and rotates around the central axis of the four-sided mirror; and each reflecting surface of the four-sided mirror is parallel to the central axis of the four-sided mirror.

[0051] Optionally, in some embodiments, the beam diameter of the first emission light beam is equal to or different from the beam diameter of the second emission light beam.

[0052] Optionally, in some embodiments, the first direction and the second direction are opposite directions on the same straight line; or, the first direction and the second direction are two opposite directions on two straight lines parallel to each other.

[0053] Optionally, in some embodiments, a portion of the light beam returned from the field of view along the scanning direction is reflected along a fifth direction by the third reflection surface to form a first transmission light beam; another portion of the light beam returned from the field of view along the scanning direction is reflected along a sixth direction by the fourth reflection surface to form a second transmission light beam;

[0054] The receiving module includes:

[0055] a receiving component configured to perform distance sensing based on the received light beam;

[0056] Concentrators;

[0057] A third transmission module, disposed on the optical path of the first transmission light beam and configured to transmit the first transmission light beam to the focusing device;

[0058] a fourth transmission module, disposed on the optical path of the second transmission light beam and configured to transmit the second transmission light beam to the focusing device;

[0059] The focusing device is configured to converge the light beams transmitted by the third transmission module and the fourth transmission module to the receiving component.

[0060] Optionally, in some embodiments, the beam diameter of the first transmission light beam and the beam diameter of the second transmission light beam are equal to or different from each other.

[0061] Optionally, in some embodiments, the fifth direction and the sixth direction are opposite directions on the same straight line; or, the fifth direction and the sixth direction are two opposite directions on two straight lines parallel to each other.

[0062] Optionally, in some embodiments, the transmitting mirror and the receiving mirror are different parts of the same integral mirror, the first reflecting surface and the third reflecting surface are different areas on the same reflecting surface, and the second reflecting surface and the fourth reflecting surface are different areas on the same reflecting surface.

[0063] Optionally, in some embodiments, the focusing device includes two reflective surfaces that are arranged relatively tilted; the light beams transmitted by the third transmission module and the fourth transmission module are respectively reflected by the two reflective surfaces and then emitted to the receiving component.

[0064] Optionally, in some embodiments, the receiving assembly and the receiving rotating mirror are arranged on the same side of the focusing device or are respectively arranged on two opposite sides of the focusing device.

[0065] Optionally, in some embodiments, the receiving module includes:

[0066] A first receiving component is configured to directly receive the light beam reflected by the third reflective surface and returned from the field of view along the scanning direction, and perform distance sensing according to the received light beam;

[0067] The second receiving component is configured to directly receive the light beam reflected by the fourth reflecting surface and returned from the field of view along the scanning direction.

[0068] In an embodiment of the present application, a beam scanning sensing method of a rotating mirror laser radar is also provided. The rotating mirror laser radar is used to scan and sense a preset field of view. The rotating mirror laser radar includes a transmitting rotating mirror and a receiving rotating mirror. The transmitting rotating mirror has a first reflecting surface and a second reflecting surface. The receiving rotating mirror has a third reflecting surface and a fourth reflecting surface. The scanning sensing method includes:

[0069] Emitting two light beams in different directions to the first reflection surface and the second reflection surface of the emission rotating mirror respectively, and forming sensing light beams emitted to the field of view along the same scanning direction after being reflected by the corresponding first reflection surface and the second reflection surface;

[0070] Reflecting the light beam returned from the field of view along the scanning direction to the receiving module through the third reflecting surface and the fourth reflecting surface of the receiving rotating mirror, respectively, so that the receiving module performs distance sensing according to the received light beam; and

[0071] The transmitting mirror and the receiving mirror are synchronously rotated to deflect the scanning direction of the sensing light beam within a preset angle range.

[0072] Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are perpendicular to each other; the third reflecting surface and the fourth reflecting surface are perpendicular to each other.

[0073] Optionally, in some embodiments, the propagation directions of the optical axes of the two light beams emitted to the first reflecting surface and the second reflecting surface are in opposite directions on the same straight line; or

[0074] The optical axis propagation directions of the two light beams emitted to the first reflecting surface and the second reflecting surface are two opposite directions on two straight lines parallel to each other.

[0075] The embodiments of the present application also provide an electronic device, which includes an application device and a rotating mirror laser radar as described in the above embodiments. The application device is connected to the rotating mirror laser radar, and the application device is used to perform preset operations based on the ranging results obtained by the rotating mirror laser radar. The electronic device implements corresponding functions based on the three-dimensional information obtained by the rotating mirror laser radar. Electronic devices include, for example, mobile phones, cars, robots, access control / monitoring systems, smart door locks, unmanned vehicles, drones, etc. Three-dimensional information includes, for example, proximity information, depth information, distance information, coordinate information, etc. of objects 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 the present application does not limit this.

[0076] 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. The distance / depth information of each object is determined 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. 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, 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 the three-dimensional map to guide the movement of the sweeping robot.

[0077] 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.

[0078] See also Figure 2 , Figure 2 Schematic diagram of functional modules of a rotating mirror laser radar provided in an embodiment of the present application applied to an electronic device 100. The electronic device 100 includes an application device 10 and a rotating mirror laser radar 20. The rotating mirror laser radar 20 can detect three-dimensional information of objects within the field of view. The field of view can be defined as the stereoscopic space range in which the rotating mirror laser radar 20 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 20. The three-dimensional information is, for example, but not limited to, one or more of the proximity information of the object, the depth information of the surface of the object, the distance information of the object, and the spatial coordinate information of the object.

[0079] The application device 10 is configured to perform preset operations or realize corresponding functions according to the detection results of the rotating mirror laser radar 20, such as but not limited to: controlling the movement of the electronic device 100 to avoid obstacles or navigate according to the three-dimensional information of the object within the field of view; or realizing 3D modeling, identity recognition, machine vision, etc. according to the depth information of the surface of the object. That is, the application device 10 can be a collection of hardware required to perform the above operations and realize the above functions and software required to control and coordinate the operation of the hardware.

[0080] The electronic device 100 may also include a storage medium and a processor, and the storage medium may provide support for the storage requirements of the electronic device 100 and / or the rotating mirror laser radar 20 during operation. In some embodiments, the storage medium may be disposed inside the electronic device 100. In some embodiments, the storage medium may also be disposed inside the rotating mirror laser radar 20.

[0081] The processor can support the data processing requirements of the electronic device 100 and / or the rotating mirror laser radar 20 during operation. In some embodiments, the processor can be disposed inside the electronic device 100. In some embodiments, the processor can also be disposed inside the rotating mirror laser radar 20.

[0082] See also Figure 3 , Figure 3 The top view of the transmitting rotating mirror of the rotating mirror laser radar provided in the first embodiment of the present application is shown. The rotating mirror laser radar 20 includes a transmitting rotating mirror 1, a light emitting module 2, a receiving module 3 and a receiving rotating mirror 4 (see below). Figure 7 ).

