Decision mirror assembly and laser radar

Abstract

The invention relates to the technical field of radars, and provides a turn-back mirror assembly and a laser radar, the turn-back mirror assembly comprises a turn-back support and a reflection lens, the turn-back support comprises a support mounting plate and a support supporting plate vertically arranged on the support mounting plate, and the support supporting plate is provided with a first side part, a second side part and at least two light through holes. The reflecting lens comprises a first lens and a second lens, the first lens is mounted on the first side part and is aligned with the light through hole, and the second lens is mounted on the second side part; in the second direction, the second lens is located between the at least two light through holes. Wherein the first lenses and the second lenses are respectively arranged at the first side part and the second side part of the support supporting plate, in the second direction, the second lenses are positioned between the two light through holes and are arranged more tightly, and the interval between the first lenses positioned at the first side part does not need to be reduced, so that enough process space is ensured, engineering implementation is facilitated, and the production efficiency is improved. Therefore, large-area overlapping of view fields can be realized on the premise that the size and the process difficulty are not increased.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a folding mirror assembly and a laser radar. 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 outgoing laser emitted by the transmitting module is reflected by the return mirror assembly to the MEMS micro-mirror (also called 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 obtain the distance information of the target object surface.

[0004] In the related art, the field of view angles of the optical channels of the two transmitting modules overlap to cover the ROI area (Region of interest) to obtain high resolution. A larger ROI area can make it easier for users to align key areas to improve resolution and meet the needs of high-definition recognition. However, the current field of view overlap area is small. In order to achieve a larger area of ​​overlap, a large-channel transceiver module is used. While meeting the requirements of the large-channel receiving aperture, the size of the return mirror assembly increases, which in turn increases the volume of the laser radar. Summary of the invention

[0005] The purpose of the present invention is to provide a folding mirror assembly and a laser radar, aiming to solve the technical problem that the existing folding mirror assembly is too large in size when a large area of ​​overlapping field of view is required.

[0006] In a first aspect, the present application provides a folding mirror assembly, which is applied to a laser radar, and the folding mirror assembly includes:

[0007] A folding bracket, wherein the folding bracket has a first direction, a second direction and a third direction that are perpendicular to each other, the folding bracket comprises a bracket mounting plate and a bracket support plate, the bracket support plate is vertically arranged on the bracket mounting plate, the bracket support plate has a first side portion and a second side portion distributed along the first direction, the bracket support plate has more than two light holes penetrating the bracket support plate, and at least two of the light holes are spaced apart and distributed along the second direction;

[0008] A reflective lens, the reflective lens comprising a first lens and a second lens, the number of the first lenses is the same as the number of the light-through holes, the first lens is mounted on the first side and aligned with the light-through holes, and the second lens is mounted on the second side; in the second direction, the second lens is located between at least two of the light-through holes.

[0009] In a second aspect, the present application provides a laser radar, the laser radar comprising a first transceiver module, a second transceiver module, a galvanometer, and a folding mirror assembly as described in any one of the above;

[0010] The first transceiver module and the second transceiver module are both used for emitting outgoing laser and receiving echo laser, wherein the echo laser is the laser that is returned after the outgoing laser is reflected by an object in the detection area; the number of the first transceiver modules is the same as the number of the light-through holes, the outgoing laser emitted by one of the first transceiver modules is sequentially reflected by the first lens and the galvanometer and then emitted to the first detection area, at least two first detection areas corresponding to at least two of the first transceiver modules are spliced ​​to form the detection area, the outgoing laser emitted by the second transceiver module is sequentially reflected by the second lens and the galvanometer and then emitted to the second detection area, and the second detection area at least partially overlaps with the detection area.

[0011] The beneficial effects of the folding mirror assembly and laser radar provided by the present invention are as follows: the outgoing lasers emitted by multiple transceiver modules are respectively directed to multiple reflective lenses and then reflected to the galvanometer, and the galvanometer scans and reflects the multiple outgoing lasers to the detection area to form an overlap; the laser radar adopts a large-channel transceiver module to achieve a large-area overlap of the field of view. While meeting the receiving aperture requirements of the large channel, the area of ​​the reflective lens is correspondingly increased. If the multiple reflective lenses are installed on the same side of the bracket support plate at intervals along the second direction, the size of the folding bracket will increase. If the intervals between the reflective lenses are compressed, the assembly process space will be too small, which will ultimately make engineering difficult. In the folding mirror assembly provided in this embodiment, the first lens is aligned with the light-through hole so that the laser is incident on the first mirror through the light-through hole. The light is then reflected to the galvanometer, and the first lens and the second lens are respectively mounted on the first side portion and the second side portion of the bracket support plate, making full use of the mounting space on both sides of the bracket support plate to avoid increasing the size of the folding bracket; in the second direction, the second lens is located between the two light-through holes, that is, the first lens and the second lens are arranged more closely in the second direction, which is beneficial to reducing the size of the folding bracket, and the interval between the first lenses located on the first side portion has sufficient process space, which is beneficial to engineering implementation. Similarly, the second lens is not blocked by the first lens on the second side portion and has sufficient process space, which solves the technical problem that the existing folding mirror assembly is too large in size when a large area of ​​overlapping field of view is met, and is beneficial to the miniaturized design and engineering implementation of the folding mirror assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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.

[0013] Figure 1 A schematic structural diagram of a folding mirror assembly provided in an embodiment of the present invention;

[0014] Figure 2 for Figure 1 Another perspective view of the folding mirror assembly in FIG.

