Reflection device with adjustable equivalent reflectivity and method for adjusting equivalent reflectivity

Abstract

The invention provides a reflection device with adjustable equivalent reflectivity and a method for adjusting the equivalent reflectivity. The equivalent reflectivity adjustable device can be used for calibrating the performance of a laser radar, and comprises at least one reflection module and a control module, each reflection module comprises a plurality of reflection surfaces with controllable rotation angles in a preset range, and is used for reflecting laser emitted by the laser radar; and the control module is configured to control the rotation angles of the plurality of reflecting surfaces of each reflecting module based on the required equivalent reflectivity of the reflecting device in the incident direction of the laser, and the reflecting characteristic of each reflecting surface in the plurality of reflecting surfaces is known. According to the reflection device, the rotation angles of the plurality of reflection surfaces of the at least one reflection module can be accurately controlled through the control module, so that the plurality of reflection surfaces show different equivalent reflectivity in a certain direction; therefore, the reflection device can be used for providing various equivalent reflectivity so as to simulate the condition that the laser radar detects objects with different reflectivity.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a reflection device with adjustable equivalent reflectivity and a method for adjusting the equivalent reflectivity. Background Art

[0002] Laser radar is a radar system that emits lasers to detect the position, speed and other characteristic quantities of a target. Laser radar usually includes a transmitting system and a receiving system. Its main principle is as follows: the transmitting system emits a detection beam to the target, and the detection beam is reflected back by the obstacle after passing through the obstacle. The laser radar compares the echo beam reflected from the obstacle with the detection beam, and after appropriate processing, it can obtain relevant information about the obstacle, such as target distance, direction, height, speed, attitude, reflectivity, shape and other parameters.

[0003] Since there are many different types of LiDARs, and each type has different performance requirements, a large number of target plates with different shapes, sizes, and reflectivities are used in the process of LiDAR performance calibration to simulate obstacles with different reflectivities in real life scenes (such as people or objects). In order to obtain target plates with different reflectivities, users (testers) usually need to prepare a large number of target plates with different reflectivities, which makes the performance calibration process of LiDAR more costly and the operation process of replacing target plates with different reflectivities is cumbersome. Summary of the invention

[0004] The present specification provides a reflective device with adjustable equivalent reflectivity and a method for adjusting the equivalent reflectivity. The reflective device can provide a continuously variable equivalent reflectivity for calibrating laser radar performance. Without a large number of target plates with a single reflectivity, the expected reflectivity can be obtained for laser radar performance calibration, thereby reducing the cost of laser radar performance calibration and simplifying the operation process.

[0005] In a first aspect, the present specification provides a reflecting device with adjustable equivalent reflectivity, the reflecting device comprising at least one reflecting module and a control module; each reflecting module comprises a plurality of reflecting surfaces with controllable rotation angles within a preset range, for reflecting the laser emitted by the laser radar; the control module is configured to control the rotation angles of the plurality of reflecting surfaces of each reflecting module based on the required equivalent reflectivity of the reflecting device along the incident direction of the laser, wherein the reflection characteristics of each of the plurality of reflecting surfaces are known.

[0006] In some embodiments, each of the reflection modules further includes a transmission assembly, and the transmission assembly is rotatably connected to the multiple reflection surfaces so that the multiple reflection surfaces are parallel to each other.

[0007] In some embodiments, the control module is connected to the transmission assembly and is configured to adjust the rotation angles of the multiple reflective surfaces through the transmission assembly during operation.

[0008] In some embodiments, the at least one reflection module is a single reflection module, and at any angle within the preset range, projections of any two adjacent reflection surfaces among the multiple reflection surfaces along the incident direction at least partially overlap.

[0009] In some embodiments, the transmission assembly includes a first link assembly and a second link assembly, and forms a four-link structure with each of the multiple reflective surfaces. The control module includes a driving mechanism, and the driving mechanism is configured to drive the transmission assembly to move during operation, thereby adjusting the rotation angle of the multiple reflective surfaces.

[0010] In some embodiments, along the incident direction, the at least one reflection module includes: a first reflection module positioned in the front row and at least one second reflection module positioned in the back row; the first reflection module reflects a portion of the laser, and the remaining portion of the laser passes through the first reflection module and is at least partially reflected by the second reflection module.

[0011] In some embodiments, the first transmission assembly of the first reflection module includes a third link assembly and a fourth link assembly, which form a four-bar structure with each reflection surface of the first reflection module; and the second transmission assembly of the second reflection module includes a fifth link assembly and a sixth link assembly, which form a four-bar structure with each reflection surface of the second reflection module.

[0012] In some embodiments, the control module includes a linkage mechanism and a driving mechanism, the linkage mechanism is connected to the first transmission assembly and the second transmission assembly, the linkage mechanism is configured to make the reflective surface of the first reflection module and the reflective surface of the second reflection module move synchronously; the driving mechanism is connected to the linkage mechanism and is configured to drive the linkage mechanism to move, thereby adjusting the rotation angle of the reflective surface of the first reflection module and the reflective surface of the second reflection module.

[0013] In some embodiments, the linkage mechanism comprises one of a gear mechanism or a connecting rod mechanism.

[0014] In some embodiments, the driving mechanism includes a motor, and the control module further includes a controller, which controls the motor to rotate a target angle to adjust the rotation angle of each reflective surface.

