Laser radar and automatic driving equipment

Abstract

The invention relates to the technical field of radars, and provides a laser radar and automatic driving equipment. The laser radar comprises a first transmit-receive module, a second transmit-receive module and a galvanometer. The first transceiver module and the second transceiver module are both used for emitting emergent laser and receiving echo laser, the echo laser is laser returned after the emergent laser is reflected by an object in a detection area, and the galvanometer is used for reflecting the emergent laser emitted by the first transceiver module and the second transceiver module and then emitting the emergent laser to the detection area. Meanwhile, the first receiving and transmitting module and the second receiving and transmitting module are used for reflecting the echo laser and transmitting the reflected echo laser to the corresponding first receiving and transmitting module; the detection areas corresponding to the more than two first transceiver modules are spliced into a scanning area, and the detection area corresponding to the second transceiver module is at least partially overlapped with the scanning area. The detection area corresponding to the second transceiver module is specially used for overlapping with the scanning area, a large-area ROI area can be realized, and the ROI area is formed by adopting a physical overlapping mode, so that network broadband occupation and computing resources are saved.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a laser radar and an automatic driving device. Background Art

[0002] LiDAR is a device that emits laser beams to detect the parameters of target objects. Its working principle is to emit a laser beam (i.e., transmit a signal) to the target object, and then compare the received echo signal reflected from the target with the transmitted signal. After appropriate processing, the relevant parameters of the target object can be obtained, such as: the distance, direction, height, speed, posture, shape and other parameters of the target object.

[0003] LiDAR based on micro-electromechanical system (MEMS) micro-mirror technology has the advantages of fast response, good reliability, and high ranging resolution. When the transmitting module emits an outgoing laser and it is incident on the MEMS micro-mirror (also called a galvanometer), the outgoing laser is deflected on the surface of the MEMS micro-mirror. As the MEMS micro-mirror vibrates, the outgoing laser will cover a certain range of field of view angles, scan the detection area corresponding to the field of view angle range, and thus obtain the distance information of the target object surface.

[0004] In order to meet the detection needs, a region of interest (ROI) is set in the detection area. However, the current laser radar has technical problems such as small ROI area and difficult control. A large ROI area can make it easier for users to aim at key areas and meet the needs of high-resolution recognition. Summary of the invention

[0005] The purpose of the present invention is to provide a laser radar and an autonomous driving device, aiming to solve the technical problem that the existing laser radar cannot generate a large ROI area.

[0006] In a first aspect, the present application provides a laser radar, the laser radar comprising a first transceiver module, a second transceiver module and a galvanometer;

[0007] The first transceiver module and the second transceiver module are both used to emit outgoing laser and receive echo laser, the echo laser is the laser that is returned after the outgoing laser is reflected by an object in the detection area, and the galvanometer is used to reflect the outgoing laser emitted by the first transceiver module and the second transceiver module and emit it to the detection area, and is also used to reflect the echo laser and emit it to the corresponding first transceiver module and the second transceiver module;

[0008] The number of the first transceiver modules is more than two, the detection areas corresponding to the more than two first transceiver modules are spliced ​​into a scanning area, and the detection area corresponding to the second transceiver module at least partially overlaps with the scanning area.

[0009] In a second aspect, the present application provides an autonomous driving device, which includes a driving device body and a laser radar as described in any one of the above items, and the laser radar is installed on the driving device body.

[0010] The laser radar and the autonomous driving device provided by the present invention have the following beneficial effects: the outgoing lasers emitted by more than two first transceiver modules are reflected by the galvanometer mirrors and directed to their respective detection areas, and these detection areas are spliced ​​to form a scanning area, and the outgoing lasers emitted by the second transceiver module are at least partially directed to the scanning area after being reflected by the galvanometer mirror, that is, the detection area corresponding to the second transceiver module is at least partially physically overlapped with the scanning area. Compared with the ROI area formed by the edge overlap when the detection areas of the two transceiver modules are spliced, the detection area of ​​the second transceiver module is specifically used to overlap with the scanning area, so that a large area of ​​ROI area can be achieved, which solves the problem that the existing laser radar cannot generate a large area of ​​ROI area. The technical problem of OI area is solved, so that the laser radar can obtain a large area of ​​ROI area, and the ROI area is formed by physical overlapping. The point cloud data is real and reliable, reducing possible artifacts and image noise. The position of the ROI area in the scanning area is fixed, that is, each scan will cover the area at the same position, and can scan the object of interest repeatedly, multiple times, and from multiple perspectives stably. The error introduced by the change of scanning position can be eliminated, without relying on specific algorithms, complex control and fast communication networks, saving network bandwidth occupancy and computing resources, and can be widely used in scenes with many objects in the detection area, outdoor or network congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 A first structural block diagram of a laser radar provided in an embodiment of the present invention;

[0013] Figure 2 for Figure 1 Schematic diagram of the scanning area of ​​the laser radar;

[0014] Figure 3 A second structural block diagram of a laser radar provided in an embodiment of the present invention;

[0015] Figure 4 A third structural block diagram of the laser radar provided in an embodiment of the present invention;

[0016] Figure 5 for Figure 4 Schematic diagram of the scanning area of ​​the laser radar;

[0017] Figure 6 A schematic diagram of the external structure of a laser radar provided in an embodiment of the present invention;

[0018] Figure 7 An exploded view of a laser radar provided by an embodiment of the present invention;

[0019] Figure 8 A schematic diagram of the structure of the laser radar provided by an embodiment of the present invention with the top cover removed;

[0020] Fig. 9 Another viewing angle of the laser radar provided by the embodiment of the present invention after the top cover is removed;

[0021] Fig.10 Another viewing angle diagram of the laser radar provided by an embodiment of the present invention after the top cover is removed;

[0022] Fig.11 A schematic diagram of the optical path of the laser radar provided by an embodiment of the present invention with the top cover removed;

[0023] Fig.12 A schematic diagram of a folding bracket of a folding mirror assembly of a laser radar provided in an embodiment of the present invention;

[0024] Fig.13 for Fig.12 Another perspective view of the reentry bracket in FIG.

[0025] Fig.14 A comparative schematic diagram of the projection of the optical path along the third direction when the second transceiver module is tilted;

[0026] Fig.15 A schematic diagram of the structure of a base of a shell of a laser radar provided in an embodiment of the present invention;

[0027] Fig.16 for Fig.15 Another perspective view of the base in FIG.

[0028] Fig.17 A schematic diagram of an autonomous driving device provided for an embodiment.