[0015] Figure 3 A schematic diagram of a folding bracket of a folding mirror assembly provided in an embodiment of the present invention;

[0016] Figure 4 for Figure 3 Another perspective view of the reentry bracket in FIG.

[0017] Figure 5 A structural block diagram of a laser radar provided by an embodiment of the present invention;

[0018] Figure 6 for Figure 5 A schematic diagram of a detection area of ​​the laser radar in FIG.

[0019] Figure 7 for Figure 5 Schematic diagram of another detection area of ​​the laser radar;

[0020] Figure 8 A schematic diagram of the projection of a reflective lens of a folding mirror assembly provided by an embodiment of the present invention in a first direction;

[0021] Fig. 9 is a schematic projection diagram of a folding mirror assembly in a first direction in yet another embodiment;

[0022] Fig.10 is a schematic projection diagram of a folding mirror assembly in a first direction in yet another embodiment;

[0023] Fig.11 A schematic diagram of the external structure of a laser radar provided in an embodiment of the present invention;

[0024] Fig.12 An exploded view of a laser radar provided by an embodiment of the present invention;

[0025] Fig.13 A schematic diagram of the structure of the laser radar provided by an embodiment of the present invention with the top cover removed;

[0026] Fig.14 Another viewing angle diagram of the laser radar provided by an embodiment of the present invention after the top cover is removed;

[0027] Fig.15 Another viewing angle diagram of the laser radar provided by an embodiment of the present invention after the top cover is removed;

[0028] Fig.16 A schematic diagram of the optical path of the laser radar provided by an embodiment of the present invention with the top cover removed;

[0029] Fig.17 for Fig.16 Schematic diagram of the optical path of the laser radar in FIG.

[0030] Fig.18 A comparative schematic diagram of the projection of the optical path along the third direction when the second transceiver module is tilted;

[0031] Fig.19 A schematic diagram of the structure of a base of a shell of a laser radar provided in an embodiment of the present invention;

[0032] Fig. 20 for Fig.19 Another perspective view of the base in FIG.

[0033] Fig.21 for Fig.19 Another perspective view of the base in FIG.

[0034] Among them, the reference numerals in the figure are:

[0035] X, first direction; Y, second direction; Z, third direction;

[0036] 10. LiDAR;

[0037] 100, folded bracket; 101, light hole; 102, adjustment notch; 110, bracket mounting plate; 120, bracket support plate; 121, first side portion; 122, second side portion; 123, first mounting plane; 124, second mounting plane; 125, common edge;

[0038] 200, reflecting lens; 210, first lens; 220, second lens;

[0039] 310, first transceiver module; 311, first detection area; 320, second transceiver module; 321, second detection area;

[0040] 400, galvanometer;

[0041] 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;

[0042] 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

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Combination Figures 1 to 4 The folding mirror assembly provided in this embodiment includes a folding bracket 100 and a reflecting lens 200.

[0049] The folding bracket 100 has a first direction X, a second direction Y and a third direction Z which are perpendicular to each other. The folding bracket 100 includes a bracket mounting plate 110 and a bracket support plate 120, the bracket support plate 120 is vertically arranged on the bracket mounting plate 110, the bracket support plate 120 has a first side portion 121 and a second side portion 122 distributed along the first direction X, the bracket support plate 120 has at least two light holes 101 penetrating the bracket support plate 120, and the two or more light holes 101 are distributed along the second direction Y at intervals.

[0050] The reflective lens 200 includes a first lens 210 and a second lens 220. The number of the first lenses 210 is the same as the number of the light holes 101. The first lens 210 is mounted on the first side portion 121 and aligned with the light holes 101. The second lens 220 is mounted on the second side portion 122. In the second direction Y, the second lens 220 is located between at least two light holes 101.

[0051] Please combine Figure 5The folding mirror assembly provided in this embodiment can be applied to the laser radar 10. The outgoing lasers emitted by multiple transceiver modules (see the first transceiver module 310 and the second transceiver module 320) are respectively emitted to multiple reflective mirrors 200 and then reflected to the galvanometer 400. The galvanometer 400 scans and reflects the multiple outgoing lasers to the detection area to form overlaps. The laser radar 10 uses a large-channel transceiver module to achieve a large-area overlap of the field of view (see Figure 6 and Figure 7 ), while meeting the receiving aperture requirement of a large channel, the area of ​​the reflective lens 200 increases accordingly. If a plurality of reflective lenses 200 are installed on the same side of the bracket support plate 120 at intervals along the second direction Y, the size of the return bracket 100 increases. If the intervals between the reflective lenses 200 are compressed, the assembly process space is too small, which ultimately makes engineering difficult.

[0052] Combination Figure 1 , Figure 2 and Figure 5 In the folding mirror assembly provided in this embodiment, the first lens 210 is aligned with the light-through hole 101, so that the laser is incident on the first lens 210 through the light-through hole 101 and then reflected to the galvanometer 400. The first lens 210 and the second lens 220 are respectively installed on the first side portion 121 and the second side portion 122 of the bracket support plate 120, making full use of the installation space on both sides of the bracket support plate 120 to avoid increasing the size of the folding bracket 100. In the second direction Y, the second lens 220 is located between the two light-through holes 101, that is, the first lens 210 and the second lens 220 are arranged more closely in the second direction Y, which is conducive to reducing the size of the folding bracket 100 and facilitating the miniaturization design of the folding mirror assembly. The interval between the first lenses 210 located on the first side portion 121 has sufficient process space, which is conducive to engineering implementation. Similarly, the second lens 220 is not blocked by the first lens 210 on the second side portion 122, and the second lens 220 has sufficient process space on both sides in the second direction Y, which is conducive to engineering implementation. Furthermore, the first lens 210 and the second lens 220 are arranged more closely in the second direction Y, which is conducive to the outgoing lasers reflected by the first lens 210 and the second lens 220 to overlap in a large area in the detection area.