[0083] Combination Figure 3 , the emitting mirror 1 has a first reflecting surface 11 and a second reflecting surface 12. In some embodiments, the first reflecting surface 11 and the second reflecting surface 12 are arranged perpendicular to each other; thus, according to the law of reflection of geometric optics, the two light beams incident in opposite directions can be respectively reflected by the first reflecting surface 11 and the second reflecting surface 12 to form sensing light beams and emitted outward along the same scanning direction to correspond to the same orientation within the detection field of view. Among them, the other surfaces of the emitting mirror 1 can be reflective surfaces or non-reflective surfaces. In addition, each two adjacent surfaces of the other surfaces of the emitting mirror 1, or between the first reflecting surface 11 or the second reflecting surface 12, can be arranged perpendicularly or non-perpendicularly.

[0084] In one embodiment, Figure 8As shown, the emitting rotating mirror 1 can be a four-sided rotating mirror, which includes four vertically connected reflecting surfaces in sequence along its circumferential direction, that is, every two adjacent reflecting surfaces on the four-sided rotating mirror are arranged vertically to each other, that is, the angle between them is 90°; and the four vertically connected reflecting surfaces can rotate around the central axis M of the four-sided rotating mirror. Among them, each reflecting surface of the four-sided rotating mirror can be parallel to the central axis M of the four-sided rotating mirror.

[0085] If the emitting rotating mirror 1 has four reflection surfaces connected in sequence and perpendicular to each other, the emitting rotating mirror 1 can rotate continuously in the same direction (clockwise or counterclockwise) around the central axis M, and every two adjacent and mutually perpendicular reflection surfaces can be alternately used as the first reflection surface 11 and the second reflection surface 12. If the emitting rotating mirror 1 has only two perpendicular reflection surfaces, the emitting rotating mirror 1 needs to rotate back and forth in opposite directions to complete the deflection scanning of the sensing light beam using the two mutually perpendicular reflection surfaces.

[0086] Of course, in other embodiments, the emitting mirror 1 may also be in other shapes, such as a three-sided mirror, a five-sided mirror, or a mirror with more than one surface, as long as it includes at least two mutually perpendicular reflection surfaces.

[0087] The light emitting module 2 is configured to emit a first emission light beam along a first direction to the first reflecting surface 11, and to emit a second emission light beam along a second direction to the second reflecting surface 12. The first emission light beam reflected by the first reflecting surface 11 and the second emission light beam reflected by the second reflecting surface 12 together form a sensing light beam emitted toward the field of view along the same scanning direction. The first emission light beam and the second emission light beam are parallel light beams or quasi-parallel light beams with high collimation. When there is an object within the field of view, the sensing light beam is reflected back by the object and received by the receiving module 3 to realize distance detection of the object within the field of view. The above-mentioned field of view can be defined as the spatial range in which the sensing light beam can effectively perform distance sensing, which can also be referred to as the field of view angle.

[0088] The first direction is the incident direction of the first emission light beam incident on the first reflection surface 11; the second direction is the incident direction of the second emission light beam incident on the second reflection surface 12. The first direction and the second direction are different. In some embodiments, the first direction and the second direction are opposite directions on the same straight line; that is, along a straight line, the first direction points from one end of the straight line to the first reflection surface 11; the second direction points from the other end opposite to the straight line to the second reflection surface 12. Or, Figure 3 As shown, the first direction and the second direction are two opposite directions on two straight lines parallel to each other.

[0089] According to the light reflection principle of geometric optics, the two light beams along the first direction and the second direction, even at different incident angles, are respectively reflected by the mutually perpendicular first reflection surface 11 and the second reflection surface 12 and still emit in the same direction, so that they can be used as a combined light beam to sense the distance of the same position in the field of view. The diameter of the combined light beam is larger than the diameter of the first emission light beam or the diameter of the second emission light beam, so that even if a light beam with a smaller diameter is used with a rotating mirror reflection surface with a smaller area to obtain a larger beam deflection angle range, a sensing light beam with a larger diameter can be emitted through the above-mentioned merging method, thereby achieving a higher emission efficiency and better improving the contradictory relationship between the diameter of the light beam, the size of the rotating mirror reflection surface and the deflection angle range.

[0090] In some embodiments, the beam diameter of the first emission light beam is equal to the beam diameter of the second emission light beam; or, the beam diameter of the first emission light beam is different from the beam diameter of the second emission light beam.

[0091] The above scheme combines the incident light beams from different directions into a sensing light beam along the same scanning direction after reflection through the different reflection surfaces of the transmitting rotating mirror 1. Without increasing the transmitting rotating mirror 1 and limiting the beam deflection angle and beam diameter, the light beam emitted by the light emitting module 2 can be completely reflected as a sensing light beam, thereby improving the transmission efficiency of the rotating mirror laser radar 20. Without increasing the transmitting rotating mirror 1, it is beneficial to the miniaturization of the rotating mirror laser radar 20 and will not increase the driving burden of the motor. At the same time, there is no need to limit the deflection angle and beam diameter of the transmitting rotating mirror 1, thereby ensuring the total energy of the sensing light beam and avoiding adverse effects on the distance measurement performance of the rotating mirror laser radar 20. Similarly, the receiving module 3 can improve the efficiency of receiving the light beam by receiving the light beam returned from the field of view along the scanning direction through the different reflection surfaces of the receiving rotating mirror 4.

[0092] In addition, since the two different reflective surfaces of the emitting mirror 1 can reflect the light beam incident on the emitting mirror 1 to form a sensing light beam that is emitted toward the field of view along the same scanning direction; compared with the solution of only using a single reflective surface to reflect the light beam incident on the emitting mirror 1 to form a sensing light beam that is emitted toward the field of view along the same scanning direction, the area of ​​the reflective surface on the emitting mirror 1 that can reflect the light beam incident on the emitting mirror 1 to form a sensing light beam is increased; thereby, within the preset field of view angle range, the emitting mirror 1 can reflect a larger diameter light beam emitted by the light-emitting module 2 as a sensing light beam.

[0093] In one embodiment, in combination Figure 3, the light-emitting module 2 includes a light-emitting component 21, a spectroscopic device 22, a first transmission module 23 and a second transmission module 24. The light-emitting component 21 is configured to emit an incident light beam. In one embodiment, the light-emitting component 21 includes a light-emitting unit 211 and a collimator 212, and the light-emitting unit 211 is configured to emit an incident light beam. When the emitting rotating mirror 1 rotates to a preset angle, the light-emitting unit 211 is controlled to emit an incident light beam; and when the emitting rotating mirror 1 rotates outside the preset angle, the light-emitting unit 211 can be controlled to stop emitting an incident light beam. The collimator 212 is disposed on the optical path of the incident light beam and is configured to collimate the incident light beam to improve the collimation of the incident light beam. The collimator 212 is, for example, a convex lens or a lens group that has a converging effect on the light beam.

[0094] The light emitting unit 211 may be a light emitting device in the form of a vertical cavity surface emitting laser (VCSEL, also translated as vertical cavity surface emitting laser), an edge emitting laser (EEL), a light emitting diode (LED), a laser diode (LD), a fiber laser, etc. The edge emitting laser may be a Fabry Perot (FP) laser, a distributed feedback (DFB) laser, an electro-absorption modulated laser (EML), etc., which is not limited in the embodiments of the present application.

[0095] The beam splitter 22 is disposed on the optical path of the incident light beam and is configured to split the incident light beam emitted by the light emitting assembly 21 into two first emission light beams and second emission light beams emitted in different directions. The orthographic projection of the incident light beam along the direction of its optical path falls within the beam splitter 22. In this way, it is possible to prevent a part of the emission light beam from being unable to be reflected by the beam splitter 22 and thus unable to be emitted into the field of view.