[0029] Among them, the reference numerals in the figure are:

[0030] X, first direction; Y, second direction; Z, third direction;

[0031] 10. Laser radar; 20. Driving equipment body;

[0032] 110, first transceiver module; 111, first detection area; 120, second transceiver module; 121, second detection area;

[0033] 200, galvanometer;

[0034] 300, folding mirror assembly; 310, folding bracket; 311, light hole; 312, adjustment notch; 313, first side; 314, second side; 315, first mounting plane; 316, second mounting plane; 317, bracket mounting plate; 318, bracket support plate; 320, reflective lens; 321, first lens; 322, second lens;

[0035] 500, housing; 510, base; 511, first support plate; 512, second support plate; 513, first limiter; 514, second limiter; 515, third limiter; 516, fourth limiter; 520, top cover; 521, detection window; 530, first side cover; 540, second side cover; 550, window sheet;

[0036] 610, transmission board; 611, avoidance port; 620, interface board; 621, first circuit board; 622, second circuit board; 630, digital board; 631, third circuit board; 632, fourth circuit board; 640, wiring harness. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout 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 intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, not all references are to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0039] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; 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 the present invention can be understood according to specific circumstances.

[0042] Combination Figure 1 and Figure 2 The laser radar 10 provided in this embodiment includes a first transceiver module 110, a second transceiver module 120 and a galvanometer 200. The first transceiver module 110 and the second transceiver module 120 are both used to emit outgoing laser and receive echo laser, the echo laser is the laser that is returned after the outgoing laser is reflected by the object in the detection area, and the galvanometer 200 is used to reflect the outgoing laser emitted by the first transceiver module 110 and the second transceiver module 120 to the detection area, and is also used to reflect the echo laser to the corresponding first transceiver module 110 and the second transceiver module 120.

[0043] There are more than two first transceiver modules 110. The first detection areas corresponding to the more than two first transceiver modules 110 are spliced ​​into a scanning area, and the second detection area corresponding to the second transceiver module 120 at least partially overlaps with the scanning area.

[0044] In the laser radar 10 provided in this embodiment, the outgoing lasers emitted by more than two first transceiver modules 110 are reflected by the galvanometer 200 and directed to their respective first detection areas. These first detection areas are spliced ​​to form a scanning area, and the outgoing lasers emitted by the second transceiver module 120 are at least partially directed to the scanning area after being reflected by the galvanometer 200, that is, the second detection area corresponding to the second transceiver module 120 is at least partially physically overlapped in the scanning area. The detection area corresponding to the second transceiver module 120 is specifically used to overlap with the scanning area, and a large ROI area can be achieved, so that the laser radar 10 can obtain a large ROI area, and the ROI area is formed by physical overlap, the point cloud data is true and reliable, and possible artifacts and image noise are reduced. The position of the ROI area in the scanning area is fixed and unchanged, and the object of interest can be scanned repeatedly, multiple times, and from multiple perspectives and stably, and errors introduced by changes in the scanning position can be eliminated.

[0045] If the ROI area is formed by controlling the resolution, it is necessary to precisely control the emission angle, field of view angle range, transmission frequency and transmission timing of all transceiver modules. At the same time, it is necessary to rely on environmental sensors, fast communication networks and efficient computing capabilities to obtain the surrounding environment parameters and build environmental models in real time, which consumes a lot of energy. Therefore, the detection area of ​​one transceiver module is adjusted by control to overlap with the edge of the detection area of ​​another spliced ​​transceiver module, or the two transceiver modules increase the transmission frequency in the same detection area.

[0046] The present embodiment forms the ROI region by means of physical overlap, without relying on specific algorithms, complex control, fast communication networks and efficient computing capabilities, so as to save network bandwidth and computing resources, and has the characteristics of large area, low energy consumption, high stability and high reliability. The large area of ​​the ROI region allows users to select key areas to improve resolution and meet the needs of high-definition recognition. It can be applied to urban traffic scenes with many objects in the detection area and the objects are constantly moving, and can be applied to field operation scenes with insufficient energy supply and limited communication network speed, and can also be applied to large gatherings with network congestion and large communication delays.

[0047] Specifically, each first transceiver module 110 and each second transceiver module 120 includes a corresponding transmitting module, a receiving module and a splitter module, wherein the transmitting module is used to transmit an outgoing laser, and the receiving module is used to receive an echo laser, which is the laser returned after the outgoing laser is reflected by an object in the detection area. The splitter module is used to separate the outgoing laser from the echo laser to prevent the echo laser from entering the transmitting module again.

[0048] Optionally, the emission module includes a laser module, an emission drive module and an emission optical module. The laser module is used to emit an exit laser. The laser module can be selected as a solid-state laser, a laser diode or a high-power laser. The laser module can emit light in different formats, such as light pulses, continuous waves (CW), quasi-CW, etc. The emission drive module is connected to the laser module for driving and controlling the operation of the laser module. The emission optical module is arranged on the optical path of the exit laser emitted by the laser module for collimating the exit laser. The emission optical module can use collimation modules such as optical fiber and ball lens group, separate ball lens group, cylindrical lens group, etc.

[0049] Optionally, the receiving module includes a detector module, a receiving drive module and a receiving optical module. The receiving optical module is arranged on the optical path of the echo laser reflected by the galvanometer 200, and is used to converge the echo laser. The detector module is used to receive the echo laser converged by the receiving optical module. The receiving drive module is connected to the detector module, and is used to drive and control the detector module to work. The receiving optical module can adopt a ball lens, a ball lens group or a cylindrical lens group, etc.

[0050] Specifically, the laser radar 10 provided in this embodiment adopts a coaxial transceiver module for transmission and reception. The outgoing laser emitted by the laser module in the transceiver module is collimated by the transmitting optical module and then emitted after passing through the spectroscopic module. The echo laser returned after being reflected by the object in the detection area is emitted into the transceiver module. The echo laser is deflected by the spectroscopic module and then emitted to the receiving optical module. The receiving optical module converges the echo laser and is received by the detector module. The coaxial transceiver module does not require an additional receiving module, which is conducive to the miniaturization of the optical path structure. Of course, in other embodiments, the transceiver module is an off-axis structure, and the transceiver module includes a transmitting module and a receiving module that are separately arranged.