[0053] In addition, first, in the laser radar 10, combined with Fig.16 and Fig.17The first lens 210 and the second lens 220 are separately installed on the first side 121 and the second side 122 of the folding bracket 100. Under the premise of meeting the process space, the first lens 210 and the second lens 220 can be arranged more closely in the second direction Y. Correspondingly, the first transceiver module 310 that emits the outgoing laser to the first lens 210 and the second transceiver module 320 that emits the outgoing laser to the second lens 220 can also be arranged more closely along the second direction Y, which is conducive to the miniaturized design of the laser radar 10. Second, if the reflective lenses 200 are all installed on the same side of the folding bracket 100, a certain assembly process space must be ensured between each reflective lens 200. In this way, the distance between the reflective lenses 200 on both sides and the reflective lens 200 in the middle will increase. In order to make the reflected emitted laser light directed to the galvanometer 400, the angle between the reflective lenses 200 on both sides and the reflective lens 200 in the middle needs to be increased, resulting in excessive bending of the folding bracket 100, increasing its manufacturing difficulty and easily generating stray light, thereby affecting image quality. Therefore, the first lens 210 and the second lens 220 are separately installed on the first side portion 121 and the second side portion 122 of the folding bracket 100 to reduce the bending degree of the folding bracket 100, while reducing the difficulty of light adjustment of the reflective lens 200, thereby reducing stray light and improving image quality.

[0054] In some embodiments, in combination Figure 1 and Figure 2 In the second direction Y, the second lens 220 can be located between two adjacent light holes 101, so that the outgoing laser reflected by the first lens 210 and the galvanometer 400 including the two adjacent light holes 101 is spliced ​​to form an overall detection area, and the outgoing laser reflected by the second lens 220 and the galvanometer 400 is emitted to the second detection area 321, and the second detection area 321 at least partially overlaps with the overall detection area.

[0055] Optionally, combined Figure 2 and Figure 4 , the second lens 220 may not overlap with two adjacent light holes 101 in the second direction Y. At this time, the second lens 220 may overlap or not overlap with two adjacent light holes 101 in the third direction Z, and the second lens 220 does not block the outgoing laser or the echo laser entering and exiting the two adjacent light holes 101.

[0056] Optionally, combined Fig. 9 The second lens 220 can overlap with two adjacent light holes 101 in the second direction Y, but be staggered with two adjacent light holes 101 in the third direction Z, so the second lens 220 does not block the outgoing laser or echo laser entering and exiting the two adjacent light holes 101.

[0057] In other embodiments, in combination Fig.10, in the second direction Y, the second lens 220 can be located between two non-adjacent light holes 101. For example, five light holes 101 are arranged in sequence in the second direction Y, the second lens 220 is located between the second light hole 101 and the fourth light hole 101 in the second direction Y, and the second lens 220 is staggered from the third light hole 101 in the third direction Z. At this time, the outgoing laser reflected by the second lens 220 and the outgoing laser through the third light hole 101 overlap in a large area in the detection area.

[0058] In one embodiment, in combination Figure 1 and Figure 2 , the number of the second lens 220 is one, and one second lens 220 is located between two adjacent light holes 101 in the second direction Y. At this time, the outgoing laser reflected by the second lens 220 is easy to overlap with the outgoing laser entering and exiting the two adjacent light holes 101 in the middle in a large area in the overall detection area, and the overlapping area is located in the middle of the overall detection area, which is convenient for observation and selection as a key area.

[0059] It can be understood that in other embodiments, the number of the second lenses 220 can also be two or more than two, and the number of the second lenses 220 is less than the number of the first lenses 210. For example, in the second direction Y, three first lenses 210 are arranged in sequence, the number of the second lenses 220 is two, the first second lens 220 is located between the first first lens 210 and the second first lens 210, and the second second lens 220 is located between the second first lens 210 and the third first lens 210.

[0060] In some embodiments, in combination Figure 8 The projection of the second lens 220 in the first direction X at least partially overlaps with the projection of the first lens 210 in the first direction X, thereby further reducing the size of the folding mirror assembly in the second direction Y, so that the reflective lens 200 overlaps in the second direction Y, and the reflective lens 200 is arranged more compactly. The outgoing laser reflected by the first lens 210 and the second lens 220 with overlapping projections is more likely to overlap in the overall detection area.

[0061] In one embodiment, in combination Figure 2 , Figure 3 and Figure 4 The bracket support plate 120 has an adjustment notch 102 that penetrates the bracket support plate 120, and the adjustment notch 102 extends to a side wall that passes through the folding bracket 100, and the second lens 220 is aligned with the adjustment notch 102. Based on this, when the second lens 220 is adjusted, the adjustment tool can adjust the position of the second lens 220 from the first side portion 121 with a larger operating space through the adjustment notch 102, so as to facilitate the light adjustment operation.

[0062] Specifically, the adjustment gap 102 penetrates the side wall of the bracket support plate 120 away from the bracket mounting plate 110, which facilitates the adjustment tool to enter the adjustment gap 102 from the side away from the bracket mounting plate 110 to facilitate light adjustment.

[0063] In one embodiment, in combination Figure 3 and Figure 4 The first side portion 121 has more than two first mounting planes 123 distributed along the second direction Y, the light holes 101 correspond to the first mounting planes 123 one by one, and the first lenses 210 are mounted on the first mounting planes 123 one by one. Based on the above design, the first lenses 210 are flatly attached to the first mounting planes 123, 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.

