Lidar system and vehicle system

Abstract

The invention provides a laser radar system and a carrier system, the laser radar system comprises a transmitting module, a scanning module and a receiving module, the transmitting module is used for transmitting probe light, the probe light is reflected by a to-be-detected target to form echo light, the receiving module is used for receiving the echo light, and the scanning module comprises a rotating mirror and a galvanometer. The rotating mirror and the galvanometer are both used for guiding the detection light and the echo light, the rotating mirror is used for scanning in a first direction of the laser radar system, the galvanometer is used for scanning in a second direction different from the first direction of the laser radar system, and the galvanometer and the rotating mirror are at least partially located in the same plane, so that the occupied space of the galvanometer and the rotating mirror is reduced; therefore, the occupied space of the laser radar system is reduced, and the laser radar system gives consideration to structural size and performance.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar, and more specifically to a laser radar system and a vehicle system. Background Art

[0002] LiDAR is becoming an indispensable and important technical component in autonomous driving and intelligent transportation technologies. Taking autonomous vehicles as an example, they usually use LiDAR to detect the vehicle's surrounding environment to obtain information about the road, the posture of surrounding vehicles and other obstacles, which is used to guide and control the vehicle's steering and speed.

[0003] The configuration of the LiDAR system directly affects the structural size of the LiDAR. However, it is difficult for existing LiDARs to balance structural size and performance. Summary of the invention

[0004] The embodiments of the present disclosure provide a laser radar system and a vehicle system, which reduce the space occupied by the laser radar system and take into account the structural size and performance of the laser radar system.

[0005] According to one aspect of the present disclosure, a laser radar system is provided, including: a transmitting module, for transmitting detection light, the detection light is reflected by a target to be measured to form echo light; a scanning module, the scanning module includes a rotating mirror and a galvanometer, both of which are used to guide the detection light and the echo light, the rotating mirror is used to scan in a first direction of the laser radar system, the galvanometer is used to scan in a second direction of the laser radar system different from the first direction, and the galvanometer and the rotating mirror are at least partially located in the same plane; and a receiving module, for receiving the echo light.

[0006] According to one aspect of the present disclosure, a vehicle system is provided, comprising the laser radar system of the aforementioned aspect.

[0007] The laser radar system provided by the embodiment of the present disclosure achieves the detection effect of the laser radar system by scanning in a first direction of the laser radar system through a rotating mirror and scanning in a second direction of the laser radar system that is different from the first direction through a galvanometer mirror. The galvanometer mirror and the rotating mirror are at least partially located in the same plane, thereby reducing the space occupied by the galvanometer mirror and the rotating mirror, thereby reducing the space occupied by the laser radar system, so that the laser radar system takes into account both structural size and performance.

[0008] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to illustrate the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to the same elements or similar but not necessarily the same elements.

[0010] Figure 1 is a schematic system block diagram showing a laser radar system according to an embodiment of the present disclosure;

[0011] 2(a) and 2(b) are schematic structural diagrams showing a first laser radar system according to an embodiment of the present disclosure;

[0012] Figure 3 is a schematic structural diagram showing a second laser radar system according to an embodiment of the present disclosure;

[0013] Figure 4 is a schematic structural diagram showing a third laser radar system according to other embodiments of the present disclosure;

[0014] Figure 5 is a schematic structural diagram showing a reflector according to other embodiments of the present disclosure;

[0015] Figure 6 is a schematic structural diagram showing a first configuration of a transmitting module and a receiving module according to other embodiments of the present disclosure;

[0016] Figure 7 is a schematic structural diagram showing a second configuration of a transmitting module and a receiving module according to other embodiments of the present disclosure;

[0017] Figure 8 is a schematic structural diagram showing a third configuration of a transmitting module and a receiving module according to an embodiment of the present disclosure;

[0018] Fig. 9 is a schematic structural diagram showing a carrier system according to an embodiment of the present disclosure; and

[0019] Fig.10 2 is a diagram showing a point cloud image obtained by the first laser radar system according to an embodiment of the present disclosure.

[0020] Description of reference numerals:

[0021] 1000. Lidar system; 2000. Vehicle;

[0022] 100, transmitting module; 110, light source; 120, transmitting lens assembly;

[0023] 200, scanning module; 210, rotating mirror; 220, galvanometer;

[0024] 300, receiving module; 310, detector; 320, receiving lens assembly; 321, hole or groove;

[0025] 400, reflector; 410, reflection area; 420, transmission area;

[0026] 500. Target to be tested. DETAILED DESCRIPTION

[0027] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. In addition, it should be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0028] It should be noted that, in the absence of conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the numbering of the steps or functional modules used in the present disclosure is only used to identify each step or functional module, and is not used to limit the execution order of each step or the connection relationship between each functional module.

[0029] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, temporal relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0030] In the present disclosure, the terms used in the description of various examples are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in the present disclosure covers any one of the listed items and all possible combinations.

[0031] "Lidar system" refers to a light detection and ranging system that uses light to detect the position of a target and obtain characteristic quantities such as target distance, target speed, and target posture. Generally, a lidar system may include a transmitting module, a scanning module, and a receiving module. The transmitting module is used to transmit the detection light. The scanning module is used to direct the detection light emitted by the lidar to a specific direction. The scanning module can direct the emitted detection light along different paths so that the lidar system can scan the surrounding environment. The detection light emitted by the lidar system is reflected or scattered after reaching the surrounding objects. The detection light is reflected by the target to be measured to form an echo light and returns to the lidar. The scanning module can also be used to redirect the returned echo light to the receiving module. The receiving module is used to receive the echo light. The lidar system can use the time and speed of light taken to detect the returned echo light after the detection light is emitted to determine the distance to the object along the path of the emitted detection light. For those skilled in the art, it is easy to understand that the lidar system can also use other technologies to measure the surrounding environment.