[0051] Specifically, the galvanometer 200 includes a mirror surface that vibrates back and forth, and reflects the outgoing laser and the echo laser through the mirror surface. The outgoing laser is reflected by the vibrating mirror surface and the echo laser that returns coaxially is received, so as to realize scanning of the detection area. The galvanometer 200 can adopt a two-dimensional MEMS micromirror, which can rotate and scan at a certain mechanical angle in the horizontal and vertical directions. The outgoing laser emitted by the first transceiver module 110 and the second transceiver module 120 is scanned after passing through the two-dimensional MEMS micromirror, and the horizontal and vertical angles of the detection area are determined by the scanning mechanical angle of the two-dimensional MEMS micromirror.

[0052] In this embodiment, the detection area corresponding to the first transceiver module 110 is the first detection area 111, and the detection area corresponding to the second transceiver module 120 is the second detection area 121. When the laser radar 10 is designed, the position of the second detection area 121 in the scanning area can be customized. For example, the second detection area 121 can be located in the center of the scanning area formed by splicing multiple first detection areas 111 (see Figure 2 ) or a position close to the edge; the second detection area 121 may completely overlap with the scanning area formed by the splicing of multiple first detection areas 111, or may partially overlap and partially not overlap with the scanning area formed by the splicing of multiple first detection areas 111. Specifically, 1 / 3 to 1 of the area of ​​the detection area corresponding to the second transceiver module 120 overlaps with the scanning area. Of course, the staff can also customize the position and area of ​​the second detection area 121 by adjusting the arrangement position relationship of the first transceiver module 110, the second transceiver module 120 and the galvanometer 200, for example, adjusting the height relationship between the second transceiver module 120 and the reflective lens 320, or adjusting the pitch angle of the reflective lens 320.

[0053] In this embodiment, the number of the first transceiver modules 110 may be two, three, or more than three. The two or more first transceiver modules 110 may be spaced apart along the straight line of the first direction X, or may be spaced apart along a curve. The number of the second transceiver modules 120 may be one or more than two. Generally, in order to reduce the types of components and manufacturing difficulty of the laser radar 10, the first transceiver module 110 and the second transceiver module 120 use the same type of transceiver module, so the detection area area of ​​the first transceiver module 110 and the second transceiver module 120 is the same, and the number of the second transceiver modules 120 is less than the number of the first transceiver modules 110 to avoid the detection area area of ​​the second transceiver module 120 exceeding the scanning area area.

[0054] In one possible example, combining Figure 1 and Figure 2 The laser radar 10 includes a second transceiver module 120 and a plurality of first transceiver modules 110, and the second transceiver module 120 is arranged between the plurality of first transceiver modules 110. Specifically, there are four first transceiver modules 110, and the four first transceiver modules 110 together form four spliced ​​first detection areas 111, and the second detection area 121 formed by the second transceiver module 120 is located in the center of the scanning area spliced ​​by the four first detection areas 111, and the second detection area 121 overlaps with the first detection area 111b and the first detection area 111c located in the middle, respectively.

[0055] In one possible example, combining Figure 4 and Figure 5The laser radar 10 includes two second transceiver modules 120 and a plurality of first transceiver modules 110, and a first transceiver module 110 is arranged between the two second transceiver modules 120. Specifically, the number of the first transceiver modules 110 is three, and the three first transceiver modules 110 together form three spliced ​​first detection areas 111, and the two second detection areas 121 formed by the two second transceiver modules 120 are located in the scanning area spliced ​​by the three first detection areas 111. Generally, the two second detection areas 121 do not overlap and there is no gap, so that the area of ​​the ROI area is maximized, and the ROI area is coherent and the resolution is consistent. See Figure 5 The first second detection area 121a overlaps with the first detection area 111a located at the edge and the first detection area 111b located in the middle, respectively; the second second detection area 121b overlaps with the first detection area 111c located at the edge and the first detection area 111b located in the middle, respectively; and the first second detection area 121a and the second second detection area 121b are spliced.

[0056] In some embodiments, in combination Figures 1 to 5 , the detection points in the second detection area 121 corresponding to the second transceiver module 120 are staggered with the detection points in the first detection area 111 corresponding to the first transceiver module 110. The light-emitting laser emitted by the first transceiver module 110 and the light-emitting laser emitted by the second transceiver module 120 are respectively formed into a plurality of first detection points and a plurality of second detection points arranged at intervals along a straight line through line scanning by a one-dimensional galvanometer 200, and the second detection points are located in the intervals formed by the first detection points. Alternatively, the first detection points and the second detection points are plane-scanned by a two-dimensional galvanometer 200 to form a plurality of first detection point arrays and a plurality of second detection point arrays arranged at intervals in a determinant manner, and the second detection points are located in the intervals formed by the first detection points. Compared with other areas of the scanning area where only the first detection points are distributed, the second detection area 121 physically has the first detection points and the second detection points distributed in an interlaced manner at the same time, and the detection point density of the second detection area 121 is greater, the point cloud data is more, and the image resolution obtained is higher.

[0057] Optionally, the first transceiver module 110 and the second transceiver module 120 have the same model and driving mode, which reduces the number of components of the laser radar 10 and realizes mass production of transceiver modules at the hardware level. At the control level, the first transceiver module 110 and the second transceiver module 120 are set differently according to preset rules. Since the detection cycles of the first transceiver module 110 and the second transceiver module 120 are fixed, the horizontal resolution of the point cloud in the detection area can be known, and since the two share the same galvanometer 200, the vertical resolution of the point cloud can be known, and then the optical path of the first transceiver module 110 and the second transceiver module 120 is set to stagger the second detection point corresponding to the second transceiver module 120 and the first detection point corresponding to the first transceiver module 110. Based on the above design, the detection points of the second detection area 121 can overlap naturally and physically, reducing the difficulty of coordinated control of the first transceiver module 110 and the second transceiver module 120. The point cloud distribution rules formed by the echo laser reduce the difficulty of data processing such as data deduplication, data registration, and data fusion.

[0058] In some embodiments, in combination Figure 1 and Figure 3 , the two or more first transceiver modules 110 and the second transceiver modules 120 are spaced apart along the first direction X to achieve close arrangement, and the first transceiver module 110 and the second transceiver module 120 will emit the outgoing laser in the same or substantially the same direction, so that the galvanometer 200 can receive the outgoing laser in the outgoing direction or reflect the echo laser to it, and the optical path is relatively regular. The detection areas corresponding to the two or more first transceiver modules 110 are sequentially spliced ​​along the first direction X, which is conducive to increasing the horizontal field of view of the scanning area and improving the coverage capability of the laser radar 10.