[0096] In some embodiments, the spectrometer 22 includes two reflective surfaces that are relatively inclined; a portion of the incident light beam emitted by the light-emitting component 21 is reflected by one of the two reflective surfaces to form a first emission light beam, and another portion of the incident light beam emitted by the light-emitting component 21 is reflected by the other of the two reflective surfaces to form a second emission light beam.

[0097] The edges of one side of the two inclined reflective surfaces may intersect each other; the light emitting component 21 is arranged on the side where the intersection line of the two reflective surfaces is located.

[0098] Specific, combined Figure 3 The light splitting device 22 has a fifth reflection surface 221 and a sixth reflection surface 222. A part of the incident light beam emitted by the light emitting component 21 is reflected by the fifth reflection surface 221 to form a first emission light beam. Another part of the incident light beam emitted by the light emitting component 21 is reflected by the sixth reflection surface 222 to form a second emission light beam.

[0099] In some embodiments, in combination Figure 3 , the beam diameter of the first emission beam satisfies the following formula (1);

[0100] (1) W1≤L1*cosα1; wherein W1 is the beam diameter of the first emission light beam; L1 is the side length of the fifth reflection surface 221; and α1 is the angle between the fifth reflection surface 221 and the optical axis of the incident light beam.

[0101] The beam diameter of the second emission beam satisfies the following formula (2):

[0102] (2) W2≤L2*cosα2; wherein W2 is the beam diameter of the second emission light beam; L2 is the side length of the sixth reflection surface 222; and α2 is the angle between the sixth reflection surface 222 and the optical axis of the incident light beam.

[0103] It can be understood that the incident light beam is divided into two by the spectroscopic device 22, and the diameters of the first emission light beam and the second emission light beam are both smaller than the beam diameter of the incident light beam. In one embodiment, the beam diameter of the first emission light beam and the beam diameter of the second emission light beam can both be half of the diameter of the incident light beam. That is, the ratio R of the beam diameter of the first emission light beam to the beam diameter of the second emission light beam is 1. Of course, R can also be 0.3, 0.4, 0.5, 0.6, 0.7, 0.8 or 0.9, etc. From the above, it can be seen that the beam diameter of the first emission light beam can be adjusted by setting the angle between the fifth reflection surface 221 in the spectroscopic device 22 and the optical axis of the incident light beam, and the beam diameter of the second emission light beam can be adjusted by setting the angle between the sixth reflection surface 222 in the spectroscopic device 22 and the optical axis of the incident light beam.

[0104] The light splitting device 22 may be a triangular prism. The transverse cross section of the triangular prism may be an isosceles triangle, and the two adjacent side surfaces where the waist is located and are arranged to be inclined with respect to each other constitute the fifth reflecting surface 221 and the sixth reflecting surface 222; wherein the other side surface connecting the fifth reflecting surface 221 and the sixth reflecting surface 222 may be a reflecting surface or a non-reflecting surface. Of course, as follows Figure 5 As shown, the light splitting device 22 may also be a V-shaped structure composed of two reflectors connected to each other in an inclined manner, wherein the reflective surfaces of the two reflectors are the fifth reflective surface 221 and the sixth reflective surface 222 .

[0105] Please return to Figure 3 , the first transmission module 23 is configured to transmit the first emission light beam to the first reflection surface 11. For example, in some embodiments, the first transmission module 23 can reflect the first emission light beam to the first reflection surface 11. Specifically, the first transmission module 23 can include at least one reflection mirror; the first emission light beam is incident on the first reflection surface 11 after being reflected by the at least one reflection mirror.

[0106] exist Figure 3 In the illustrated embodiment, the first transmission module 23 includes a first reflector 231 and a second reflector 232. The first emission light beam is reflected by the first reflector 231 and the second reflector 232 in sequence and then incident on the first reflection surface 11. The first reflector 231 and the second reflector 232 may be plane mirrors.

[0107] The second transmission module 24 is configured to transmit the second emission light beam to the second reflection surface 12. For example, in some embodiments, the second transmission module 24 can reflect the second emission light beam to the second reflection surface 12. Specifically, the second transmission module 24 can include at least one reflection mirror; the second emission light beam is incident on the second reflection surface 12 after being reflected by the at least one reflection mirror.

[0108] exist Figure 3 In the illustrated embodiment, the second transmission module 24 includes a third reflector 241 and a fourth reflector 242. The second emission light beam is reflected by the third reflector 241 and the fourth reflector 242 in sequence and then incident on the second reflection surface 12. The third reflector 241 and the fourth reflector 242 may be plane mirrors.

[0109] The incident light beam is split into two emission light beams with smaller diameters by the beam splitter 22, and then combined and reflected into a sensing light beam along the same scanning direction by the two mutually perpendicular reflection surfaces of the emission mirror 1. The smaller emission mirror 1 can be used to form a sensing light beam with a larger diameter, thereby further improving the reflection efficiency of the emission mirror 1 for the light beam.

[0110] The above two transmission modules that transmit light beams through reflection can respectively adjust the optical paths of the first emission light beam and the second emission light beam separated by the spectrometer 22, which is convenient for users to adjust the setting positions of devices such as the light-emitting unit 211 and the emission mirror 1, effectively reducing the space occupied by the emission light path, improving the applicability of the product solution, and facilitating the miniaturization of the product.

[0111] In another embodiment, see Figure 4 , Figure 4 A top view of the side where the transmitting rotating mirror of the rotating mirror laser radar provided in the second embodiment of the present application is located; and Figure 3The difference between the illustrated embodiments is that the first transmission module 23 includes only one reflector, namely, the ninth reflector 233, and the first emission light beam is incident on the first reflection surface 11 after being reflected once by the ninth reflector 233. The second transmission module 24 also includes only one reflector, namely, the tenth reflector 243, and the second emission light beam is incident on the second reflection surface 12 after being reflected once by the tenth reflector 243.

[0112] Of course, in other embodiments, the number of reflections that the light beams in the first transmission module 23 and the second transmission module 24 undergo and the number of reflectors included in each may be the same or different; this application does not impose any limitation on this.

[0113] In some other embodiments, the first transmission module 23 and / or the second transmission module 24 may also perform light transmission via optical fiber, and the first emission light beam and / or the second emission light beam may be correspondingly transmitted to the first reflection surface 11 and the second reflection surface 12 via optical fiber.

[0114] In one embodiment, in combination Figure 3 The light-emitting component 21 and the emitting mirror 1 are respectively arranged on opposite sides of the spectrometer 22; in this way, the risk of interference between the incident light beam emitted by the light-emitting component 21 and the first emitting light beam and the second emitting light beam formed by reflection of the spectrometer 22 can be reduced.