[0032] "Scanning module" refers to a system that changes the direction of an optical signal. The scanning module may include one or more optical redirection elements (e.g., rotating mirrors and galvanometers), such as by rotation, vibration or guidance, to redirect the detection light along the transmission path to scan the external surrounding environment. The scanning module can also redirect the returned echo light along the receiving path to direct the returned echo light to the receiving module. The optical redirection elements that guide the detection light and the echo light along the transmission and reception paths can be the same components (e.g., shared components), separate components (e.g., dedicated components) and / or a combination of shared and separate components. These optical redirection elements may include, for example, galvanometers, rotating mirrors (such as rotating polygonal mirrors) or fixed mirrors to redirect the emitted detection light or the received echo light to different directions.

[0033] A "rotating mirror" refers to an optical element that turns the detection light or the return light by the rotational movement of the mirror. In some examples, the rotating mirror is configured to be able to rotate clockwise or counterclockwise for at least one revolution, which is used, for example, to scan one or more signals in the horizontal direction of the laser radar system.

[0034] In some embodiments, a "rotating mirror" may refer to a polygonal mirror that is capable of rotating.

[0035] "Galvanometer" refers to an optical element that deflects detection light or return light through the vibration movement of the mirror. In some examples, the galvanometer is configured to be able to pitch and tilt a predetermined angle, which is used, for example, to scan one or more signals in the vertical direction of the lidar system.

[0036] The configuration of the transmitting module, scanning module and receiving module of the LiDAR system directly determines the overall structural size of the LiDAR system. However, it is difficult for existing LiDAR systems to achieve a balance between volume and performance, and it is difficult to meet the market trend of small size and high performance. For example, the detection performance of a LiDAR system with a small size is difficult to meet the demand, and a LiDAR system that meets the demand needs to occupy a larger space. Therefore, it is extremely important to improve space utilization, compact structure and take into account performance.

[0037] Figure 1 2( a) shows a schematic system block diagram of a laser radar system 1000 according to an embodiment of the present disclosure. FIG. 2( a) shows a schematic structural diagram of a first laser radar system 1000 according to an embodiment of the present disclosure. Figure 3 1 shows a schematic structural diagram of a second laser radar system 1000 according to an embodiment of the present disclosure, wherein the detection light and the echo light pass through the reflector 400. In view of this, an embodiment of the present disclosure proposes a laser radar system 1000, such as Figure 1-Figure 3 As shown, since the galvanometer 220 and the rotating mirror 210 of the scanning module 200 are at least partially located in the same plane, the space occupied by the scanning module 200 is reduced, and the space utilization of the laser radar system 1000 is improved. By scanning the laser radar system in the first direction of the rotating mirror 210 and scanning the laser radar system in the second direction of the galvanometer 220, the laser radar system takes into account both space utilization and performance.

[0038] In the laser radar system 1000 of the embodiment of the present disclosure, the laser radar system 1000 includes a transmitting module 100, a scanning module 200 and a receiving module 300, wherein the transmitting module 100 is used to transmit detection light, and the detection light is reflected by the target 500 to be measured to form echo light, the scanning module 200 includes a rotating mirror 210 and a galvanometer 220, and the rotating mirror 210 and the galvanometer 220 are both used to guide the detection light and the echo light, the rotating mirror 210 is used to scan in a first direction of the laser radar system 1000, and the galvanometer 220 is used to scan in a second direction of the laser radar system 1000 that is different from the first direction, for example, the rotating mirror 210 is used to scan in the horizontal direction of the laser radar system 1000 and the galvanometer 220 is used to scan in the vertical direction of the laser radar system 1000, the galvanometer 220 and the rotating mirror 210 are at least partially located in the same plane, and the receiving module 300 is used to receive the echo light.

[0039] It should be noted that in the existing laser radar system, the galvanometer and the rotating mirror are usually staggered and spaced in the vertical direction to meet the requirements of the scanning range. In the embodiment of the present disclosure, since the galvanometer 220 and the rotating mirror 210 are at least partially located in the same plane, the galvanometer 220 and the rotating mirror 210 are at least partially overlapped in the vertical direction, reducing the size in the vertical direction, thereby reducing the space occupied by the scanning module 200. It should be understood that the first direction can be a horizontal direction, and the second direction can be a vertical direction, but the first direction and the second direction should not be limited to the above-mentioned horizontal direction and vertical direction. In some cases, the first direction can also be a direction with a certain inclination angle to the horizontal direction. The first direction is roughly the same as the horizontal direction, and the second direction is a direction perpendicular to the first direction in the plane.

[0040] In some embodiments, the galvanometer mirror 220 and the rotating mirror 210 may be arranged in the same plane such that the galvanometer mirror 220 and the rotating mirror 210 completely overlap in the vertical direction.

[0041] Since the laser radar system 1000 is often installed on other equipment, for example, the laser radar system 1000 is often installed in a small space of the vehicle 2000, and the vehicle 2000 has certain restrictions on the installation space of the laser radar system 1000, it can be seen that the galvanometer 220 and the rotating mirror 210 of the embodiment of the present disclosure are at least partially located in the same plane, and it is extremely important to reduce the space occupied by the scanning module 200.

[0042] Figure 2(b) shows a side view of the scanning module 200 of the laser radar system 1000 in the embodiment shown in Figure 2(a), wherein the galvanometer 220 and the rotating mirror 210 at least partially overlap in the vertical direction. This arrangement of the galvanometer and the rotating mirror can reduce the size of the scanning module 200 in the vertical direction, thereby reducing the space occupied by the laser radar system 1000 on the vehicle.

[0043] In some embodiments, the rotating mirror 210 and the galvanometer mirror 220 are arranged so that the horizontal field of view formed by the detection light is larger than 120°.

[0044] Specifically, the rotating mirror 210 and the galvanometer 220 rotate so that a horizontal field of view is formed when the detection light is emitted to the target 500 to be measured. For example, the rotating mirror 210 is configured to be able to rotate clockwise or counterclockwise for at least one circle. After the detection light passes through the rotating mirror 210 and the galvanometer 220, it is scanned in the horizontal direction of the laser radar system 1000, and the horizontal field of view formed is greater than 120°, so that the horizontal field of view formed by the scanning meets the detection requirements.