[0064] Specifically, the second side portion 122 has a second mounting plane 124 for mounting the second lens 220, and the second mounting plane 124 is located between two adjacent light holes 101. The second mounting plane 124 does not block the light holes 101 and does not interfere with the optical path of the first lens 210.

[0065] Optionally, the edge of the second mounting plane 124 overlaps with the hole wall of the adjacent light-through hole 101, so that the area of ​​the second mounting plane 124 is designed to be maximized, and the second mounting plane 124 and the light-through hole 101 fit tightly together, which is conducive to the miniaturized design of the folding mirror assembly.

[0066] In some embodiments, in combination Figure 3 and Figure 4 The folding bracket 100 is integrally formed, which reduces the number and types of materials, reduces the difficulty of assembly, and is conducive to realizing automated assembly.

[0067] In some embodiments, the bracket mounting plate 110 may be provided with a mounting structure, such as a mounting hole and / or a mounting column, and may also be provided with a positioning structure, such as a positioning hole and / or a positioning column, and the bracket support plate 120 may not be provided with a mounting structure and / or a positioning structure, so that the surface area of ​​the bracket support plate 120 is fully utilized to assemble the reflective lens 200, which is suitable for a large-channel transceiver module and is also conducive to forming a large-area ROI area. For example, the bracket support plate 120 has a first mounting plane 123, a second mounting plane 124, a light-through hole 101, and an adjustment notch 102.

[0068] In one embodiment, in combination Figure 1 and Figure 2 , among the two or more first installation planes 123 distributed along the second direction Y, the angle between the first installation plane 123 located on the outside and the first direction X is greater than the angle between the first installation plane 123 located in the middle and the first direction X. Fig.14 , in the second direction Y, the galvanometer 400 is selected in the middle of the folding mirror assembly, which is conducive to the shortest sum of the optical path distances of the outgoing lasers reflected by each reflective lens 200 and the optimal path. The first lens 210 located on the outside has a large angle with the first direction X, that is, the incident angle is large, and correspondingly, the reflection angle is also large, which can reflect the outgoing laser emitted by the corresponding first transceiver module 310 at a large angle to the galvanometer 400 located in the middle; similarly, the reflection angle of the first lens 210 located in the middle is small, and the outgoing laser emitted by the corresponding first transceiver module 310 just needs to be reflected at a small angle to the galvanometer 400. In this way, the angle relationship between the first lenses 210 at different positions and the first direction X can ensure that the outgoing lasers emitted by each first transceiver module 310 distributed at intervals along the second direction Y are reflected and emitted to the galvanometer 400.

[0069] In one embodiment, in combination Figures 1 to 4 The number of the first mounting planes 123 is an even number, and the two first mounting planes 123 located in the middle are connected to form a common edge 125, so as to minimize the interval between the two first mounting planes 123 and prevent light from leaking from the interval between the two first mounting planes 123 to form stray light.

[0070] An even number of first mounting planes 123 are symmetrically distributed about the common edge 125, and the optical paths corresponding to the first lenses 210 at the same positions on both sides are symmetrical. When designing and manufacturing the folding mirror assembly, only half of the positions of the first mounting planes 123 need to be designed, and the other half of the first mounting planes 123 are obtained by symmetry.

[0071] In addition, combined Figures 11 to 13 The present application also provides a laser radar 10, including a first transceiver module 310, a second transceiver module 320, a galvanometer 400 and a folding mirror assembly of any one of the above items.

[0072] The first transceiver module 310 and the second transceiver module 320 are both used for emitting outgoing laser and receiving echo laser. The echo laser is the laser that is returned after the outgoing laser is reflected by the object in the detection area. The number of the first transceiver modules 310 is the same as the number of the light holes 101. The outgoing laser emitted by the first transceiver module 310 is reflected by the first lens 210 and the galvanometer 400 in sequence and then emitted to the first detection area 311. At the same time, the first transceiver module 310 receives the echo laser that is returned after being reflected in the first detection area 311, thereby realizing the detection of the first detection area 311. At least two first detection areas 311 corresponding to at least two first transceiver modules 310 are spliced ​​to form an overall detection area. The outgoing laser emitted by the second transceiver module 320 is reflected by the second lens 220 and the galvanometer 400 in turn and then emitted to the second detection area 321. At the same time, the second transceiver module 320 receives the echo laser returned after reflection in the second detection area 321, thereby realizing detection of the second detection area 321. The second detection area 321 at least partially overlaps with the overall detection area.

[0073] In the laser radar 10 provided in this embodiment, the outgoing lasers emitted by more than two first transceiver modules 310 are reflected by the first lens 210 and the galvanometer 400 and then directed to their respective first detection areas 311. These first detection areas 311 are spliced ​​to form an overall detection area. The outgoing lasers emitted by the second transceiver module 320 are reflected by the second lens 220 and the galvanometer 400 and then directed to the second detection area 321. The second detection area 321 physically overlaps with the detection area to form an ROI area. The ROI area is formed by physical overlap, and the point cloud data is authentic and reliable, reducing possible artifacts and image noise. The position of the ROI area in the detection area is fixed and unchanged, and objects 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.

[0074] This embodiment forms the ROI area by physical overlap, without relying on specific algorithms, complex control, fast communication networks and efficient computing capabilities, to achieve the purpose of saving network bandwidth occupation and computing resources, and has the characteristics of large area, low energy consumption, high stability and high reliability. The large area of ​​the ROI area 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. It can also be applied to large-scale gatherings with network congestion and large communication delays.