[0059] Combination Figure 1 If multiple first transceiver modules 110 and second transceiver modules 120 are arranged in parallel and spaced apart, in order to enable the first detection areas 111 to be spliced ​​with each other without gaps, and the second detection area 121 to overlap in the scanning area spliced ​​by multiple first detection areas 111, a folding mirror assembly 300 must be added to fold the parallel light path back to change the direction of the light path to achieve the galvanometer 200. The angle between each reflective lens 320 of the folding mirror assembly 300 must be set larger to increase the difference in reflection angles of each light path, so that each parallel and spaced light path can be reflected and directed to the galvanometer 200, but each reflective lens 320 with a larger angle will increase the difficulty of light adjustment, manufacturing and assembly of the folding mirror assembly 300. At the same time, strict requirements are also made on the layout position, layout angle and scanning mechanical angle of the galvanometer 200, resulting in a complex architecture of the laser radar 10, difficult adjustment of component positions, large or irregular volume, and inconvenient installation.

[0060] In a specific embodiment, in combination Figure 3 , Figure 4, Fig. 9 and Fig.11 At least one first transceiver module 110 adjacent to the second transceiver module 120 is tilted, and the arrangement angle a between the optical axis of the first transceiver module 110 and the optical axis of the second transceiver module 120 is an acute angle, that is, the transmitting end of at least one adjacent first transceiver module 110 is tilted toward the second transceiver module 120, and the outgoing lasers emitted by the first transceiver modules 110 on both sides gradually approach each other. The optical path of the first transceiver modules 110 can be spliced ​​in a shorter stroke, which is beneficial to the miniaturized design of the laser radar 10. The optical path of the second transceiver module 120 located in the middle naturally overlaps in the optical path of the first transceiver modules 110 on both sides of the splicing, reducing the difficulty of achieving a large area ROI.

[0061] In addition, combined Figure 7 , Fig.11 and Fig.14 Based on the above design, the first transceiver module 110 located on both sides of the second transceiver module 120 is tilted. First, combined with Fig.14 In order to obtain a preset large area ROI region, the angle of the incident light OA of the galvanometer 200 is locked. Fig.14 In (a), the first transceiver module 110 and the second transceiver module 120 are arranged in parallel, and an angle b1 is formed between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120 . Fig.14 The first transceiver module 110 in (b) is tilted, and an angle b2 is formed between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120. Since the angle between the emitted laser of the parallel-set first transceiver module 110 and the incident light OA of the corresponding galvanometer 200 is smaller than the angle between the emitted laser of the tilted first transceiver module 110 and the incident light OA of the corresponding galvanometer 200, the angle b1 is greater than the angle b2, that is, the first transceiver module 110 is tilted, so that the angles of the reflective lenses 320 are smaller and more parallel, which can reduce stray light, avoid excessive bending of the return mirror assembly 300, and help reduce the difficulty of manufacturing the return mirror assembly 300 and reduce the difficulty of light adjustment of each reflective lens 320.

[0062] Second, combine Fig.14 (a) When the first transceiver module 110 adjacent to the second transceiver module 120 is arranged in parallel with the second transceiver module 120, the interval h1 between the folding mirror assembly 300 and the first transceiver module 110 is relatively large. Fig.14(b), when the first transceiver module 110 adjacent to the second transceiver module 120 is tilted, the interval h2 between the folding mirror assembly 300 and the first transceiver module 110 is smaller. Therefore, at least one first transceiver module 110 adjacent to the second transceiver module 120 is tilted, which is beneficial to shortening the distance between the transceiver module and the folding mirror assembly 300, and is beneficial to reducing the volume of the laser radar 10.

[0063] Third, the first detection areas 111 of the first transceiver module 110 are spliced ​​outside the laser radar 10 without any gaps, so that the scanning area spliced ​​by the first detection areas 111 is continuous, avoiding blind spots, and the first detection areas 111 do not overlap with each other, so that the spliced ​​scanning area is expanded as much as possible, increasing the scanning range, and the point cloud in the scanning area is uniform and non-overlapping, with uniform resolution, reducing point cloud deduplication processing, which is beneficial to distinguishing the overlapping area formed by the second detection area 121 of the second transceiver module 120, and thus facilitating the user to observe the ROI area.

[0064] Fourth, a second transceiver module 120 is located between two adjacent first transceiver modules 110. Correspondingly, the second detection area 121 overlaps in the middle of the spliced ​​first detection area 111, so that the ROI area is located in the middle of the field of view. Compared with the edge position, the user's attention is more easily focused on the middle position and the middle position is observed more clearly and carefully, and the edge field of view distortion due to being located at the edge position is avoided. Therefore, the point cloud density of the ROI area in the middle is large and the point cloud data quality is good.

[0065] Fifth, at least one first transceiver module 110 adjacent to the second transceiver module 120 is tilted, and the second transceiver module 120 is used as a reference without being tilted. This can simplify the complexity of data registration and fusion of the point cloud acquired by the second transceiver module 120 and improve the image data accuracy of the ROI area.

[0066] Specifically, the first transceiver module 110 and the second transceiver module 120 are spaced apart along the first direction X, and the transmitting ends of the first transceiver module 110 and the second transceiver module 120 are substantially flush. The second transceiver module 120 may be located in the middle of the first transceiver module 110 (see Fig.11 ), or may be located beside all first transceiver modules 110. The number of first transceiver modules 110 on both sides of the second transceiver module 120 may be the same or different. The interval between the second transceiver module 120 and the adjacent first transceiver module 110 and the interval between two adjacent first transceiver modules 110 may be the same or different. The arrangement angle a corresponding to each first transceiver module 110 may be the same or different.

[0067] Specifically, combined Figure 3 and Fig.11, the arrangement angle a corresponding to each first transceiver module 110 is the same, then the first transceiver modules 110 located on the same side of the second transceiver module 120 are parallel to each other, and the interval between two adjacent first transceiver modules 110 is uniform along their length direction. The interval can be designed to be as small as possible to achieve a compact arrangement, which is conducive to the miniaturization design of the laser radar 10.

[0068] In addition, the same arrangement angle a makes the design, calibration and optimization of the laser radar 10 simpler and more reliable; the same arrangement angle a can simplify the data fusion of the laser radar 10, and by following a consistent geometric relationship, data correction, registration and fusion can be more easily performed, thereby improving the efficiency and accuracy of data processing. The same arrangement angle a can ensure that the first transceiver modules 110 on the same side are parallel to each other, and the optical paths of the first detection light are parallel, which facilitates the synchronous and sequential splicing design of the corresponding first detection areas 111, and ensures that the output laser emitted by the first transceiver module 110 is evenly distributed.