[0115] In another embodiment, see Figure 5 , Figure 5 A top view of the side where the transmitting rotating mirror of the rotating mirror laser radar provided in the third embodiment of the present application is located; the light-emitting component 21 and the transmitting rotating mirror 1 are respectively arranged on the same side of the spectroscopic device 22, and the light-emitting component 21 includes, for example, a light-emitting unit 211 and a collimating member 212. The light beam emitted by the light-emitting unit 211 is collimated by the collimating member 212 and reflected by different reflecting surfaces of the spectroscopic device 22 as a first transmitting light beam and a second transmitting light beam, respectively. The first transmitting light beam and the second transmitting light beam are respectively transmitted from the periphery of the opposite sides of the light-emitting component 21 to the first reflecting mirror 231 of the first transmission module 23 and the third reflecting mirror 241 of the second transmission module 24, and then incident on the first reflecting surface 11 and the second reflecting surface 12 of the transmitting rotating mirror 1 in opposite directions after corresponding reflection. Since there is no need to set a spectroscopic device 22 and a transmission optical path between the light-emitting component 21 and the transmitting rotating mirror 1, the structure of the rotating mirror laser radar 20 can be made more compact, which is conducive to product miniaturization.

[0116] In some embodiments, see Figure 6 , Figure 6A top view of the side where the transmitting rotating mirror of the rotating mirror laser radar provided in the fourth embodiment of the present application is located. In this embodiment, unlike any of the above embodiments, the light-emitting module 2 includes two light-emitting components 21, namely a first light-emitting component 21a and a second light-emitting component 21b. Among them, the first light-emitting component 21a is configured to directly emit a first emission light beam to the first reflection surface 11, that is, the first emission light beam directly irradiates the first reflection surface 11 without passing through other reflection surfaces. The second light-emitting component 21b is configured to directly emit a second emission light beam to the second reflection surface 12, that is, the second emission light beam also directly irradiates the second reflection surface 12 without passing through other reflection surfaces. The specific structure of the first light-emitting component 21a and the second light-emitting component 21b is similar to the structure of the light-emitting component 21 mentioned above.

[0117] In this embodiment, the light beams emitted by the first light emitting component 21a and the second light emitting component 21b can directly irradiate the first reflecting surface 11 and the second reflecting surface 12 of the transmitting rotating mirror 1; there is no need to separately provide a light splitting device 22, a first transmission module 23 and a second transmission module 24. In this way, the product structure can be further simplified, the device structure can be saved, the cost and the impact on the use space of other structures of the rotating mirror laser radar 20 can be reduced, and the structure of the rotating mirror laser radar 20 is more compact, which is conducive to the miniaturization of the product.

[0118] See also Figures 7 and 8 , Figure 7 A top view of a side where a receiving rotating mirror of a rotating mirror laser radar provided in an embodiment of the present application is located; Figure 8 The figure is a schematic diagram of the three-dimensional structure of the transmitting rotating mirror and the receiving rotating mirror. The receiving module 3 is configured to perform distance sensing according to the received light beam. The receiving rotating mirror 4 has a third reflecting surface 41 and a fourth reflecting surface 42; the third reflecting surface 41 and the fourth reflecting surface 42 are configured to reflect the light beam returned from the field of view along the scanning direction to the receiving module 3; wherein the transmitting rotating mirror 1 and the receiving rotating mirror 4 rotate synchronously to deflect the scanning direction of the sensing light beam within a preset angle range.

[0119] Part of the light beam returned from the field of view along the scanning direction is reflected along the fifth direction by the third reflection surface 41 to form a first transmission light beam; another part of the light beam returned from the field of view along the scanning direction is reflected along the sixth direction by the fourth reflection surface 42 to form a second transmission light beam. The beam diameter of the first transmission light beam is equal to or different from the beam diameter of the second transmission light beam. The beam diameter of the first transmission light beam and the beam diameter of the second transmission light beam are both smaller than the beam diameter of the receiving light beam returned from the field of view along the scanning direction.

[0120] Combination Figure 7, the fifth direction and the sixth direction are opposite directions on the same straight line; or, the fifth direction and the sixth direction are two opposite directions on two straight lines parallel to each other.

[0121] The above scheme receives the light beam returned from the field of view along the scanning direction through the two different reflection surfaces of the receiving mirror 4 and reflects them to the receiving module 3 respectively. Under the premise of not increasing the receiving mirror 4 and not limiting the light beam deflection angle and the beam diameter, the receiving diameter of the light beam returned from the field of view along the scanning direction can be increased, thereby improving the receiving efficiency of the rotating mirror laser radar 20 without increasing the receiving mirror 4, which is beneficial to the miniaturization of the rotating mirror laser radar 20 and will not increase the driving burden of the motor. At the same time, there is no need to limit the deflection angle of the light beam and the beam diameter of the receiving light beam by the receiving mirror 4, thereby ensuring the total energy of the received light beam and avoiding adverse effects on the performance of the rotating mirror laser radar 20.

[0122] In some embodiments, see Figure 8 The transmitting mirror 1 and the receiving mirror 4 can be coaxially arranged and rotate synchronously. That is, the transmitting mirror 1 and the receiving mirror 4 rotate along the same axis. It should be understood that the transmitting mirror 1 and the receiving mirror 4 can be connected and driven by the same physical axis, or the transmitting mirror 1 and the receiving mirror 4 can be driven by different physical axes, and the two physical axes are arranged along the same axis.

[0123] The third reflective surface 41 and the fourth reflective surface 42 are perpendicular to each other; in this way, the optical path can be reversible and as many light beams returning from the field of view along the scanning direction as possible can be received. It should be understood that, since the transmitting mirror 1 and the receiving mirror 4 rotate synchronously, the third reflective surface 41 and the first reflective surface 11 are located in the same plane or are arranged parallel to each other, and the fourth reflective surface 42 and the second reflective surface 12 are located in the same plane or are arranged parallel to each other.

[0124] Similar to the transmitting rotating mirror 1, the other surfaces of the receiving rotating mirror 4 can be reflective surfaces or non-reflective surfaces. In addition, the other surfaces of the receiving rotating mirror 4 can be perpendicular or non-perpendicular to each other, or to the third reflecting surface 41 or the fourth reflecting surface 42.

[0125] The receiving rotating mirror 4 may also be a four-sided rotating mirror, and the specific structure of the four-sided rotating mirror is similar to the specific structure of the transmitting rotating mirror 1 of the four-sided rotating mirror, and the details can be found above.

[0126] The receiving rotating mirror 4 is similar to the transmitting rotating mirror 1, and it is sufficient to ensure that the receiving rotating mirror 4 has at least two mutually perpendicular reflection surfaces. If the receiving rotating mirror 4 has four mutually perpendicular reflection surfaces connected in sequence, the receiving rotating mirror 4 can rotate continuously, and every two adjacent vertical reflection surfaces can be used as the third reflection surface 41 or the fourth reflection surface 42 in turn. If the receiving rotating mirror 4 has two perpendicular reflection surfaces, and the other reflection surfaces are all non-perpendicular reflection surfaces, the two perpendicular reflection surfaces need to rotate back and forth.

[0127] Of course, in other embodiments, the receiving mirror 4 may also be a three-sided mirror, a five-sided mirror, or a mirror with more than one surface.

[0128] In some embodiments, see Figure 8 , the transmitting rotating mirror 1 and the receiving rotating mirror 4 can be two different rotating mirrors that are independently set.