[0075] Optionally, there are no other components between the first transceiver module 310 and the second transceiver module 320 and the folding mirror assembly, and there are no other components between the folding mirror assembly and the galvanometer 400, which simplifies the optical path design and the architectural design of the laser radar 10.

[0076] Specifically, each first transceiver module 310 and each second transceiver module 320 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, so that the echo laser is emitted to the receiving module, while preventing the echo laser from entering the transmitting module again.

[0077] 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.

[0078] 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 400, 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 operation of the detector module. The receiving optical module can adopt a ball lens, a ball lens group or a cylindrical lens group, etc.

[0079] 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 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.

[0080] In this embodiment, when the laser radar 10 is designed, the position of the second detection area 321 in the detection area can be customized. Figure 6 , among the four first detection areas 311, the second detection area 321 may be completely located between the second first detection area 311b and the third first detection area 311c. Figure 7Among the four first detection areas 311 , the second detection area 321 can be partially located between the second first detection area 311b and the third first detection area 311c , and a large overlap can still be achieved. Optionally, the overlap area is greater than or equal to half of the area of ​​the second detection area 321 .

[0081] The staff can also customize the position and area of ​​the second detection area 321 by adjusting the layout position relationship of the first transceiver module 310, the second transceiver module 320 and the galvanometer 400, for example, by adjusting the height relationship between the second transceiver module 320 and the second lens 220, or adjusting the pitch angle of the second lens 220.

[0082] In this embodiment, the number of the first transceiver modules 310 may be two, three, or more than three. More than two first transceiver modules 310 may be spaced along the second direction Y straight line, or may be spaced along the curve. The number of the second transceiver modules 320 may be one or more than two. Optionally, the first transceiver module 310 and the second transceiver module 320 have the same model and driving mode, which reduces the types of components of the laser radar 10 and realizes the mass production of transceiver modules at the hardware level. At the control level, the first transceiver module 310 and the second transceiver module 320 are set differently according to preset rules. Since the detection cycle of the first transceiver module 310 and the second transceiver module 320 is fixed, the horizontal resolution of the point cloud of the detection area can be known, and the two share the same galvanometer 400, so the vertical resolution of the point cloud can be known, and then the first detection point corresponding to the first transceiver module 310 and the second detection point corresponding to the second transceiver module 320 are staggered by setting the optical path of the first transceiver module 310 and the second transceiver module 320. In this way, the detection points of the second detection area 321 can naturally overlap physically, reducing the difficulty of coordinated control of the first transceiver module 310 and the second transceiver module 320. The point cloud distribution rules formed by the echo laser reduce the difficulty of data processing such as data deduplication, data alignment, and data fusion.

[0083] It is understood that in some embodiments, in the detection area, some of the second detection points are staggered with the first detection points, and some of the second detection points overlap with the first detection points. In other embodiments, the first detection point and the second detection point can also be physically staggered and overlapped on the galvanometer 400, and then staggered and overlapped to the detection area.

[0084] In some embodiments, in combination Fig.14 and Fig.15, more than two first transceiver modules 310 and second transceiver modules 320 are spaced apart along the second direction Y to achieve close arrangement, and the first transceiver module 310 and the second transceiver module 320 will emit outgoing lasers in the same or substantially the same direction, so that the galvanometer 400 can receive the outgoing laser or the reflected echo laser in the outgoing direction, and the optical path is relatively regular. The first detection areas 311 corresponding to more than two first transceiver modules 310 are sequentially spliced ​​along the second direction Y, which is conducive to increasing the horizontal field of view of the detection area and improving the coverage capability of the laser radar 10.

[0085] Combination Fig.12 and Fig.13 , the first transceiver module 310, the second transceiver module 320 and the galvanometer 400 are located on the same side of the folding mirror assembly, the outgoing laser emitted by the first transceiver module 310 and the second transceiver module 320 is directed to the folding mirror assembly and incident on the galvanometer 400 after reflection, and the folding mirror assembly is also used to reflect the echo laser reflected by the galvanometer 400 and incident on the corresponding first transceiver module 310 and the second transceiver module 320. The folding mirror assembly can fold the optical path between the transceiver module and the galvanometer 400, reducing the size of the laser radar 10 in the first direction X. At the same time, the folding mirror assembly can also adjust the optical path, which makes it easy to achieve the splicing of the first detection area 311 and the overlap of the second detection area 321 with the overall detection area.

[0086] In this embodiment, the position layout of the first transceiver module 310, the second transceiver module 320 and the galvanometer 400 is flexible, which is conducive to a more flexible architecture design of the laser radar 10. The positions of the first transceiver module 310, the second transceiver module 320 and the galvanometer 400 can be determined based on size requirements, optical path requirements or other requirements, and then the position and angle of the reflective lens 200 corresponding to each first transceiver module 310 and the second transceiver module 320 are calculated based on the incident angle of the return mirror assembly being equal to the exit angle of the return mirror assembly, so that all the exiting lasers reflected by the reflective lens 200 are directed to the galvanometer 400, and the detection area formed outward after reflection by the galvanometer 400 meets the optical design requirements (such as splicing requirements and overlapping requirements).

[0087] Specifically, combined Fig.16 and Fig.17 The second transceiver module 320 is located between two adjacent first transceiver modules 310, the outgoing laser emitted by the second transceiver module 320 to the folding mirror assembly is located between the outgoing lasers emitted by the two adjacent first transceiver modules 310 to the folding mirror assembly, and after being reflected by the folding mirror assembly, the outgoing laser corresponding to the second transceiver module 320 is located between the outgoing lasers corresponding to the two adjacent first transceiver modules 310, thereby facilitating the physical overlap of the second detection area 321 formed by the second transceiver module 320 with the first detection area 311 corresponding to the two adjacent first transceiver modules 310.