[0069] Specifically, combined Figure 3 and Figure 4 , the arrangement angle a is 3°~10°. If the arrangement angle a is less than 3°, the interval between the emitted lasers emitted by the first transceiver modules 110 on both sides is large. Either the size of the return mirror assembly 300 can be increased to receive the emitted lasers on both sides with large intervals, or the interval between the return mirror assembly 300 and the first transceiver module 110 can be increased to reduce the interval between the emitted lasers on both sides when reaching the return mirror assembly 300, which will eventually cause the size of the laser radar 10 to be too large. If the arrangement angle a is greater than 10°, the emitted lasers of the first transceiver modules 110 on both sides quickly approach each other and are likely to directly interfere with each other, which is likely to cause point cloud distortion and increase the difficulty of the architectural design of the laser radar 10. Based on this, the arrangement angle a is 3°~10°, which is conducive to the miniaturized design of the laser radar 10, the splicing or overlapping of the detection area, and the processing of point cloud data.

[0070] Optionally, the arrangement angle a is 3°, 5°, 7°, 9° or 10°.

[0071] In one embodiment, in combination Fig. 9 and Fig.11 The first transceiver module 110 is symmetrically distributed about the optical axis direction of the second transceiver module 120, which can achieve symmetry and balance of the laser radar 10 and improve the consistency and controllability of the laser radar 10; it can achieve uniform data collection and avoid information loss or redundancy caused by data vacancies or overlaps; because each first transceiver module 110 is symmetrical to each other, data alignment and fusion are easier, which helps to improve the efficiency and accuracy of data processing.

[0072] In some embodiments, in combination Figures 6 to 8, the laser radar 10 also includes a folding mirror assembly 300, the first transceiver module 110, the second transceiver module 120 and the galvanometer 200 are located on the same side of the folding mirror assembly 300, the outgoing laser emitted by the first transceiver module 110 and the second transceiver module 120 is directed to the folding mirror assembly 300 and incident on the galvanometer 200 after reflection, and the folding mirror assembly 300 is also used to reflect the echo laser reflected by the galvanometer 200 and incident on the corresponding first transceiver module 110 and the second transceiver module 120. The folding mirror assembly 300 can fold the optical path between the transceiver module and the galvanometer 200, thereby reducing the length dimension of the laser radar 10. At the same time, the folding mirror assembly 300 can also adjust the optical path, making it easy to achieve that the second detection area 121 at least partially overlaps the scanning area composed of the splicing of the first detection area 111.

[0073] Specifically, combined Fig. 9 and Fig.10 The second transceiver module 120 is located between two adjacent first transceiver modules 110, and the outgoing laser emitted by the second transceiver module 120 to the folding mirror assembly 300 is located between the outgoing lasers emitted by the two adjacent first transceiver modules 110 to the folding mirror assembly 300, and after being reflected by the folding mirror assembly 300, the outgoing laser corresponding to the second transceiver module 120 is located between the outgoing lasers corresponding to the two adjacent first transceiver modules 110 and the angle gradually decreases, thereby facilitating the physical overlap of the second detection area 121 formed by the second transceiver module 120 with the first detection area 111 corresponding to the two adjacent first transceiver modules 110.

[0074] Optionally, there are no other components between the first transceiver module 110 and the second transceiver module 120 and the folding mirror assembly 300 , and there are no other components between the folding mirror assembly 300 and the galvanometer 200 , which simplifies the optical path design and the architectural design of the laser radar 10 .

[0075] Specifically, combined Figures 10 to 13The folding mirror assembly 300 includes a folding bracket 310 and a plurality of reflective lenses 320. The folding bracket 310 has a first side 313 close to the galvanometer 200 and a second side 314 away from the galvanometer 200. The folding bracket 310 is provided with a light hole 311 penetrating the first side 313 and the second side 314. The partially reflective lens 320 is installed on the second side 314 and covers the light hole 311, so that the emitted laser can pass through the light hole 311 to the reflective lens 320 and then reflect to the galvanometer 200. The partially reflective lens 320 is installed on the first side 313. A plurality of reflective lenses 320 are separately installed on both sides of the folding bracket 310, making full use of the assembly space on both sides of the folding bracket 310. The plurality of reflective lenses 320 are arranged more closely in the length direction of the folding bracket 310 (see the first direction X), which is conducive to reducing the length dimension of the folding bracket 310. Correspondingly, the first transceiver module 110 and the second transceiver module 120 are arranged more closely in the first direction X, which is conducive to the miniaturization design of the laser radar 10. On the folding bracket 310 of the same size, it can be ensured that there is sufficient assembly process space between the reflective lenses 320 located on the same side, and a larger size of reflective lenses 320 can be assembled to meet the receiving aperture requirements of the large channel, and the outgoing lasers reflected by the reflective lenses 320 located on the first side 313 and the reflective lenses 320 located on the second side 314 are arranged closer to each other, which is easy to achieve a large area of ​​ROI area, but staggered in the thickness direction, which is conducive to reducing the difficulty of assembly implementation.

[0076] Specifically, combined Fig. 9 and Fig.10 , at least one first transceiver module 110 adjacent to the second transceiver module 120 is arranged obliquely. Fig.14 (a) When the first transceiver module 110 adjacent to the second transceiver module 120 is arranged in parallel with the second transceiver module 120, the interval h1 between the folding mirror assembly 300 and the first transceiver module 110 is large, and the angle b1 between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120 is large. Fig.14 (b), when the first transceiver module 110 adjacent to the second transceiver module 120 is tilted, the interval h2 between the folding mirror assembly 300 and the first transceiver module 110 is small, and the angle b2 between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120 is small. Therefore, the tilted arrangement of at least one first transceiver module 110 adjacent to the second transceiver module 120 is conducive to the more parallel arrangement of the multiple reflective lenses 320, avoiding excessive bending of the folding bracket 310, and reducing the manufacturing difficulty of the folding mirror assembly 300, and facilitating reducing the light adjustment difficulty of each reflective lens 320.

[0077] In one embodiment, in combination Figure 8 and Fig.12 The folding bracket 310 is provided with an adjustment notch 312, which passes through the first side 313 and the second side 314. The adjustment notch 312 extends to a side wall that passes through the folding bracket 310, and the reflective lens 320 located on the first side 313 covers the adjustment notch 312. When the reflective lens 320 located on the first side 313 is adjusted, the adjustment tool can adjust the position of the reflective lens 320 from the second side 314 with a larger operating space through the adjustment notch 312, so as to facilitate the light adjustment operation.