[0129] In another embodiment, see Fig. 9 , Fig. 9 A schematic diagram of the structure of a transmitting mirror and a receiving mirror provided in another embodiment of the present application; the dotted line in the figure only represents the dividing line between the transmitting mirror 1 and the receiving mirror 4, and does not represent the actual structure of the mirror. The transmitting mirror 1 and the receiving mirror 4 are different parts of the same integral mirror. In this embodiment, the first reflecting surface 11 and the third reflecting surface 41 are located in the same plane and are different areas on the same reflecting surface, and the second reflecting surface 12 and the fourth reflecting surface 42 are located in the same plane and are different areas on the same reflecting surface.

[0130] In some embodiments, please refer back to Figure 7 , the receiving module 3 includes a receiving component 31, a third transmission module 32, a fourth transmission module 33 and a focusing device 34. The receiving component 31 is configured to perform distance sensing according to the received light beam. In one embodiment, the receiving component 31 includes a receiving unit 311 and a receiving lens 312, and the receiving unit 311 is configured to perform distance sensing according to the received light beam. The receiving lens 312 is configured to focus the light beam onto the receiving unit 311. The receiving lens 312 can be a convex lens or a lens group including multiple lenses that have a focusing effect on the light beam.

[0131] In some embodiments, the collimator 212 and the receiving lens 312 may be two independent lenses; or they may be different parts of the same lens.

[0132] The receiving component 31 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 of the receiving unit 311.

[0133] The third transmission module 32 is disposed on the optical path of the light beam reflected by the third reflection surface 41, and is configured to transmit the light beam reflected by the third reflection surface 41 and returned from the field of view along the scanning direction to the condenser 34. In other words, the third transmission module 32 is disposed on the optical path of the first transmission light beam, and is configured to transmit the first transmission light beam to the condenser 34. For example, in some embodiments, the third transmission module 32 can reflect the first transmission light beam formed by the third reflection surface 41 to be incident on the condenser 34.

[0134] Specifically, the third transmission module 32 may include at least one reflector; the first transmission light beam is reflected by the at least one reflector and then incident on the focusing device 34 .

[0135] exist Figure 7 In the illustrated embodiment, the third transmission module 32 includes a fifth reflector 321 and a sixth reflector 322. The first transmission light beam formed by reflection from the third reflection surface 41 is incident on the focusing device 34 after being reflected by the fifth reflector 321 and the sixth reflector 322 in sequence. The fifth reflector 321 and the sixth reflector 322 may be plane mirrors.

[0136] The fourth transmission module 33 is disposed on the optical path of the light beam reflected by the fourth reflection surface 42, and is configured to transmit the light beam reflected by the fourth reflection surface 42 and returned from the field of view along the scanning direction to the condenser 34. In other words, the fourth transmission module 33 is disposed on the optical path of the second transmission light beam, and is configured to transmit the second transmission light beam to the condenser 34. For example, in some embodiments, the fourth transmission module 33 can reflect the second transmission light beam to be incident on the condenser 34.

[0137] The beam diameter of the first transmission beam is equal to the beam diameter of the second transmission beam; or the beam diameter of the first transmission beam is different from the beam diameter of the second transmission beam. The beam diameter of the first transmission beam and the beam diameter of the second transmission beam are both smaller than the beam diameter of the receiving beam reflected by the focusing device 34 to the receiving component 31.

[0138] The fourth transmission module 33 may include at least one reflector; the second transmission light beam is reflected by the at least one reflector of the fourth transmission module 33 and then incident on the focusing device 34 .

[0139] In one embodiment, see Figure 7 The fourth transmission module 33 includes a seventh reflector 331 and an eighth reflector 332. The second transmission light beam formed by the fourth reflection surface 42 is reflected by the seventh reflector 331 and the eighth reflector 332 in sequence and then incident on the focusing device 34. The seventh reflector 331 and the eighth reflector 332 can be plane mirrors.

[0140] In some embodiments, a reflector in the first transmission module 23 and a reflector in the third transmission module 32 form a group, and the two reflectors in the same group are located in the same plane, or are arranged in two planes parallel to each other.

[0141] In some embodiments, two reflectors in the same group may be in the same plane and are different parts of the same reflector; that is, part of the same reflector is used as a reflector of the first transmission module 23 to reflect the first emission light beam; part of the same reflector is used as a reflector of the third transmission module 32 to reflect the first transmission light beam. Or the two reflectors in the same group are in the same plane, but the two reflectors are two independent and different reflectors.

[0142] One reflector in the second transmission module 24 and one reflector in the fourth transmission module 33 form a group, and the two reflectors in the same group are located in the same plane, or are arranged in two planes parallel to each other.

[0143] In some embodiments, two reflectors in the same group may be in the same plane and may be different parts of the same reflector; that is, part of the same reflector is used as a reflector of the second transmission module 24 to reflect the second emission light beam; part of the same reflector is used as a reflector of the fourth transmission module 33 to reflect the second transmission light beam. Alternatively, two reflectors in the same group may be in the same plane, but the two reflectors may be two independent and different reflectors.

[0144] Of course, if two reflectors in the same group are arranged in two planes parallel to each other, the two reflectors are two different reflectors that are independent of each other.

[0145] The following uses the example that all four transmission modules include the two reflectors mentioned above to illustrate this. For example, the first reflector 231 and the sixth reflector 322 can be different parts on the same reflector; the second reflector 232 and the fifth reflector 321 can be different parts on the same reflector; the third reflector 241 and the eighth reflector 332 can be different parts on the same reflector; the fourth reflector 242 and the seventh reflector 331 can be different parts on the same reflector. In this way, not only can the number of reflectors be reduced, the arrangement of reflectors in a limited space is facilitated, and costs can be saved.

[0146] Of course, in other embodiments, the first reflector 231 and the sixth reflector 322 may also be two independent reflectors; the two reflectors may be in the same plane or in two planes parallel to each other. The second reflector 232 and the fifth reflector 321 may also be two independent reflectors; the two reflectors may be in the same plane or in two planes parallel to each other. The third reflector 241 and the eighth reflector 332 may be two independent reflectors; the two reflectors may be in the same plane or in two planes parallel to each other. The fourth reflector 242 and the seventh reflector 331 may be two independent reflectors; the two reflectors may be in the same plane or in two planes parallel to each other.

[0147] In some specific embodiments, the two reflectors in the first transmission module 23 and the two reflectors in the third transmission module 32 form two groups of reflectors; the two reflectors in the second transmission module 24 and the two reflectors in the fourth transmission module 33 form two groups of reflectors. In some embodiments, the two first transmission module reflectors in one of the two groups of reflectors may be different parts of the same reflector, and the two reflectors in the other group may be two different reflectors independent of each other. For example, the first reflector 231 and the sixth reflector 322 may be different parts of the same reflector; the second reflector 232 and the fifth reflector 321 may also be two independent reflectors; and / or the third reflector 241 and the eighth reflector 332 may be different parts of the same reflector; the fourth reflector 242 and the seventh reflector 331 may be two independent reflectors.

[0148] Of course, in some other embodiments, see Fig.10 , Fig.10 A top view of the side where the receiving rotating mirror of the rotating mirror laser radar provided in the second embodiment of the present application is located; and Figure 4 The corresponding first transmission module 23 and second transmission module 24 are similar, and the third transmission module 32 may also include only one reflector, namely, the eleventh reflector 323; the light beam returned from the field of view along the scanning direction is reflected by the third reflective surface 41 to form a first transmission light beam which is reflected once by the eleventh reflector 323 and then incident on the focusing device 34.