[0045] In some embodiments, the number of the reflecting surfaces of the rotating mirror can be as shown in FIG. Figure 4The five surfaces shown in the figure may also be any number of surfaces that can realize signal scanning in the horizontal direction. It should be clear to those skilled in the art that the discussion on the number of the rotating mirror reflective surfaces in the present disclosure shall not constitute a limitation on the protection scope of the present disclosure.

[0046] In some embodiments, the rotating mirror 210 and the galvanometer mirror 220 are arranged so that the vertical field of view formed by the detection light is larger than 25°.

[0047] Specifically, the rotating mirror 210 and the galvanometer 220 rotate so that a vertical field of view is formed when the detection light is emitted to the target 500 to be measured. For example, the galvanometer 220 is configured to be able to pitch and roll through a predetermined angle. After the detection light passes through the rotating mirror 210 and the galvanometer 220, the detection light is scanned in the vertical direction of the laser radar system 1000. The vertical field of view formed is greater than 25°, so that the vertical field of view formed by the scanning meets the detection requirements.

[0048] Since the rotating mirror 210 and the galvanometer mirror 220 are arranged so that the horizontal field of view formed by the detection light is greater than 120°, and the vertical field of view formed by the detection light is greater than 25°, the detection range of the laser radar system 1000 meets the requirements, and since the galvanometer mirror 220 and the rotating mirror 210 of the scanning module 200 are at least partially located in the same plane, the space occupied by the scanning module 200 is reduced, and the space utilization rate of the laser radar system 1000 is improved, so that the laser radar system 1000 takes into account both space utilization and performance.

[0049] Fig.10 The figure shows a point cloud image obtained by the laser radar system 1000 when the rotating mirror 210 and the galvanometer mirror 220 are arranged so that the vertical field of view formed by the detection light is greater than 25°. Through the above arrangement of the galvanometer mirror and the rotating mirror, in addition to increasing the scanning field of view, a regular point cloud shape can also be obtained, which can improve the calculation efficiency of the system and save calculation resources to a certain extent.

[0050] In one embodiment, as shown in FIG. 2( a ) and Figure 3 As shown, the transmitting module 100 and the receiving module 300 are arranged at an angle with respect to the axis, for example, the transmitting module 100 and the receiving module 300 are arranged at an angle at a preset angle. In one embodiment, the transmitting module 100 and the receiving module 300 are arranged at a right angle. It should be noted that the transmitting module 100 and the receiving module 300 are arranged at an angle at a preset angle, which indicates that the detection light emitted by the transmitting module 100 and the echo light received by the receiving module 300 are at a preset angle, and the optical path of the detection light before collimation and convergence is at a preset angle with the optical path of the echo light.

[0051] It should be noted that the transmitting module 100 and the receiving module 300 are arranged at an angle to each other, so that the transmitting module 100 and the receiving module 300 are convenient to arrange and can be flexibly arranged when space is limited.

[0052] In one embodiment, as shown in FIG. 2( a ), the laser radar system 1000 further includes a reflector 400 , and the detection light of the transmitting module 100 is directed to the galvanometer 220 and the rotating mirror 210 via the reflector 400 , and the echo light is directed to the receiving module 300 via the rotating mirror 210 and the galvanometer 220 in turn.

[0053] Specifically, the reflector 400 is in the optical path of the detection light and the optical path of the echo light. For example, the axis of the transmitting module 100 and the receiving module 300 are arranged at an angle. The detection light emitted by the transmitting module 100 is reflected by the reflector 400 and projected onto the galvanometer 220. The echo light is guided to the receiving module 300 via the rotating mirror 210 and the galvanometer 220 in turn. It should be noted that the echo light after the galvanometer 220 passes through the area where the reflector 400 is located. Since the structure size of the reflector 400 is small, the light projected on the reflector 400 by the echo light is small, and most of the echo light is gathered to the receiving module 300. At this time, the echo light reflected by the reflector 400 accounts for a small proportion and does not affect the detection (scanning) effect of the target 500 to be measured. By setting the reflector 400, it is conducive to realize that the axis of the transmitting module 100 and the receiving module 300 are arranged at an angle, and the flexibility of the layout is improved.

[0054] In one embodiment, if Figure 3 As shown, the laser radar system 1000 also includes a reflector 400. The detection light of the transmitting module 100 is directed to the galvanometer 220 and the rotating mirror 210 via the reflector 400, and the echo light is directed to the receiving module 300 via the rotating mirror 210, the galvanometer 220 and the reflector 400 in sequence.

[0055] Specifically, the reflector 400 has a relatively large structural size, and is located in the optical path of the detection light and the optical path of the echo light. The reflector 400 can realize the reflection and transmission of light. For example, a part of the reflector 400 is transparent, and the transparent area can allow light to pass through. After the detection light of the transmitting module 100 passes through the reflector 400, it is projected from the reflector 400 to the galvanometer 220 and the rotating mirror 210, and the detection light is not reflected at the reflector 400. When the echo light is directed to the reflector 400 by the rotating mirror 210 and the galvanometer 220, the echo light is reflected by the reflector 400, and the path of the echo light changes until the echo light is directed to the receiving module 300.

[0056] It should be noted that the above Figure 3It is only an exemplary form of the laser radar system 1000 of the embodiment of the present disclosure and is not intended to limit the protection scope of the laser radar system 1000 of the embodiment of the present disclosure.