[0078] In one embodiment, in combination Figure 8 , Fig.10 , Fig.12 and Fig.13 The reflective lens 320 includes more than two first lenses 321 for one-to-one matching with the first transceiver module 110 and a second lens 322 for matching with the second transceiver module 120. The second side 314 is provided with more than two first mounting planes 315 connected in sequence along the first direction X. The light-through holes 311 correspond to the first mounting planes 315 one-to-one. The first mounting planes 315 are used to assemble the first lenses 321. The first side 313 is provided with a second mounting plane 316 for mounting the second lens 322. The second mounting plane 316 is located between two adjacent light-through holes 311.

[0079] Based on the above design, the first lens 321 and the second lens 322 are respectively flatly attached to the first mounting plane 315 and the second mounting plane 316, which is convenient for installation and positioning, and then fine position adjustment can be optionally performed during bonding and fixing, and the glue is cured after the position adjustment is qualified. The second mounting plane 316 does not block the light hole 311 and does not interfere with the light path of the first lens 321.

[0080] Optionally, the edge of the second installation plane 316 coincides with the hole wall of the adjacent light-through hole 311 , so that the area of ​​the second installation plane 316 is designed to be maximized.

[0081] Specifically, the folding bracket 310 is integrally formed, which reduces the number and types of materials, reduces the difficulty of assembly, and facilitates automated assembly.

[0082] Specifically, combined Fig.12 and Fig.13The folding bracket 310 includes a bracket mounting plate 317 and a bracket support plate 318. The bracket mounting plate 317 is used to be installed in the laser radar 10, and the bracket support plate 318 is used to install the reflective lens 320. The bracket support plate 318 is vertically arranged on the bracket mounting plate 317. Based on this design, the bracket mounting plate 317 can be provided with a mounting structure, such as a mounting hole and / or a mounting column, and can also be provided with a positioning structure, such as a positioning hole and / or a positioning column. The bracket support plate 318 may not be provided with a mounting structure and / or a positioning structure, and the surface space of the bracket support plate 318 is fully utilized to assemble the reflective lens 320, which is suitable for assembling a large-channel transceiver module and is also conducive to forming a large-area ROI area. For example, the bracket support plate 318 has a first mounting plane 315, a second mounting plane 316, a light-through hole 311, and an adjustment notch 312.

[0083] In one embodiment, in combination Figure 8 , Fig.12 and Fig.13 , the first direction X is perpendicular to the second direction Y. In the first direction X, the angle between the first mounting plane 315 located at the edge and the second direction Y is large, that is, the angle of incidence is large, and correspondingly, the angle of reflection is also large; the angle between the first mounting plane 315 located in the center and the second direction Y is small. In the first direction X, the galvanometer 200 is selected in the middle of the folding mirror assembly 300, so that the sum of the optical path distances of the outgoing lasers reflected by each reflecting lens 320 is the shortest and the path is optimal. The first lenses 321 located on both sides have a large reflection angle, which can reflect the outgoing laser emitted by the corresponding first transceiver module 110 at a large angle to the galvanometer 200 located in the middle; similarly, the reflection angle of the first lens 321 located in the middle is small, and the outgoing laser emitted by the corresponding first transceiver module 110 just needs to be reflected at a small angle to the galvanometer 200. In this way, the angle relationship between the first lenses 321 at different positions and the second direction Y can ensure that the outgoing lasers emitted by the first transceiver modules 110 spaced apart along the first direction X are reflected and emitted toward the galvanometer 200 .

[0084] Specifically, the plurality of first mounting planes 315 are symmetrically distributed about the second direction Y passing through the middle, so that the angles between the first lenses 321 at the same position on both sides and the second direction Y are the same, so that the reflected light from the left and right first lenses 321 converges on the galvanometer 200. When designing and manufacturing the folding mirror assembly 300, only half of the positions of the first mounting planes 315 need to be designed, and the other half of the first mounting planes 315 can be obtained by using angle symmetry.

[0085] In one embodiment, in combination Fig.12, two adjacent first mounting planes 315 share the same edge, and there is no gap between the two adjacent first mounting planes 315, thereby preventing light from leaking from the gap between the two first mounting planes 315 to form stray light, preventing stray light from being emitted from the gap and entering the galvanometer 200, and ensuring the optical path structure and the detection accuracy of the laser radar 10.

[0086] Specifically, combined Fig.12 and Fig.13 , the distance between the multiple first mounting planes 315 and the galvanometer 200 in the second direction Y first gradually increases and then gradually decreases. In other words, the first mounting planes 315 located on both sides are close to the galvanometer 200, and the first mounting plane 315 located in the middle is far away from the galvanometer 200. The multiple first mounting planes 315 are concave in the second direction Y and are arranged around the galvanometer 200.

[0087] In one embodiment, in combination Figure 6 , Figure 7 and Figure 8 The laser radar 10 also includes a shell 500 and a control board. The shell 500 has a width direction (see the first direction X), a height direction (see the third direction Z) and a length direction (see the second direction Y) that are perpendicular to each other. The control board includes a transmission board 610, an interface board 620 and a digital board 630. The interface board 620, the first transceiver module 110 and the digital board 630 are sequentially installed inside the shell 500 along the width direction. The second transceiver module 120 is installed between more than two first transceiver modules 110. The galvanometer 200 and the transmission board 610 are distributed inside the shell 500 along the length direction. The transmission board 610 and the first transceiver module 110 are distributed inside the shell 500 along the height direction. The transmission board 610 is electrically connected to the interface board 620 and the digital board 630 respectively. The laser radar 10 is compactly arranged to achieve a minimalist architecture design, which is conducive to miniaturization design.

[0088] Based on the above design, the galvanometer 200 is located above the first transceiver module 110. The galvanometer 200 is at the highest position in the height direction. The control board and the galvanometer 200 are staggered in the length direction or the width direction. The control board will not increase the height of the whole machine, but lowers the height of the whole machine, which is conducive to the miniaturized design of the laser radar 10.

[0089] Optionally, combined Fig. 9 and Fig.10 The transmission plate 610 has an avoidance opening 611, and the galvanometer 200 is located in the avoidance opening 611, that is, the projections of the avoidance opening 611 and the galvanometer 200 in the third direction Z do not overlap, thereby avoiding the transmission plate 610 and the galvanometer 200 from overlapping in the third direction Z, so as to reduce the height of the whole machine.

[0090] Specifically, combined Fig. 9The transmission board 610 is electrically connected to the interface board 620 by hot pressing and tin welding, which makes the connection more compact and has stronger transmission capacity, which is conducive to the construction of power supply network and signal network. In addition, the transmission board 610 and the interface board 620 are connected as a whole, which is conducive to the assembly of the control board.