[0149] The fourth transmission module 33 may also include only one reflector, namely the twelfth reflector 333 ; the light beam returning from the field of view along the scanning direction is reflected by the fourth reflective surface 42 to form a first transmission light beam which is reflected once by the twelfth reflector 333 and then incident on the focusing device 34 .

[0150] Of course, in other embodiments, the number of reflections that the light beams in the third transmission module 32 and the fourth transmission module 33 undergo and the number of reflectors included in each may be the same or different; this application does not impose any limitation on this.

[0151] In some other embodiments, the third transmission module 32 and / or the fourth transmission module 33 may also perform light transmission via optical fiber, and the light beam reflected by the third reflection surface 41 and / or the light beam reflected by the fourth reflection surface 42 may be correspondingly transmitted to the focusing device 34 via optical fiber.

[0152] The focusing device 34 is configured to converge the first transmission light beam transmitted by the third transmission module 32 and the second transmission light beam transmitted by the fourth transmission module 33 to the receiving component 31 along the same direction.

[0153] In some embodiments, the focusing device 34 includes two reflective surfaces that are relatively inclined; the first transmission light beam and the second transmission light beam are respectively reflected by the two reflective surfaces and then emitted to the receiving component 31.

[0154] The edges of one side of the two inclined reflective surfaces may intersect each other; the receiving component 31 is arranged on the side where the intersection line of the two reflective surfaces is located.

[0155] Specific, combined Figure 7 The focusing device 34 has a seventh reflection surface 341 and an eighth reflection surface 342. The first transmission light beam is reflected by the seventh reflection surface 341 and then emitted to the receiving component 31. The second transmission light beam is reflected by the eighth reflection surface 342 and then emitted to the receiving component 31.

[0156] The specific structure of the light concentrator 34 is similar to that of the light splitter 22, and the details can be found above. The light concentrator 34 and the light splitter 22 can be different parts of the same reflector or two different reflectors that are independent of each other.

[0157] It should be understood that each of the reflective surfaces and the reflective surface on the focusing device 34 involved in the present application are continuous and complete surfaces.

[0158] In one embodiment, in combination Fig.10 The receiving component 31 and the receiving mirror 4 are respectively arranged on opposite sides of the focusing device 34; in this way, the risk of interference between the first transmission light beam and the second transmission light beam and the light beam directed to the receiving component 31 can be reduced.

[0159] In another embodiment, see Fig.11 , Fig.11A top view of the side where the receiving rotating mirror of the rotating mirror laser radar provided in the third embodiment of the present application is located; the receiving component 31 and the receiving rotating mirror 4 are respectively arranged on the same side of the focusing device 34, and the light beam received by the receiving rotating mirror 4 is respectively divided into a first transmission light beam and a second transmission light beam after being reflected by the third reflection surface 41 and the fourth reflection surface 42, and then correspondingly reflected by the third transmission module 32 and the fourth transmission module 33, and correspondingly transmitted from the periphery of the opposite sides of the receiving component 31 to the focusing device 34, and then converged into a receiving light beam by the focusing device 34 and received by the receiving component 31. Since there is no need to set a focusing device 34 and a transmission light path between the receiving component 31 and the receiving rotating mirror 4, the structure of the rotating mirror laser radar 20 can be made more compact, which is conducive to product miniaturization.

[0160] In one embodiment, see Fig.12 , Fig.12 A top view of the side where the transmitting rotating mirror of the rotating mirror laser radar provided in the fourth embodiment of the present application is located; in this embodiment, unlike any of the embodiments, the receiving module 3 includes two receiving components 31, namely a first receiving component 31a and a second receiving component 31b. Among them, the first transmission beam formed by the light beam returning from the field of view along the scanning direction and reflected along the fifth direction by the third reflecting surface 41 is directly received by the first receiving component 31a, and distance sensing is performed based on the received light beam; that is, the first receiving component 31a is configured to directly receive the first transmission beam and perform distance sensing based on the first transmission beam. In other words, the first transmission beam is directly incident on the first receiving component 31a without passing through other transmission modules to perform distance sensing.

[0161] The first transmission beam formed by the light beam returning from the field of view along the scanning direction and reflected along the fifth direction by the third reflection surface 41 is directly received by the second receiving component 31b, and distance sensing is performed according to the received light beam; that is, the second receiving component 31b is configured to directly receive the second transmission beam and perform distance sensing according to the second transmission beam. In other words, the second transmission beam is directly incident on the second receiving component 31b without passing through other transmission modules to perform distance sensing.

[0162] The specific structures of the first receiving component 31 a and the second receiving component 31 b are similar to the structure of the receiving component 31 mentioned above.

[0163] In this embodiment, the light beams reflected by the third reflection surface 41 and the fourth reflection surface 42 of the receiving rotating mirror 4 can be directly incident on the first receiving component 31a and the second receiving component 31b, and there is no need to separately provide a focusing device 34, a third transmission module 32 and a fourth transmission module 33. In this way, while realizing scanning sensing by using a smaller receiving rotating mirror 4, the product structure is further simplified, the device structure is saved, the cost and the impact on the use space of other structures of the rotating mirror laser radar 20 are reduced, and the structure of the rotating mirror laser radar 20 is more compact, which is conducive to the miniaturization of the product.

[0164] In some embodiments, see Fig.13 , Fig.13 A structural schematic diagram of a light-isolating plate arranged between the transmitting rotating mirror and the receiving rotating mirror; the rotating mirror laser radar 20 also includes a light-isolating plate 5, which is arranged between the transmitting rotating mirror 1 and the receiving rotating mirror 4, and is used to form a light-isolating area, thereby separating the transmitting rotating mirror 1 and the receiving rotating mirror 4 on the upper and lower sides of the light-isolating plate 5, avoiding or reducing light crosstalk between the transmitting rotating mirror 1 and the receiving rotating mirror 4.

[0165] In one embodiment, see Fig.14 , Fig.14 A flow chart of a beam scanning sensing method of a rotating mirror laser radar provided in an embodiment of the present application; a beam scanning sensing method of a rotating mirror laser radar is also provided, and the rotating mirror laser radar is used to scan and sense a preset field of view. The rotating mirror laser radar can be the rotating mirror laser radar 20 provided in any of the above embodiments, and the specific structure and function of the rotating mirror laser radar 20 can be found above. The scanning sensing method includes:

[0166] Step S1: emitting two light beams in different directions to the first and second reflection surfaces of the emitting mirror respectively, and forming sensing light beams emitting in the same scanning direction to the field of view after being reflected by the corresponding first and second reflection surfaces.

[0167] The first reflection surface 11 and the second reflection surface 12 of the emitting rotating mirror 1 are perpendicular to each other. The optical axis propagation directions of the two light beams emitted to the first reflection surface 11 and the second reflection surface 12 are in opposite directions on the same straight line; or the optical axis propagation directions of the two light beams emitted to the first reflection surface 11 and the second reflection surface 12 are in two opposite directions on two parallel straight lines.

[0168] Thus, according to the reflection law of geometric optics, the two incident light beams can be respectively reflected by the first reflection surface 11 and the second reflection surface 12 to form sensing light beams that are emitted outward along the same scanning direction to correspond to the same orientation within the detection field of view.