[0057] Figure 4 FIG. 1 is a schematic structural diagram of a third laser radar system 1000 according to some other embodiments of the present disclosure, wherein the transmitting module 100 and the receiving module 300 are arranged so that the axes coincide with each other. Figure 4 As shown, in some embodiments, the transmitting module 100 and the receiving module 300 are arranged to coincide with each other in axis, and the transmitting module 100 and the receiving module 300 transmit or converge light through different lenses. For example, the light source 110 of the transmitting module 100 is located at the focus of the lens, and the lens transmits the detection light emitted by the light source 110 to the other side to form a parallel detection light beam. The detector 310 of the receiving module 300 is located at the focus of another lens, and the other lens transmits the echo light and converges it to the detector 310. At this time, the echo light waves are parallel before passing through the other lens. Since the transmitting module 100 and the receiving module 300 are arranged to coincide with each other in axis, the parallel echo light is parallel to the optical path of the detection light, which reduces the layout space of the transmitting module 100 and the receiving module 300, thereby further reducing the space size occupied by the laser radar system 1000.

[0058] Figure 5 To illustrate a schematic structural diagram of a reflector according to some other embodiments of the present disclosure, Figure 5 As shown, in one embodiment, the reflector 400 is provided with a reflection area 410 and a transmission area 420 , the reflection area 410 is used to reflect the echo light to the receiving module 300 , and the transmission area 420 is used to transmit the detection light of the transmitting module 100 .

[0059] Specifically, the reflector 400 is block-shaped, and the block-shaped reflector 400 is provided with a reflection area 410 and a transmission area 420. The detection light emitted by the transmitting module 100 is transmitted through the transmission area 420 of the reflector 400, and is directed to the target 500 after passing through the galvanometer 220 and the rotating mirror 210. The detection light is reflected by the target 500 to form an echo light, and the echo light is directed to the reflector 400 after passing through the rotating mirror 210 and the galvanometer 220. The echo light is reflected from the reflection area 410 of the reflector 400 to the receiving module 300, thereby completing the scanning detection of the target 500. For example, the reflector 400 is rectangular, and half of the area passing through the center of the rectangle is the reflection area 410, and the other half is the transmission area 420. The reflection area 410 reflects the echo light to the receiving module 300, and the detection light of the transmitting module 100 is transmitted through the transmission area 420.

[0060] Since the reflector 400 is provided with a reflection area 410 and a transmission area 420, the reflection area 410 is used to reflect the echo light to the receiving module 300, and the transmission area 420 is used to transmit the detection light of the transmitting module 100, so that the echo light and the detection light can be concentrated, and further facilitate the arrangement of the transmitting module 100 and the receiving module 300, so that when the space is limited, the arrangement of the transmitting module 100 and the receiving module 300 is more flexible.

[0061] In some embodiments, the reflective area 410 is surrounded by the transmissive area 420, and the transmissive area 420 is arranged corresponding to the transmitting module 100. Specifically, the transmissive area 420 is located in the middle of the reflector 400, and the reflective area 410 is surrounded by the transmissive area 420 (see Figure 5 ), the transmission area 420 is arranged corresponding to the transmitting module 100, the detection light emitted by the transmitting module 100 passes through the transmission area 420 and is directed to the galvanometer 220, and the echo light is reflected from the reflection area 410 to the receiving module 300.

[0062] It should be noted that, compared with the reflection zone 410, the area of ​​the transmission zone 420 is smaller, most of the echo light is reflected from the reflection zone 410 to the receiving module 300, and a very small part of the echo light is transmitted through the transmission zone 420. Therefore, the setting mode of surrounding the transmission zone 410 with the reflection zone 410 does not affect the detection effect of the laser radar system 1000, and at the same time, it is also convenient for the smart arrangement of the receiving module 300 and the transmitting module 100.

[0063] Since the reflection area 410 is surrounded by the transmission area 420, the transmission area 420 is arranged corresponding to the transmitting module 100, which reduces the detection light loss of the transmitting module 100, thereby improving the detection effect of the laser radar system 1000. At the same time, it is convenient for the smart arrangement of the receiving module 300 and the transmitting module 100, which is beneficial to reduce the space occupied by the laser radar system 1000.

[0064] In one embodiment, the transmission area 420 is a through hole. For example, the reflector 400 is a block-shaped single-sided mirror, and a through hole is provided in the middle of the block-shaped single-sided mirror to form the transmission area 420. The through hole is arranged corresponding to the transmitting module 100. The detection light emitted by the transmitting module 100 passes through the through hole, and the echo light is directed to the receiving module 300 from the reflection area 410 on the side of the through hole on the reflector 400. By setting the transmission area 420 as a through hole, the detection light has no transmission loss, and at the same time, the processing technology of the transmission area 420 is reduced, thereby reducing the cost of the reflector 400.

[0065] In one embodiment, the reflector 400 is provided with a zoned coating, and the zoned coating forms a transmission zone 420 and a reflection zone 410. Specifically, by using a coating process to perform coatings on different regions of the reflector 400, a transmission film is coated in the pre-set transmission zone 420, and a reflection film is coated in the reflection zone 410, so that the area of ​​the transmission zone can be reduced, the proportion of the reflection zone can be increased, and the return light reflection loss can be reduced.

[0066] For example, a thin film is coated on the substrate of the reflector 400 by vacuum sputtering, and the reflectivity and transmittance of the reflector 400 to the incident light beam are controlled to meet the requirements of emission and transmission. An anti-reflection film or an anti-reflection film is coated on the transmission area 420 of the reflector 400, and a high-reflection film is coated on the reflection area 410 of the reflector 400. By coating the reflector 400 in different areas to form the transmission area 420 and the reflection area 410, the detection light and the echo light pass through different areas, thereby realizing the detection scanning of the laser radar system 1000.

[0067] Figure 6 The schematic structural diagram is a diagram showing the first type of configuration of a transmitting module 100 and a receiving module 300 according to some other embodiments of the present disclosure, wherein the receiving lens assembly 320 is arranged to coincide with the axis of the transmitting lens assembly 120 . Figure 7 The schematic structural diagram is a diagram showing a second type of transmitting module 100 and receiving module 300 according to other embodiments of the present disclosure, wherein the receiving lens assembly 320 is bonded to the transmitting lens assembly 120 . Figure 8 The schematic structural diagram is a diagram showing a third type of transmitting module 100 and receiving module 300 according to some other embodiments of the present disclosure, wherein the receiving lens assembly 320 is provided with a hole or a groove 321 .