[0091] Optionally, the transmission board 610 is hot-pressed and tin-fused with the interface board 620 through a flexible flat cable 640 .

[0092] Specifically, combined Fig. 9 The transmission board 610 is electrically connected to the digital board 630 by hot pressing and tin welding, which makes the connection more compact and has stronger transmission capacity, which is conducive to the construction of power supply network and signal network. In addition, the transmission board 610 and the digital board 630 are connected as a whole, which is conducive to the assembly of the control board.

[0093] Optionally, the transmission board 610 is hot-pressed and tin-fused with the digital board 630 through a flexible flat cable 640 .

[0094] Specifically, combined Fig.10 , the galvanometer 200 is located between the folding mirror assembly 300 and the first transceiver module 110, thereby shortening the optical path distance and facilitating the miniaturization of the optical path structure. The galvanometer 200, the folding mirror assembly 300 and the first transceiver module 110 are distributed along the third direction Z and may partially overlap, so that the folding mirror assembly 300 will not block the multiple first transceiver modules 110 spaced apart along the first direction X, nor will it block the outgoing laser emitted by the first transceiver module 110 along the second direction Y. The galvanometer 200 and the folding mirror assembly 300 are distributed in the third direction Z, so that the incident light of the folding mirror assembly 300 and the outgoing light of the folding mirror assembly 300 are separated in the third direction Z and do not interfere with each other.

[0095] In one embodiment, in combination Figure 7 The housing 500 includes a base 510, a top cover 520, a first side cover 530 and a second side cover 540. The top cover 520 is covered on the base 510, and the first side cover 530 and the second side cover 540 are respectively installed on opposite sides of the top cover 520 in the width direction. The housing 500 forms a relatively closed cavity to accommodate and protect other components of the laser radar 10.

[0096] Specifically, the top cover 520 has a detection window 521, and the housing 500 further includes a window piece 550 sealed and mounted on the detection window 521. The outgoing laser leaves the laser radar 10 through the window piece 550 and is emitted to the scanning area, and the echo laser returns to the galvanometer 200 through the window piece 550.

[0097] Specifically, combined Figure 8 , Fig.15 and Fig.16The base 510 is provided with a first support plate 511 and a second support plate 512 spaced apart in the width direction, and the first transceiver module 110 and the second transceiver module 120 are arranged between the first support plate 511 and the second support plate 512. The first support plate 511 and the second support plate 512 have certain rigidity and strength, can withstand impact, protect the transceiver module, and limit the overall distribution position of the transceiver module, separate the transceiver module from the interface board 620, and separate the transceiver module from the digital board 630, so as to achieve electromagnetic shielding isolation, avoid electromagnetic interference between the transceiver module, the interface board 620 and the digital board 630, and facilitate electrical isolation and thermal isolation.

[0098] Optionally, combined Fig.16 The base 510 located between the first support plate 511 and the second support plate 512 is provided with a first limiting portion 513 to facilitate stable assembly of the first transceiver module 110 and the second transceiver module 120 .

[0099] Optionally, the bottom wall of the first position limiting portion 513 is provided with a mounting structure, such as a mounting hole and a mounting column, which is conducive to the fixed assembly of the first transceiver module 110 and the second transceiver module 120. The bottom wall of the first position limiting portion 513 is provided with a positioning structure, such as a positioning hole and a positioning pin, which is conducive to the assembly and positioning of the first transceiver module 110 and the second transceiver module 120.

[0100] Optionally, the number of the first limiting portions 513 is equal to the sum of the number of the first transceiver modules 110 and the second transceiver modules 120, that is, the transceiver modules are limited one by one. The plurality of first limiting portions 513 are distributed along the width. For example, the base 510 is provided with limiting grooves arranged at intervals, and limiting bosses are formed between adjacent limiting grooves. The limiting grooves and the limiting bosses are both first limiting portions 513, so as to avoid the increase in size caused by the intervals between adjacent first limiting portions 513.

[0101] Specifically, combined Fig.15 The base 510 is provided with a second limiting portion 514 for assembling the folding mirror assembly 300 to facilitate stable assembly of the folding mirror assembly 300 .

[0102] exist Fig.15 In the illustrated embodiment, the first limit portion 513 and the second limit portion 514 are spaced apart along the length direction. The second limit portion 514 is located between the first support plate 511 and the second support plate 512, which is beneficial to the protection of the folding mirror assembly 300. The bottom wall of the second limit portion 514 is provided with a mounting structure and / or a fixing structure.

[0103] Specifically, combined Figure 7 and Fig.16 The four corners of the base 510 are connected and fixed to the top cover 520 to avoid occupying the edge of the base 510 and to avoid increasing the length and width of the shell 500.

[0104] Optionally, four corners of the base 510 are provided with mounting structures and / or fixing structures.

[0105] Optionally, the first side cover 530 is installed on the base 510 and the top cover 520 at the same time to improve the connection strength. For example, the bottom of the first side cover 530 is connected to the middle of the base 510 in the length direction, and the two sides and the top of the first side cover 530 are connected to the top cover 520.

[0106] Optionally, the second side cover 540 is installed on the base 510 and the top cover 520 at the same time to improve the connection strength. For example, the bottom of the second side cover 540 is connected to the middle of the base 510 in the length direction, and the two sides and the top of the second side cover 540 are connected to the top cover 520.

[0107] Specifically, combined Figure 8 and Fig. 9 The interface board 620 includes a first circuit board 621 and a second circuit board 622, which are installed between the first side cover 530 and the first transceiver module 110 at intervals along the width direction. In this way, when the area of ​​the interface board 620 remains unchanged, the first circuit board 621 and the second circuit board 622 are spaced apart along the width direction, reducing the height dimension and avoiding being higher than the galvanometer 200, which is conducive to the miniaturization design of the laser radar 10.

[0108] Optionally, the first circuit board 621 and the inner wall of the first side cover 530 are connected and fixed to avoid being installed on the base 510, so as to avoid the base 510 being widened due to the installation structure and / or positioning structure for cooperating with the first circuit board 621.

[0109] Optionally, the second circuit board 622 and the first support plate 511 are connected and fixed away from the side wall of the second support plate 512 to avoid being installed on the base 510, thereby avoiding the base 510 from being widened due to the installation structure and / or positioning structure provided for cooperating with the second circuit board 622.