[0169] In addition, the two light beams incident on the first reflecting surface 11 and the second reflecting surface 12 from different directions still emit in the same direction after being reflected by the mutually perpendicular first reflecting surface 11 and the second reflecting surface 12 even at different incident angles, so that they can be used as a combined light beam to perform distance sensing on the same orientation of the field of view. The diameter of the combined light beam is larger than the diameter of any light beam previously incident on the first reflecting surface 11 or the second reflecting surface 12, so that even if a light beam with a smaller diameter is used in conjunction with a rotating mirror reflecting surface with a smaller area to obtain a larger light beam deflection angle range, a sensing light beam with a larger diameter can be emitted through the above-mentioned combining method, thereby achieving a higher emission efficiency and better improving the contradictory relationship between the diameter of the light beam, the size of the rotating mirror reflecting surface and the deflection angle range.

[0170] The rotating mirror laser radar 20 includes a transmitting rotating mirror 1; the transmitting rotating mirror 1 has a first reflecting surface 11 and a second reflecting surface 12. The first transmitting light beam is emitted toward the first reflecting surface 11 of the transmitting rotating mirror 1 along a first direction. The second transmitting light beam is emitted toward the second reflecting surface 12 of the transmitting rotating mirror 1 along a second direction. The first transmitting light beam is reflected by the first reflecting surface 11 and the second transmitting light beam is reflected by the second reflecting surface 12 to form a sensing light beam emitted toward the field of view along the same scanning direction; thus, the sensing light beam formed by the reflection of the first transmitting light beam and the second transmitting light beam can correspond to the same orientation within the detection field of view.

[0171] In one embodiment, the rotating mirror laser radar 20 further includes a light emitting module 2, which includes a light emitting component 21, a light splitting device 22, a first transmission module 23 and a second transmission module 24; the detailed description of these components can be found above. The step of emitting two light beams in different directions to the first reflection surface 11 and the second reflection surface 12 of the transmitting rotating mirror 1 in step S1 includes:

[0172] Step A: an incident light beam is emitted by the light emitting assembly 21 .

[0173] When the emitting rotating mirror 1 rotates to a preset angle, the light emitting component 21 is controlled to emit an incident light beam; and when the emitting rotating mirror 1 rotates outside the preset angle, the light emitting component 21 can be controlled to stop emitting the incident light beam.

[0174] Step B: the incident light beam is incident on the light splitting device 22, and after being split by the light splitting device 22, two emission light beams are formed that are emitted in different directions; wherein the beam diameter of the emission light beam is smaller than the beam diameter of the incident light beam.

[0175] Part of the incident light beam incident on the beam splitter 22 is reflected by a reflection surface of the beam splitter 22 to form a first emission light beam with a small diameter; another part of the incident light beam incident on the beam splitter 22 is reflected by another reflection surface of the beam splitter 22 to form another second emission light beam with a small diameter. The beam diameter of the first emission light beam and the beam diameter of the second emission light beam are equal or different.

[0176] Step C: transmitting the two emission light beams to the first reflection surface 11 and the second reflection surface 12 via the first transmission module 23 and the second transmission module 24 respectively.

[0177] The first emission light beam is transmitted through the first transmission module 23 and emitted toward the first reflection surface 11 along the first direction. The second emission light beam is transmitted through the second transmission module 24 and emitted toward the second reflection surface 12 along the second direction.

[0178] In another embodiment, the light emitting module 2 includes two light emitting components 21, namely a first light emitting component 21a and a second light emitting component 21b. The light emitting module 2 involved in this embodiment is described in detail above. The step of making the two emission light beams incident on the first reflection surface 11 and the second reflection surface 12 of the emission rotating mirror 1 in step S1 includes:

[0179] Step M: two light emitting components 21 emit a light beam respectively, and the two light beams are directly incident on the first reflecting surface 11 and the second reflecting surface 12 of the emitting rotating mirror 1 respectively.

[0180] The beam diameter of the emission beam emitted by each light emitting component 21 may be the same as the beam diameter of the first emission beam or the second emission beam. The beam diameter of the emission beam emitted by each light emitting component 21 is smaller than the beam diameter of the incident beam emitted by one light emitting component 21 in the previous embodiment.

[0181] In this embodiment, the two light emitting components 21 can be respectively arranged corresponding to the first reflection surface 11 and the second reflection surface 12 of the emission rotating mirror 1, so that the emission light beams emitted by the two light emitting components 21 are directly incident on the first reflection surface 11 and the second reflection surface 12 of the emission rotating mirror 1. The optical axis propagation directions of the emission light beams emitted by the two light emitting components 21 are opposite directions on the same straight line; or are two opposite directions on two parallel straight lines.

[0182] The various technical features involved above and the relationships between them can be found above.

[0183] Step S2: The light beam returned from the field of view along the scanning direction is reflected to the receiving module via the third reflecting surface and the fourth reflecting surface of the receiving mirror, so that the receiving module performs distance sensing according to the received light beam.

[0184] Part of the light beam returned from the field of view along the scanning direction is reflected by the third reflection surface 41 of the receiving mirror 4 to form a first transmission light beam; another part of the light beam returned from the field of view along the scanning direction is reflected by the fourth reflection surface 42 of the receiving mirror 4 to form a second transmission light beam. The first transmission light beam and the second transmission light beam are respectively transmitted to different reflection surfaces of the focusing device 34 through the third transmission module 32 and the fourth transmission module 33. The first transmission light beam and the second transmission light beam incident on different reflection surfaces of the focusing device 34 are converged to the receiving component 31 through the focusing device 34, so that the receiving component 31 performs distance sensing according to the received light beams.

[0185] Specifically, the first transmission light beam and the second transmission light beam incident on different reflection surfaces of the focusing device 34 may be reflected by the corresponding reflection surfaces of the focusing device 34 and then emitted toward the receiving component 31 along the same direction.

[0186] Step S3: synchronously rotating the transmitting mirror and the receiving mirror to deflect the scanning direction of the sensing light beam within a preset angle range.

[0187] In a specific implementation process, during the execution of the above steps S2 and S3, step S3 is executed simultaneously to complete the scanning sensing of the field of view.

[0188] Different from the prior art, the beam scanning sensing method of the rotating mirror laser radar provided in this embodiment transmits two light beams in different directions to the two reflecting surfaces of the transmitting rotating mirror 1 respectively, and merges after reflection by the two reflecting surfaces to form a sensing light beam emitted along the same scanning direction to the field of view. Without increasing the transmitting rotating mirror 1 and without limiting the beam deflection angle and beam diameter, the light beam emitted by the light-emitting module 2 can be completely reflected as a sensing beam, thereby improving the emission efficiency of the rotating mirror laser radar 20 without increasing the transmitting rotating mirror 1, which is beneficial to the miniaturization of the rotating mirror laser radar 20 and will not increase the driving burden of the motor. At the same time, there is no need to limit the deflection angle and beam diameter of the light beam of the transmitting rotating mirror 1, thereby ensuring the total energy of the sensing beam and avoiding adverse effects on the performance of the rotating mirror laser radar 20.