[0088] Specifically, the galvanometer 400 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 is returned coaxially is received, so as to realize scanning of the detection area. The galvanometer 400 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 310 and the second transceiver module 320 is scanned in a line scanning manner after passing through the two-dimensional MEMS micromirror. The horizontal and vertical angles of the detection area are determined by the scanning mechanical angle of the two-dimensional MEMS micromirror.

[0089] Specifically, combined Fig.13 and Fig.16 , the distance between the multiple first mounting planes 123 and the galvanometer 400 in the first direction X first gradually increases and then gradually decreases. In other words, the first mounting planes 123 located on both sides are close to the galvanometer 400, and the first mounting plane 123 located in the middle is far away from the galvanometer 400. The multiple first mounting planes 123 are concave and arranged around the galvanometer 400.

[0090] Combination Figure 5 If multiple first transceiver modules 310 and second transceiver modules 320 are arranged in parallel and spaced apart, in order to allow the first detection areas 311 to be spliced ​​with each other without gaps, and the second detection area 321 to overlap in the overall detection area spliced ​​by multiple first detection areas 311, the angles between the reflective lenses 200 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 400. However, the reflective lenses 200 with larger angles will increase the difficulty of manufacturing and assembling the light adjustment and return mirror components. At the same time, strict requirements are also made on the layout position, layout angle and scanning mechanical angle of the galvanometer 400, resulting in a complex architecture of the laser radar 10, difficult adjustment of component positions, large or irregular volume, and inconvenient installation.

[0091] In a specific embodiment, in combination Figures 16 to 18 At least one first transceiver module 310 adjacent to the second transceiver module 320 is tilted, and the arrangement angle a between the optical axis of the second transceiver module 320 and the optical axis of the first transceiver module 310 is an acute angle, that is, the transmitting end of at least one adjacent first transceiver module 310 is tilted toward the second transceiver module 320, and the outgoing lasers emitted by the first transceiver modules 310 on both sides gradually approach each other. The optical path of the first transceiver module 310 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 320 located in the middle naturally overlaps in the optical path of the first transceiver modules 310 on both sides of the splicing, reducing the difficulty of achieving a large area ROI.

[0092] In addition, first, combined Fig.18 In order to obtain a preset large area ROI region, the angle of the incident light OA of the galvanometer 400 is locked. Fig.18 In (a), the first transceiver module 310 and the second transceiver module 320 are arranged in parallel, and an angle b1 is formed between the first lens 210 and the second lens 220 . Fig.18 The first transceiver module 310 in (b) is tilted, and an angle b2 is formed between the first lens 210 and the second lens 220. Since the angle between the emitted laser of the parallel first transceiver module 310 and the incident light OA of the corresponding galvanometer 400 is smaller than the angle between the emitted laser of the tilted first transceiver module 310 and the incident light OA of the corresponding galvanometer 400, the angle b1 is greater than the angle b2, that is, the first transceiver module 310 is tilted, so that the angles of the reflective lenses 200 are smaller and more parallel, which can reduce stray light, avoid excessive bending of the return mirror assembly, and help reduce the difficulty of manufacturing the return mirror assembly and reduce the difficulty of light adjustment of each reflective lens 200.

[0093] Second, combine Fig.18 (a) When the first transceiver module 310 adjacent to the second transceiver module 320 is arranged in parallel with the second transceiver module 320, the interval h1 between the folding mirror assembly and the first transceiver module 310 is relatively large. Fig.18 (b), when the first transceiver module 310 adjacent to the second transceiver module 320 is tilted, the interval h2 between the folding mirror assembly and the first transceiver module 310 is smaller. Therefore, at least one first transceiver module 310 adjacent to the second transceiver module 320 is tilted, which is beneficial to shortening the distance between the transceiver module and the folding mirror assembly, and is beneficial to reducing the volume of the laser radar 10.

[0094] Third, the first detection areas 311 of the first transceiver module 310 are spliced ​​outside the laser radar 10 without any gaps, so that the scanning area spliced ​​by the first detection areas 311 is continuous, avoiding blind spots, and the first detection areas 311 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 321 of the second transceiver module 320, and thus facilitating the user to observe the ROI area.

[0095] Fourth, a second transceiver module 320 is located between two adjacent first transceiver modules 310. Correspondingly, the second detection area 321 overlaps in the middle of the spliced ​​first detection area 311, 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 can be observed more clearly and carefully. It also avoids edge field distortion due to being located at the edge position, so that the point cloud density of the ROI area in the middle is large and the point cloud data quality is good.

[0096] Fifth, at least one first transceiver module 310 adjacent to the second transceiver module 320 is tilted, and the second transceiver module 320 is used as a reference and is not tilted, which can simplify the complexity of data alignment and fusion of the point cloud acquired by the second transceiver module 320 and improve the image data accuracy of the ROI area.

[0097] In one embodiment, the arrangement angle a corresponding to each first transceiver module 310 is the same. Fig.17 , the arrangement angle a corresponding to each first transceiver module 310 is the same, then the first transceiver modules 310 located on the same side of the second transceiver module 320 are parallel to each other and evenly spaced. The spacing can be designed to be as small as possible to achieve a compact arrangement, which is conducive to the miniaturized design of the laser radar 10.

[0098] 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 consistent geometric relationships, data correction, registration and fusion can be more easily performed, thereby improving the efficiency and accuracy of data processing.