[0068] like Figure 6-Figure 7 As shown, in one embodiment, the transmitting module 100 is provided with a transmitting lens assembly 120, and the receiving module 300 is provided with a receiving lens assembly 320. The echo light passes through the receiving lens assembly 320 to converge the echo light. The receiving lens assembly 320 is arranged to coincide with the axis of the transmitting lens assembly 120.

[0069] Specifically, the light source 110 of the transmitting module 100 emits detection light toward the receiving lens assembly 320 , and the echo light converges to the detector 310 of the receiving module 300 after passing through the receiving lens assembly 320 . The receiving lens assembly 320 is arranged to coincide with the axis of the transmitting lens assembly 120 .

[0070] For example, both the transmitting lens assembly 120 and the receiving lens assembly 320 are convex lenses, and the light source 110 of the transmitting module 100 emits detection light toward the convex lens, and the detection light is directed to the target 500 after passing through the galvanometer 220 and the rotating mirror 210. The detection light is emitted back from the target 500 to form an echo light, and the echo light passes through the rotating mirror 210, the galvanometer 220, and another convex lens to converge the echo light to the detector 310 of the receiving module 300, wherein the axes of the two convex lenses are arranged to coincide with each other. The receiving lens assembly 320 is arranged to coincide with the axis of the transmitting lens assembly 120, which is characterized in that the center of the receiving lens assembly 320 coincides with the center of the transmitting lens assembly 120, and both use the same axis.

[0071] Since the receiving lens assembly 320 and the transmitting lens assembly 120 are arranged to coincide with each other in axis, the space occupied by the transmitting module 100 and the receiving module 300 is reduced, making the structure of the laser radar system 1000 more compact and improving the space utilization. In particular, in situations where space is limited, the compact structure of the laser radar system 1000 is extremely important. For example, the laser radar system 1000 is arranged on a vehicle, and the laser radar system 1000 is used to scan and detect surrounding objects. For the vehicle, the laser radar system 1000 needs to be installed in a limited space. At this time, the receiving lens assembly 320 and the transmitting lens assembly 120 are arranged to coincide with each other in axis, which plays an important role in reducing the occupied space.

[0072] It should be noted that the transmitting lens assembly 120 and the receiving lens assembly 320 can be one component, or can be installed and fixed by multiple components. For example, the receiving lens assembly 320 includes a convex lens and a collimating lens (not shown in the figure) configured to converge the echo light. The echo light enters the convex lens after passing through the collimating lens, and the echo light converges to the detector 310 after being transmitted through the convex lens. Correspondingly, the receiving lens assembly 320 includes a convex lens and a collimating lens. The detection light emitted by the light source forms a parallel light beam after passing through the convex lens and the collimating lens, thereby reducing the divergence of the detection light directed to the galvanometer 220. The above-mentioned collimating lens and convex lens can be made into an integrated type. In some other occasions, the transmitting lens assembly 120 and the receiving lens assembly 320 can be one component (convex lens), and there is no need to further collimate through a collimating lens.

[0073] like Figure 6 As shown, the transmitting lens assembly 120 and the receiving lens assembly 320 are spaced apart. Specifically, the center of the receiving lens assembly 320 coincides with the center of the transmitting lens assembly 120, and the transmitting lens assembly 120 and the receiving lens assembly 320 whose axes coincide are spaced apart to meet the detection and scanning requirements of the laser radar system 1000. For example, the transmitting lens assembly 120 and the receiving lens assembly 320 are convex lenses of two different sizes, and the two convex lenses of different sizes are spaced apart.

[0074] It should be noted that the spacing distance between the transmitting lens assembly 120 and the receiving lens assembly 320 is adapted to the size and curvature of the transmitting lens assembly 120 and the receiving lens assembly 320. For example, the transmitting lens assembly 120 and the receiving lens assembly 320 are two different convex lenses. When the size of the convex lens of the transmitting lens assembly 120 and the convex lens of the receiving lens assembly 320 are larger, the spacing distance between the transmitting lens assembly 120 and the receiving lens assembly 320 can be appropriately enlarged to meet the detection and scanning requirements of the laser radar system 1000.

[0075] In one embodiment, the transmitting lens assembly 120 is located between the light source 110 and the receiving lens assembly 320 of the transmitting module 100. Specifically, the detection light emitted by the light source 110 is transmitted to the galvanometer 220 through the transmitting lens assembly 120 and the receiving lens assembly 320, and the echo light reflected from the target 500 to be measured is converged to the detector 310 through the receiving lens assembly 320. In particular, the detector 310, the light source 110, the transmitting lens assembly 120 and the receiving lens assembly 320 are arranged in sequence.

[0076] For example, the transmitting lens assembly 120 and the receiving lens assembly 320 are two different convex lenses. The size of the convex lens of the transmitting lens assembly 120 is smaller than the size of the convex lens of the receiving lens assembly 320. The transmitting lens assembly 120 is located between the light source 110 of the transmitting module 100 and the receiving lens assembly 320. The light source 110 of the transmitting module 100 emits detection light, which passes through a relatively small convex lens and a larger convex lens (receiving lens assembly 320) to form parallel light to the galvanometer 220. In this embodiment, it is possible to avoid opening holes or grooves in the receiving lens assembly 320 to reduce costs.

[0077] like Figure 7 As shown, in one embodiment, the transmitting lens assembly 120 is fixedly connected to the receiving lens assembly 320. Specifically, the transmitting lens assembly 120 is abutted against the receiving lens assembly 320 and is fixedly connected by an adhesive material. For example, the transmitting lens assembly 120 and the receiving lens assembly 320 are bonded by epoxy glue.

[0078] Since the transmitting lens assembly 120 is fixedly connected to the receiving lens assembly 320, the connection strength between the transmitting lens assembly 120 and the receiving lens assembly 320 is improved, thereby improving the reliability of the laser radar system. The transmitting lens assembly 120 and the receiving lens assembly 320 are fixed against each other, reducing the distance between the transmitting lens assembly 120 and the receiving lens assembly 320, further making the laser radar system 1000 compact and reducing the occupied space.