[0189] In addition, the light beams returned from the field of view along the scanning direction are respectively reflected to the receiving module 3 via the two reflecting surfaces of the receiving mirror 4. All the light beams returned along the scanning direction can be reflected to the receiving module 3 without increasing the size of the receiving mirror 4 and without limiting the light beam deflection angle and the beam diameter. This improves the receiving efficiency of the rotating mirror laser radar 20 without increasing the size of the receiving mirror 4, which is beneficial to the miniaturization of the rotating mirror laser radar 20 and does not increase the driving burden of the motor. At the same time, there is no need to limit the light beam deflection angle and the beam diameter of the receiving mirror 4, thereby ensuring the total energy of the received light beam and avoiding adverse effects on the performance of the rotating mirror laser radar 20.

[0190] The above are only implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A rotating mirror laser radar, characterized in that: include: An emitting rotating mirror has a first reflecting surface and a second reflecting surface; A light emitting module, configured to emit a first emission light beam along a first direction to the first reflecting surface, and to emit a second emission light beam along a second direction to the second reflecting surface; wherein the first emission light beam reflected by the first reflecting surface and the second emission light beam reflected by the second reflecting surface jointly form a sensing light beam emitted toward a field of view along the same scanning direction; a receiving module configured to perform distance sensing based on the received light beam; and The receiving rotating mirror has a third reflecting surface and a fourth reflecting surface; the third reflecting surface and the fourth reflecting surface are configured to reflect the light beam returning from the field of view along the scanning direction to the receiving module; wherein the transmitting rotating mirror rotates synchronously with the receiving rotating mirror to deflect the scanning direction of the sensing light beam within a preset angle range; wherein, The light emitting module comprises: a light emitting assembly configured to emit an incident light beam; A beam splitter is configured to split the incident light beam emitted by the light emitting component into the first emission light beam and the second emission light beam emitted in different directions, wherein the beam diameter of the first emission light beam and the beam diameter of the second emission light beam are smaller than the beam diameter of the incident light beam; A first transmission module, disposed on an optical path of the first emission light beam and configured to transmit the first emission light beam to the first reflection surface; The second transmission module is disposed on the optical path of the second emission light beam and is configured to transmit the second emission light beam to the second reflection surface.

2. The rotating mirror laser radar according to claim 1, characterized in that: The spectroscopic device includes two reflective surfaces arranged relatively inclined; a part of the incident light beam is reflected by one of the two reflective surfaces to form the first emission light beam, and another part of the incident light beam is reflected by the other of the two reflective surfaces to form the second emission light beam.

3. The rotating mirror laser radar according to claim 1, characterized in that: The light emitting assembly and the emission rotating mirror are arranged on the same side of the light splitting device or respectively arranged on two opposite sides of the light splitting device.

4. The rotating mirror laser radar according to any one of claims 1 to 3, characterized in that: The first reflecting surface and the second reflecting surface are perpendicular to each other; the third reflecting surface and the fourth reflecting surface are perpendicular to each other.

5. The rotating mirror laser radar according to claim 4, characterized in that: The transmitting rotating mirror and / or the receiving rotating mirror is a four-sided rotating mirror; the four-sided rotating mirror comprises four reflecting surfaces which are vertically connected in sequence and rotate around the central axis of the four-sided rotating mirror.

6. The rotating mirror laser radar according to any one of claims 1 to 3, characterized in that: The beam diameter of the first emission light beam is equal to or different from the beam diameter of the second emission light beam.

7. The rotating mirror laser radar according to any one of claims 1 to 3, characterized in that: The first direction and the second direction are opposite directions on the same straight line; or, the first direction and the second direction are two opposite directions on two straight lines parallel to each other.

8. The rotating mirror laser radar according to any one of claims 1 to 3, characterized in that: A portion of the light beam returned from the field of view along the scanning direction is reflected along a fifth direction by the third reflection surface to form a first transmission light beam; another portion of the light beam returned from the field of view along the scanning direction is reflected along a sixth direction by the fourth reflection surface to form a second transmission light beam; The receiving module comprises: a receiving component configured to perform distance sensing based on the received light beam; Concentrators; A third transmission module, disposed on the optical path of the first transmission light beam and configured to transmit the first transmission light beam to the focusing device; a fourth transmission module, disposed on the optical path of the second transmission light beam and configured to transmit the second transmission light beam to the focusing device; The focusing device is configured to converge the light beams transmitted by the third transmission module and the fourth transmission module to the receiving component.

9. The rotating mirror laser radar according to claim 8, characterized in that: The beam diameter of the first transmission beam and the beam diameter of the second transmission beam are equal to or different from each other.

10. The rotating mirror laser radar according to claim 1, characterized in that: The transmitting rotating mirror and the receiving rotating mirror are respectively different parts of the same integral rotating mirror, the first reflecting surface and the third reflecting surface are respectively different areas of the same reflecting surface, and the second reflecting surface and the fourth reflecting surface are respectively different areas of the same reflecting surface.

11. An electronic device, characterized in that: It comprises an application device and a rotating mirror laser radar as described in any one of claims 1 to 10, wherein the application device is connected to the rotating mirror laser radar, and the application device is used to perform corresponding operations based on the ranging results obtained by the rotating mirror laser radar.

12. A beam scanning sensing method for a rotating mirror laser radar, characterized in that: The rotating mirror laser radar is used to scan and sense a preset field of view, and the rotating mirror laser radar includes a transmitting rotating mirror and a receiving rotating mirror; The emitting rotating mirror has a first reflecting surface and a second reflecting surface; The receiving rotating mirror has a third reflecting surface and a fourth reflecting surface; The scanning sensing method comprises: Emitting two light beams in different directions to the first reflection surface and the second reflection surface of the emission rotating mirror respectively, and forming sensing light beams emitted to the field of view along the same scanning direction after being reflected by the corresponding first reflection surface and the second reflection surface; Reflecting the light beam returned from the field of view along the scanning direction to the receiving module through the third reflecting surface and the fourth reflecting surface of the receiving rotating mirror, respectively, so that the receiving module performs distance sensing according to the received light beam; and The transmitting mirror and the receiving mirror are synchronously rotated to deflect the scanning direction of the sensing light beam within a preset angle range; wherein, Emitting two light beams in different directions to the first reflection surface and the second reflection surface of the emission rotating mirror respectively, comprising: An incident light beam is emitted through the light emitting assembly; The incident light beam is incident on a beam splitter, and after being split by the beam splitter, two light beams are formed that are emitted in different directions, and the beam diameters of the two light beams are both smaller than the beam diameter of the incident light beam; and The two emission light beams are transmitted to the first reflection surface and the second reflection surface through the first transmission module and the second transmission module respectively.

13. The beam scanning sensing method of the rotating mirror laser radar according to claim 12, characterized in that: The first reflecting surface and the second reflecting surface are perpendicular to each other; the third reflecting surface and the fourth reflecting surface are perpendicular to each other.

14. The beam scanning sensing method of the rotating mirror laser radar according to claim 12, characterized in that: The optical axis propagation directions of the two light beams emitted onto the first reflecting surface and the second reflecting surface are in opposite directions on the same straight line; or The optical axis propagation directions of the two light beams emitted onto the first reflecting surface and the second reflecting surface are two opposite directions on two straight lines parallel to each other.

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