[0099] In one of the embodiments, the arrangement angle a is 3° to 10°. If the arrangement angle a is less than 3°, the interval between the emitted lasers emitted by the first transceiver modules 310 on both sides is large. Either the size of the return mirror assembly is increased to receive the emitted lasers on both sides with large intervals, or the interval between the return mirror assembly and the first transceiver module 310 is increased to reduce the interval between the emitted lasers on both sides when reaching the return mirror assembly, 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 interval between the second transceiver module 320 and the adjacent first transceiver module 310 is too large, and the emitted lasers of the first transceiver modules 310 on both sides are prone to directly interfere with each other, which is easy to cause point cloud distortion and increase the difficulty of the architecture design of the laser radar 10. Based on this, the arrangement angle a is 3° to 10°, which is conducive to the miniaturization design of the laser radar 10 and the processing of point cloud data.

[0100] Optionally, the arrangement angle a is 3°, 5°, 7°, 9° or 10°.

[0101] In one embodiment, in combination Fig.17 The first transceiver module 310 is symmetrically distributed about the main axis direction of the second transceiver module 320, so that the overlapping area (ROI) is located in the central area of ​​the field of view with high attention, which meets the selection of detection requirements, can achieve the 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 310 is symmetrical with each other, data alignment and fusion are easier, which helps to improve the efficiency and accuracy of data processing.

[0102] In one embodiment, in combination Fig.11 and Fig.12 The laser radar 10 also includes a housing 500 and a control board, 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 310 and the digital board 630 are sequentially installed inside the housing 500 along the second direction Y, the second transceiver module 320 is installed between two or more first transceiver modules 310, the return bracket 100, the galvanometer 400 and the transmission board 610 are distributed inside the housing 500 along the first direction X, the transmission board 610 and the first transceiver module 310 are distributed inside the housing 500 along the third direction Z, and the transmission board 610 is electrically connected to the interface board 620 and the digital board 630 respectively. In this way, the laser radar 10 is compactly arranged, realizing a very simple architecture design, which is conducive to miniaturization design.

[0103] Based on the above design, the galvanometer 400 is located above the first transceiver module 310, and the galvanometer 400 is at the highest position in the third direction Z. The control board and the galvanometer 400 are staggered in the first direction X or the second direction Y. The control board will not increase the size of the whole machine in the third direction Z (height), and the height of the whole machine is lowered, which is conducive to the miniaturization design of the laser radar 10.

[0104] Optionally, the transmission plate 610 has an escape opening 611 , and the galvanometer 400 is located in the escape opening 611 .

[0105] Specifically, combined Fig.14 The 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.

[0106] Optionally, the transmission board 610 is hot-pressed and tin-fused with the interface board 620 through a flexible flat cable 640 .

[0107] Specifically, combined Fig.14The 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.

[0108] Optionally, the transmission board 610 is hot-pressed and tin-fused with the digital board 630 through a flexible flat cable 640 .

[0109] Specifically, combined Fig.12 and Fig.13 , the galvanometer 400 is located between the folding mirror assembly and the first transceiver module 310, thereby shortening the optical path distance and facilitating the miniaturization of the optical path structure. The galvanometer 400, the folding mirror assembly and the first transceiver module 310 are distributed along the third direction Z and may partially overlap, so that the folding mirror assembly will not block the multiple first transceiver modules 310 spaced apart along the second direction Y, nor will it block the outgoing laser emitted by the first transceiver module 310 along the first direction X. The galvanometer 400 and the folding mirror assembly are distributed in the third direction Z, so that the incident light of the folding mirror assembly and the outgoing light of the folding mirror assembly are separated in the third direction Z and do not interfere with each other.

[0110] In one embodiment, in combination Fig.12 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 second direction Y. The housing 500 forms a relatively closed cavity to accommodate and protect other components of the laser radar 10.

[0111] Specifically, the top cover 520 has a detection window 521, and the housing 500 further includes a window piece 550 sealed and installed on the detection window 521. The outgoing laser leaves the laser radar 10 through the window piece 550 and is emitted to the detection area, and the echo laser returns to the galvanometer 400 through the window piece 550.

[0112] Specifically, combined Fig.12 , Fig.19 and Fig. 20The base 510 is provided with a first support plate 511 and a second support plate 512 spaced apart along the second direction Y, and the first transceiver module 310 and the second transceiver module 320 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 mutual electromagnetic interference between the transceiver module, the interface board 620 and the digital board 630, and facilitate electrical isolation and thermal isolation.

[0113] Optionally, combined Fig. 20 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 310 and the second transceiver module 320 .

[0114] 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 310 and the second transceiver module 320. 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 310 and the second transceiver module 320.

[0115] Optionally, the number of the first limiting portions 513 is equal to the sum of the number of the first transceiver modules 310 and the second transceiver modules 320, that is, the transceiver modules are limited one by one. The plurality of first limiting portions 513 are distributed along the second direction Y. 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.

[0116] Specifically, combined Fig.19 The base 510 is provided with a second limiting portion 514 for assembling the folding mirror assembly, so as to facilitate the stable assembly of the folding mirror assembly.

[0117] exist Fig.19 In the illustrated embodiment, the first limiting portion 513 and the second limiting portion 514 are spaced apart along the first direction X. The second limiting 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. The bottom wall of the second limiting portion 514 may be provided with a mounting structure and / or a fixing structure.

[0118] Specifically, combined Fig.12 and Fig.19 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 size of the shell 500.

[0119] Optionally, four corners of the base 510 are provided with mounting structures and / or fixing structures.