[0079] It should be noted that the above description is only based on the example of the emitting lens assembly 120 and the receiving lens assembly 320 being bonded by epoxy adhesive, which does not limit the protection scope of the laser radar system 1000 of the embodiment of the present disclosure. In some other occasions, other materials can be used for bonding, or other methods can be used for fixing. For example, the emitting lens assembly 120 and the receiving lens assembly 320 are both lenses, and the two lenses are bonded by epoxy resin (see Figure 7 ).

[0080] In some embodiments, the transmitting lens assembly 120 and the receiving lens assembly 320 may be arranged with their axes coincident or parallel. The receiving lens assembly 320 is provided with a hole or a groove 321, and the hole or the groove is not limited to the center of the lens, and the center of the hole or the groove may coincide with the center of the lens of the receiving lens assembly 320, or may deviate from the center of the lens of the receiving lens assembly 320. The projection of the transmitting lens assembly 120 is at least partially located in the area of ​​the hole or the groove 321, so that the detection light emitted by the light source 110 can pass through the hole or the groove 321 and be directed to the galvanometer 220 through the transmitting lens assembly 120. The transmitting lens assembly 120 may be located in front of the hole or the groove 321 of the receiving lens assembly 320, or may be at least partially accommodated in the hole or the groove 321 of the receiving lens assembly 320.

[0081] In some embodiments, the transmitting lens assembly 120 and the receiving lens assembly 320 can be arranged with their axes coincident. Figure 8 , the hole or groove 321 is located at the center of the receiving lens assembly 320, the axis of the transmitting lens assembly 120 coincides with the axis of the receiving lens 320, and the size of the transmitting lens assembly 120 is smaller than the size of the receiving lens 320, so that the projection of the transmitting lens assembly 120 is located in the area of ​​the hole or groove 321 of the receiving lens assembly 320. In some other embodiments, the hole or groove 321 is located at the center of the receiving lens assembly 320, the axis of the transmitting lens assembly 120 coincides with the axis of the receiving lens 320, but the projection of the transmitting lens assembly 120 is only partially located in the area of ​​the hole or groove 321 of the receiving lens assembly 320, for example, the size of the transmitting lens is slightly about the size of the hole or groove 321. After passing through the hole or groove 321 and the transmitting lens assembly 120, the detection light is directed to the galvanometer 220.

[0082] In some embodiments, the transmitting lens assembly 120 and the receiving lens assembly 320 may be arranged in parallel with each other, and the axis of the transmitting lens assembly 120 and the axis of the receiving lens assembly 320 may deviate from each other by a certain distance. The hole or groove 321 in the receiving lens assembly 320 may not be arranged at the center of the receiving lens assembly 320, but may be arranged at a position deviating from the center of the receiving lens assembly 320 by a certain distance. The transmitting lens assembly 120 may be completely accommodated in the hole or groove 321, or partially accommodated in the hole or groove 321, or located in front of the hole or groove 321 and the projection of the transmitting lens assembly 120 falls into the area of ​​the hole or groove 321 of the receiving lens assembly 320, so that the detection light passes through the hole or groove 321, passes through the transmitting lens assembly 120, and is directed to the galvanometer 220.

[0083] The echo light is gathered from the peripheral area of ​​the hole or groove 321 on the receiving lens assembly 320 to the detector 310. For example, the receiving lens assembly 320 is a convex lens, and the hole or groove 321 is provided at any position of the convex lens, for example, the hole or groove is provided coaxially with the central axis of the convex lens, or the hole or groove is provided parallel to the central axis of the convex lens.

[0084] The embodiments of the present disclosure also provide a vehicle system, comprising any one of the above-mentioned laser radar systems 1000.

[0085] Specifically, the laser radar system 1000 is installed on the vehicle system, and the laser radar system 1000 detects the target position, obtains the target distance, target speed, target posture, etc., and determines the distance to the object along the path of the emitted detection light. For those skilled in the art, it is easy to understand that the laser radar system 1000 can also use other technologies to measure the surrounding environment.

[0086] In the vehicle system of the embodiment of the present disclosure, since the galvanometer 220 and the rotating mirror 210 of the laser radar system 1000 are at least partially located in the same plane, the galvanometer 220 and the rotating mirror 210 are at least partially overlapped, which reduces the size in the vertical direction, reduces the space occupied by the scanning module 200, and makes the laser radar system 1000 compact and reduces the occupied space. It should be understood that since the laser radar system 1000 is often installed on other equipment, for example, the laser radar system 1000 is often installed in a small space of the vehicle 2000, the vehicle 2000 has certain restrictions on the installation space of the laser radar system 1000, and it is extremely important to reduce the space occupied by the scanning module 200.

[0087] It should be noted that the vehicle system includes cars, ships, aircraft, drones, etc., which scan and detect surrounding objects in the environment through the laser radar system 1000 to facilitate controlling the movement trajectory or performing corresponding operations, such as distance display, close distance alarm, etc.

[0088] Fig. 9 To illustrate a schematic structural diagram of a carrier system according to an embodiment of the present disclosure, Fig. 9 As shown, in some embodiments, the laser radar system 1000 is installed at the front of the vehicle 2000, and the target in front of the vehicle 2000 is detected by the laser radar system 1000 located at the front of the vehicle 2000, and the operation of the vehicle is controlled according to the detection result.

[0089] For example, the laser radar system 1000 is installed in the headlight of the vehicle 2000, and the laser radar system 1000 is connected to the controller of the vehicle, and the controller performs corresponding control based on the detection and scanning results of the laser radar system 1000. In particular, in the unmanned driving scenario, since the laser radar system 1000 is installed at the front of the vehicle 2000, the forward direction and forward speed of the vehicle are controlled through the detection results of the laser radar system 1000, and the objects in front are avoided in time to reduce the risk of collision.