[0110] Optionally, the first circuit board 621 and the second circuit board 622 are accommodated in the gap between the first side cover 530 and the first support plate 511, and the base 510 located between the first side cover 530 and the first support plate 511 is provided with a third limiting portion 515, which fully utilizes the gap to form a limit for the first circuit board 621 and the second circuit board 622.

[0111] Specifically, combined Fig. 9 and Fig.10The digital board 630 includes a third circuit board 631 and a fourth circuit board 632, which are installed between the second side cover 540 and the first transceiver module 110 at intervals along the width direction. In this way, when the area of ​​the digital board 630 remains unchanged, the third circuit board 631 and the fourth circuit board 632 are spaced apart along the width direction, reducing the height dimension and avoiding being higher than the galvanometer 200, which is conducive to the miniaturization design of the laser radar 10.

[0112] Optionally, the third circuit board 631 and the inner wall of the second side cover 540 are connected and fixed to avoid being installed on the base 510, so as to avoid the base 510 being widened due to the installation structure and / or positioning structure for cooperating with the third circuit board 631.

[0113] Optionally, the fourth circuit board 632 and the second support plate 512 are connected and fixed to the side wall away from the first support plate 511 to avoid being installed on the base 510, thereby avoiding the base 510 from being widened due to the installation structure and / or positioning structure provided for cooperating with the fourth circuit board 632.

[0114] Optionally, combined Figure 8 and Fig.16 The third circuit board 631 and the fourth circuit board 632 are accommodated in the gap between the second side cover 540 and the second support plate 512, and the base 510 located between the second side cover 540 and the second support plate 512 is provided with a fourth limiting portion 516, which fully utilizes the gap to form a limit for the third circuit board 631 and the fourth circuit board 632.

[0115] In addition, the present application also provides an autonomous driving device, which includes a driving device body 20 and any one of the above-mentioned laser radars 10, and the laser radar 10 is installed on the driving device body 20. The autonomous driving device has the technical effects of any one of the above-mentioned laser radars 10, which will not be described one by one here.

[0116] like Fig.17 As shown, the automatic driving device is an unmanned vehicle, and the laser radar 10 is installed inside or outside the vehicle.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser radar, characterized in that: The laser radar includes a first transceiver module, a second transceiver module and a galvanometer; The first transceiver module and the second transceiver module are both used to emit outgoing laser and receive echo laser, the echo laser is the laser that is returned after the outgoing laser is reflected by an object in the detection area, and the galvanometer is used to reflect the outgoing laser emitted by the first transceiver module and the second transceiver module and emit it to the detection area, and is also used to reflect the echo laser and emit it to the corresponding first transceiver module and the second transceiver module; The number of the first transceiver modules is more than two, the detection areas corresponding to the more than two first transceiver modules are spliced ​​into a scanning area, and the detection area corresponding to the second transceiver module at least partially overlaps with the scanning area.

2. The laser radar according to claim 1, characterized in that: The detection points in the second detection area corresponding to the second transceiver module are staggered from the detection points in the first detection area corresponding to the first transceiver module.

3. The laser radar according to claim 1, characterized in that: The second transceiver module and the two or more first transceiver modules are spaced apart along a first direction, and the detection areas corresponding to the two or more first transceiver modules are sequentially spliced ​​along the first direction; At least one of the first transceiver modules adjacent to the second transceiver module is arranged tilted, and an arrangement angle between an optical axis of the second transceiver module and an optical axis of the first transceiver module is an acute angle.

4. The laser radar according to claim 3, characterized in that: The arrangement angle is 3° to 10°.

5. The laser radar according to claim 1, characterized in that: The laser radar further includes a folding mirror assembly, wherein the first transceiver module, the second transceiver module and the galvanometer are located on the same side of the folding mirror assembly, the outgoing laser emitted by the first transceiver module and the second transceiver module is emitted toward the folding mirror assembly and incident upon the galvanometer after being reflected, and the folding mirror assembly is further used for reflecting the echo laser reflected by the galvanometer and incident upon the corresponding first transceiver module and the second transceiver module; The folding mirror assembly includes a folding bracket and a plurality of reflective lenses, the folding bracket having a first side close to the galvanometer and a second side away from the galvanometer, the folding bracket being provided with a light-through hole penetrating the first side and the second side, a portion of the reflective lenses being mounted on the second side and covering the light-through hole, and a portion of the reflective lenses being mounted on the first side.

6. The laser radar according to claim 5, characterized in that: The folding bracket is provided with an adjustment notch, the adjustment notch runs through the first side and the second side, the adjustment notch extends to a side wall that passes through the folding bracket, and the reflective lens located on the first side covers the adjustment notch.

7. The laser radar according to claim 5, characterized in that: The reflective lens includes more than two first lenses for one-to-one cooperation with the first transceiver module and a second lens for cooperation with the second transceiver module. The second side is provided with more than two first mounting planes connected in sequence along the first direction. The light-through holes correspond one-to-one to the first mounting planes. The first mounting plane is used to assemble the first lens. The first side is provided with a second mounting plane for mounting the second lens. The second mounting plane is located between two adjacent light-through holes.

8. The laser radar according to any one of claims 1 to 7, characterized in that: The laser radar also includes a shell and a control board. The shell has a width direction, a height direction and a length direction. The control board includes a transmission board, an interface board and a digital board. The interface board, the first transceiver module and the digital board are sequentially installed inside the shell along the width direction. The second transceiver module is installed between two or more of the first transceiver modules. The galvanometer and the transmission board are distributed inside the shell along the length direction. The transmission board and the first transceiver module are distributed inside the shell along the height direction. The transmission board is electrically connected to the interface board and the digital board respectively.

9. The laser radar according to claim 8, characterized in that: The transmission board is electrically connected to the interface board by hot-pressing tin-melting welding, and / or the transmission board is electrically connected to the digital board by hot-pressing tin-melting welding.

10. The laser radar according to claim 8, characterized in that: The housing comprises a base, a top cover, a first side cover and a second side cover, wherein the top cover is arranged on the base, and the first side cover and the second side cover are respectively installed on two opposite sides of the top cover in the width direction; The interface board includes a first circuit board and a second circuit board, and the first circuit board and the second circuit board are installed between the first side cover and the first transceiver module at intervals along the width direction; The digital board includes a third circuit board and a fourth circuit board, and the third circuit board and the fourth circuit board are installed between the second side cover and the first transceiver module at intervals along the width direction.

11. An automatic driving device, characterized in that: The autonomous driving device includes a driving device body and a laser radar as described in any one of claims 1-10, and the laser radar is installed on the driving device body.

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