[0120] 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 first direction X, and the two sides and the top of the first side cover 530 are connected to the top cover 520.

[0121] 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 first direction X, and the two sides and the top of the second side cover 540 are connected to the top cover 520.

[0122] Specifically, combined Fig.13 and Fig.14 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 310 along the second direction Y. 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 second direction Y, which reduces the height dimension and avoids being higher than the galvanometer 400, which is conducive to the miniaturization design of the laser radar 10.

[0123] 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 from increasing in size in the second direction Y due to the installation structure and / or positioning structure provided for cooperating with the first circuit board 621.

[0124] 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 increasing in size in the second direction Y due to the installation structure and / or positioning structure provided for cooperating with the second circuit board 622.

[0125] 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 limit the first circuit board 621 and the second circuit board 622.

[0126] Specifically, combined Fig.14 and Fig. 20The digital board 630 includes a third circuit board 631 and a fourth circuit board 632, and the third circuit board 631 and the fourth circuit board 632 are installed between the second side cover 540 and the first transceiver module 310 along the second direction Y. In this way, when the area of ​​the digital board 630 remains unchanged, the digital board 630 is split, and the third circuit board 631 and the fourth circuit board 632 are distributed along the second direction Y at intervals, which reduces the height dimension and avoids being higher than the galvanometer 400, which is conducive to the miniaturization design of the laser radar 10.

[0127] 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 from increasing in size in the second direction Y due to the installation structure and / or positioning structure provided for cooperating with the third circuit board 631.

[0128] 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 increasing in size in the second direction Y due to the installation structure and / or positioning structure provided for cooperating with the fourth circuit board 632.

[0129] Optionally, combined Fig.14 and Fig.21 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.

[0130] 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 folding mirror assembly, applied to laser radar, characterized in that: The folding mirror assembly comprises: A folding bracket, wherein the folding bracket has a first direction, a second direction and a third direction which are perpendicular to each other, the folding bracket comprises a bracket mounting plate and a bracket support plate, the bracket support plate is vertically arranged on the bracket mounting plate, the bracket support plate has a first side portion and a second side portion distributed along the first direction, the bracket support plate has at least two light-through holes penetrating the bracket support plate, and the two or more light-through holes are spaced apart and distributed along the second direction; A reflective lens, wherein the reflective lens comprises a first lens and a second lens, wherein the number of the first lenses is the same as the number of the light-through holes, the first lens is mounted on the first side and aligned with the light-through holes, and the second lens is mounted on the second side; in the second direction, the second lens is located between at least two of the light-through holes.

2. The folding mirror assembly according to claim 1, characterized in that: The projection of the second lens in the first direction at least partially overlaps with the projection of the first lens in the first direction.

3. The folding mirror assembly according to claim 1, characterized in that: The bracket support plate has an adjustment notch penetrating the bracket support plate, the adjustment notch extends to a side wall penetrating the folded bracket, and the second lens is aligned with the adjustment notch.

4. The folding mirror assembly according to claim 1, characterized in that: The first side portion has more than two first mounting planes distributed along the second direction, the light through holes correspond to the first mounting planes one by one, and the first lenses are mounted on the first mounting planes one by one.

5. The folding mirror assembly according to claim 4, characterized in that: The second side portion has a second mounting plane for mounting the second lens, and the second mounting plane is located between two adjacent light-through holes.

6. The folding mirror assembly according to claim 4, characterized in that: Among the two or more first installation planes distributed along the second direction, an angle between the first installation plane located on the outside and the first direction is greater than an angle between the first installation plane located in the middle and the first direction.

7. The folding mirror assembly according to claim 4, characterized in that: The number of the first mounting planes is an even number, two first mounting planes located in the middle are connected to form a common edge, and the even number of the first mounting planes are symmetrically distributed about the common edge.

8. The folding mirror assembly according to any one of claims 1 to 7, characterized in that: The number of the second lens is one, and the second lens is located between two adjacent light-through holes in the second direction.

9. A laser radar, characterized in that: The laser radar comprises a first transceiver module, a second transceiver module, a galvanometer, and a folding mirror assembly as claimed in any one of claims 1 to 8; The first transceiver module and the second transceiver module are both used for emitting outgoing laser and receiving echo laser, wherein the echo laser is the laser that is returned after the outgoing laser is reflected by an object in the detection area; the number of the first transceiver modules is the same as the number of the light-through holes, the outgoing laser emitted by one of the first transceiver modules is sequentially reflected by the first lens and the galvanometer and then emitted to the first detection area, at least two of the first detection areas corresponding to at least two of the first transceiver modules are spliced ​​to form the detection area, the outgoing laser emitted by the second transceiver module is sequentially reflected by the second lens and the galvanometer and then emitted to the second detection area, and the second detection area at least partially overlaps with the detection area.

10. The laser radar according to claim 9, characterized in that: The second transceiver module and more than two of the first transceiver modules are spaced apart along the second direction, at least one of the first transceiver modules adjacent to the second transceiver module is tilted, and an angle between an optical axis of the second transceiver module and an optical axis of the first transceiver module is an acute angle.

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

12. The laser radar according to any one of claims 9 to 11, characterized in that: The laser radar also includes a shell and a control board, 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 second direction, the second transceiver module is installed between two or more of the first transceiver modules, the folding bracket, the galvanometer and the transmission board are distributed inside the shell along the first direction, the transmission board and the first transceiver module are distributed inside the shell along the third direction, and the transmission board is electrically connected to the interface board and the digital board respectively.

13. The laser radar according to claim 12, 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.

Images