[0090] In other embodiments, the laser radar system 1000 may also be installed on the roof of the vehicle 2000, inside the front windshield, on the door side, or at the rear of the vehicle 2000 to detect objects in front, on the side, or behind the vehicle 2000.

[0091] In order to better understand the laser radar system 1000 of the embodiment of the present disclosure, the specific details of the laser radar system 1000 are described below.

[0092] The present disclosure provides a laser radar system 1000, in which the detection light of the light source 110 is incident on the galvanometer 220 and the rotating mirror 210, and the vertical field of view and the horizontal field of view of the target 500 to be measured are scanned. After the target 500 to be measured returns the light, an echo light is formed. The echo light passes through the rotating mirror 210 and the galvanometer 220 and is led to the receiving lens assembly 320 until it enters the detector 310, thereby realizing the detection scanning of the target 500 to be measured. Since the galvanometer 220 and the rotating mirror 210 are placed in the same plane, not only the horizontal field of view satisfies the horizontal greater than 120° and the vertical field of view is greater than 25°, but also the size of the laser radar system 1000 in the vertical direction is reduced (see FIG. 2(a)), so that the laser radar system 1000 has a compact structure, reduces the space occupied by the laser radar system 1000, and improves the space utilization rate. The laser radar system according to the embodiment of the present disclosure is particularly suitable for installation in a space with limited vertical dimensions.

[0093] The transmitting module 100 and the receiving module 300 are arranged non-coaxially to avoid slotting or opening in the receiving lens assembly 320. Meanwhile, in the laser radar system 1000, a reflector 400 is arranged, and the reflector 400 can be arranged at different angles (see Figure 3 ), further making the structure of the laser radar system 1000 compact, reducing the space occupied by the laser radar system 1000, and improving space utilization.

[0094] The reflector 400 can be coated in a partitioned manner or have a hole in the middle region, so that a reflection region 410 and a transmission region 420 are formed on the reflector 400, and the detection light is transmitted from the middle transmission region 420, and the echo light is reflected from the edge reflection region 410 to the receiving module 300. It should be noted that the angle of the reflector 400 can be flexibly set. In different occasions, the reflector 400 is set to different angles (for example, the reflector 400 is at different angles with the horizontal line), which further makes the laser radar system 1000 compact and improves space utilization.

[0095] The light source 110 collimates the detection light through the transmitting lens assembly 120, and guides the detection light through the galvanometer 220 and the rotating mirror 210 (polyhedron rotating mirror), and then guides the detection light to the target 500 to be measured, and forms an echo light through reflection from the target 500, and the echo light is guided to the receiving module 300 to achieve vertical field of view and horizontal field of view scanning. Among them, the transmitting module 100 and the receiving module 300 are arranged in a manner that the axes coincide or the axes are parallel, for example, the axes of the transmitting lens assembly 120 and the receiving lens assembly 320 coincide or are parallel, so that the structures of the transmitting module 100 and the receiving module 300 are more compact.

[0096] It should be understood that there are at least three specific implementations of arranging the axial lines of the transmitting lens assembly 120 and the receiving lens assembly 320 to coincide with each other: (1) The transmitting lens assembly 120 and the receiving lens assembly 320 are placed at intervals in front and back, and the detection light is collimated by the transmitting lens assembly 120 and then transmitted to the galvanometer 220, and the echo light is focused to the detector 310 by the receiving lens assembly 320. (2) The transmitting lens assembly 120 and the receiving lens assembly 320 are glued together to form an integrated structure, and the detection light is collimated by the transmitting lens assembly 120 and then transmitted to the galvanometer 220, and the echo light is focused to the detector 310 only by the receiving lens assembly 320. (3) A hole or groove 321 is provided at the center of the receiving lens assembly 320 or at a certain distance from the center, and the transmitting lens assembly 120 is arranged to coincide with the axis of the hole or groove 321, and the projection of the transmitting lens assembly 120 is at least partially located in the area of ​​the hole or groove 321.

[0097] The axis-parallel arrangement of the transmitting lens assembly 120 and the receiving lens assembly 320 may be implemented in at least one of the following specific ways: (1) a hole or groove 321 is arranged at the center of the receiving lens assembly 320 or at a certain distance from the center of the receiving lens assembly 320, the transmitting lens assembly 120 is arranged parallel to the axis of the hole or groove 321, and the projection of the transmitting lens assembly is at least partially located in the area of ​​the hole or groove 321.

[0098] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) to form a technical solution.

[0099] Some exemplary aspects of the present disclosure are described below.

[0100] Solution 1. A laser radar system, comprising:

[0101] A transmitting module, used for transmitting detection light, wherein the detection light is reflected by the target to be detected to form echo light;

[0102] a scanning module, the scanning module comprising a rotating mirror and a galvanometer mirror, the rotating mirror and the galvanometer mirror are both used to guide the detection light and the echo light, the rotating mirror is used to scan the laser radar system in a first direction, the galvanometer mirror is used to scan the laser radar system in a second direction different from the first direction, and the galvanometer mirror and the rotating mirror are at least partially located in the same plane; and

[0103] A receiving module is used to receive the echo light.

[0104] Solution 2. A laser radar system according to Solution 1, wherein the rotating mirror and the galvanometer are arranged so that the horizontal field of view formed by the detection light is greater than 120°; and / or,

[0105] The vertical field of view formed by the detection light is greater than 25°.

[0106] Solution 3. A laser radar system according to Solution 1 or 2, wherein the transmitting module is arranged to coincide with or be parallel to the axis of the receiving module.

[0107] Option 4. A laser radar system according to Option 1 or 2, wherein the transmitting module is arranged at an angle to the axis of the receiving module.

[0108] Solution 5. A laser radar system according to Solution 4, wherein the laser radar system further comprises a reflector, and the detection light of the transmitting module is directed to the galvanometer and the rotating mirror via the reflector, and the echo light is directed to the receiving module via the rotating mirror and the galvanometer in turn.

[0109] Solution 6. A laser radar system according to Solution 4, wherein the laser radar system further comprises a reflector, and the detection light of the transmitting module is directed to the galvanometer and the rotating mirror via the reflector, and the echo light is directed to the receiving module via the rotating mirror, the galvanometer and the reflector in sequence.

[0110] Solution 7. A laser radar system according to Solution 6, wherein the reflector is provided with a reflection area and a transmission area, the reflection area is used to reflect the echo light to the receiving module, and the transmission area is used to transmit the detection light of the transmitting module.

[0111] Solution 8. A laser radar system according to Solution 7, wherein the reflective area is surrounded by the transmissive area, and the transmissive area is arranged corresponding to the transmitting module.

[0112] Option 9. A laser radar system according to Option 7 or 8, wherein the transmission area is a through hole.

[0113] Solution 10. A laser radar system according to Solution 7 or 8, wherein the reflector is provided with a partition coating, and the partition coating forms the transmission area and the reflection area.

[0114] Solution 11. A laser radar system according to Solution 3, wherein the transmitting module is provided with a transmitting lens assembly, and the receiving module is provided with a receiving lens assembly, the echo light passes through the receiving lens assembly to converge the echo light, and the receiving lens assembly is arranged to coincide with or be parallel to the axis of the transmitting lens assembly.

[0115] Option 12. A laser radar system according to Option 11, wherein the transmitting lens assembly and the receiving lens assembly are spaced apart.

[0116] Option 13. A laser radar system according to Option 12, wherein the transmitting lens assembly is located between the light source of the transmitting module and the receiving lens assembly.

[0117] Option 14. A laser radar system according to Option 11, wherein the transmitting lens assembly is fixedly connected to the receiving lens assembly.

[0118] Solution 15. A laser radar system according to any one of Solutions 3, 11 to 14, wherein the transmitting module is provided with a transmitting lens assembly, the receiving module is provided with a receiving lens assembly, the receiving lens assembly is provided with a hole or a groove, the projection of the transmitting lens assembly is at least partially located within the area of ​​the hole or the groove, and the transmitting lens assembly is arranged to coincide with or be parallel to the axis of the receiving lens assembly.

[0119] Option 16. A vehicle system, comprising: a laser radar system according to any one of Options 1 to 15.

[0120] Option 17. A vehicle system according to Option 16, wherein the vehicle system is a vehicle, and the lidar system is installed on the front of the vehicle and / or the side of the vehicle.

Claims

1. A laser radar system, comprising: A transmitting module, used for transmitting detection light, wherein the detection light is reflected by the target to be detected to form echo light; A scanning module, the scanning module comprising a rotating mirror and a galvanometer mirror, the rotating mirror and the galvanometer mirror are both used to guide the detection light and the echo light, the rotating mirror is used to scan the laser radar system in a first direction, the galvanometer mirror is used to scan the laser radar system in a second direction different from the first direction, and the galvanometer mirror and the rotating mirror are at least partially located in the same plane; as well as A receiving module is used to receive the echo light.

2. The laser radar system according to claim 1, wherein: The rotating mirror and the galvanometer are arranged so that the horizontal field of view formed by the detection light is greater than 120°; and / or, The vertical field of view formed by the detection light is greater than 25°.

3. The laser radar system according to claim 1 or 2, wherein: The transmitting module and the receiving module are arranged so that their axes coincide with or are parallel to each other.

4. The laser radar system according to claim 1 or 2, wherein: The transmitting module is arranged at an angle to the axis of the receiving module.

5. The laser radar system according to claim 4, wherein: The laser radar system also includes a reflector, and the detection light of the transmitting module is directed to the galvanometer and the rotating mirror via the reflector, and the echo light is directed to the receiving module via the rotating mirror and the galvanometer in turn.

6. The laser radar system according to claim 4, wherein: The laser radar system also includes a reflector, and the detection light of the transmitting module is directed to the galvanometer and the rotating mirror via the reflector, and the echo light is directed to the receiving module via the rotating mirror, the galvanometer, and the reflector in sequence.

7. The laser radar system according to claim 6, wherein: The reflector is provided with a reflection area and a transmission area, the reflection area is used to reflect the echo light to the receiving module, and the transmission area is used to transmit the detection light of the transmitting module.

8. The laser radar system according to claim 7, wherein: The reflective area is surrounded by the transmissive area, and the transmissive area is arranged corresponding to the emitting module.

9. The laser radar system according to claim 7 or 8, wherein: The transmission area is a through hole.

10. The laser radar system according to claim 7 or 8, wherein: The reflector is provided with a partition coating, and the partition coating forms the transmission area and the reflection area.

11. The laser radar system according to claim 3, wherein: The transmitting module is provided with a transmitting lens assembly, and the receiving module is provided with a receiving lens assembly. The echo light passes through the receiving lens assembly to converge the echo light. The receiving lens assembly is arranged to coincide with or be parallel to the axis of the transmitting lens assembly.

12. The laser radar system according to claim 11, wherein: The transmitting lens assembly is spaced apart from the receiving lens assembly.

13. The laser radar system according to claim 12, wherein: The transmitting lens assembly is located between the light source of the transmitting module and the receiving lens assembly.

14. The laser radar system according to claim 11, wherein: The transmitting lens assembly is fixedly connected to the receiving lens assembly.

15. The laser radar system according to claim 3, wherein: The transmitting module is provided with a transmitting lens assembly, and the receiving module is provided with a receiving lens assembly. The receiving lens assembly is provided with a hole or a groove. The projection of the transmitting lens assembly is at least partially located in the area of ​​the hole or the groove. The transmitting lens assembly and the receiving lens assembly are arranged to coincide with or be parallel to each other in their axes.

16. A carrier system, comprising: A lidar system according to any one of claims 1 to 15.

17. The carrier system according to claim 16, wherein: The vehicle system is a vehicle, and the laser radar system is installed on the front of the vehicle and / or the side of the vehicle.

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