[0015] In some embodiments, the driving mechanism includes a manual control component, and the control module also includes a dial, and the dial is configured to indicate the rotation angle of each reflective surface.

[0016] In some embodiments, the control module further includes a locking mechanism configured to lock the rotation angle of each reflective surface.

[0017] In some embodiments, the locking mechanism includes a ratchet, a pawl and a spring assembly; the ratchet is arranged on the side of the dial, and the spacing of the ratchet corresponds to the scale; the pawl is engaged with the ratchet so that the ratchet can only move in one direction; and the spring assembly is elastically connected to the pawl so that the pawl and the ratchet remain in contact.

[0018] In some embodiments, each of the reflection modules includes a microelectromechanical system (MEMS) with a mirror array, the mirror array includes the multiple reflection surfaces, wherein the size of each reflection surface is at least one order of magnitude smaller than the diameter of the spot where the laser is incident on the mirror array, and the overall reflection characteristics of the multiple reflection surfaces are known.

[0019] In some embodiments, the control module includes a plurality of sub-control modules corresponding to the plurality of reflective surfaces; each of the plurality of sub-control modules is configured to control a corresponding reflective surface to change the rotation angle of the corresponding reflective surface.

[0020] In some embodiments, the multiple reflective surfaces of each reflective device include at least one type one reflective surface and at least one type two reflective surface, the at least one type one reflective surface has a first reflectivity, the at least one type two reflective surface has a second reflectivity, and the at least one type one reflective surface is adjacent to each other and arranged in sequence, and the at least one type two reflective surface is adjacent to each other and arranged in sequence.

[0021] In some embodiments, at any rotation angle within the preset range, the distance between the front end and the rear end of the multiple reflecting surfaces is less than or equal to the preset distance, the front end of the multiple reflecting surfaces is the end closest to the laser radar along the incident direction of the laser, and the rear end of the multiple reflecting surfaces is the end farthest from the laser radar along the incident direction of the laser.

[0022] On the other hand, the present specification provides a method for adjusting the equivalent reflectivity, which can be applied to any of the above-mentioned reflective devices, and the steps of the method include: obtaining the equivalent reflectivity of the reflective device to be adjusted; obtaining the reflection angle corresponding to the equivalent reflectivity; and based on the reflection angle, adjusting the rotation angle of the reflecting surface of the reflective device to the reflection angle corresponding to the equivalent reflectivity.

[0023] It can be known from the above technical scheme that the reflective device with adjustable equivalent reflectivity provided in this specification can adjust the rotation angle of multiple reflective surfaces of each reflective module so that the equivalent reflectivity of the multiple reflective surfaces along the incident direction of the laser after the angle is adjusted is the required reflectivity, and then the obtained multiple equivalent reflectivities can be used to calibrate the performance of the laser radar, thereby reducing the cost in the calibration or testing process, and the reflective device disclosed in this specification can adjust the equivalent reflectivity by adjusting the rotation angle of the reflective surface, without the need to frequently replace the target plate, thereby improving the efficiency of calibration or testing. In addition, the reflective device provided in this specification uses multiple reflective surfaces to replace a whole target plate to reflect the laser, which can reduce the time difference between the echoes reflected from different positions of the target plate due to the large plate surface when using a whole target plate. In summary, the reflective device with adjustable equivalent reflectivity provided in this specification can provide multiple equivalent reflectivities without requiring a large number of target plates with different reflectivities. At the same time, the device can also solve the problem that the echo pulse delay is too large when the laser is not directly irradiated because the target plate is too large, which affects the calibration of the laser radar performance. It can be understood by those skilled in the art that the device also includes other beneficial effects, which are not listed here one by one.

[0024] Other functions of the reflective device with adjustable equivalent reflectivity and the method for adjusting equivalent reflectivity provided in this specification will be partially listed in the following description. The creative aspects of the reflective device with adjustable equivalent reflectivity and the method for adjusting equivalent reflectivity provided in this specification can be fully explained by practicing or using the methods, devices and combinations described in the following detailed examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram showing a working scenario of a laser radar provided according to some embodiments of this specification;

[0027] Figure 2 A schematic diagram showing a laser radar irradiating an inclined target plate according to some embodiments of this specification is shown;

[0028] Figure 3A A schematic diagram of an actual reflected energy body when a laser radar provided in some embodiments of this specification irradiates a non-standard diffuse reflection plate is shown;

[0029] Figure 3B A schematic diagram of an equivalent reflection energy body when a laser is vertically incident on a non-standard diffuse reflection plate according to some embodiments of this specification is shown;

[0030] Figure 3C A schematic diagram showing the relationship between the rotation angle and equivalent reflectivity of a non-standard diffuse reflection plate provided in some embodiments of this specification is shown;

[0031] Figure 4 A schematic diagram of a single reflection module provided according to some embodiments of this specification is shown;

[0032] Figure 5A A schematic diagram showing a laser incident on a single reflective module according to some embodiments of this specification;

[0033] Figure 5B A schematic diagram showing a laser incident on a single large target plate according to some embodiments of the present specification;

[0034] Figure 5C A schematic diagram of a laser waveform provided according to some embodiments of this specification is shown;

[0035] Fig. 6A A side view of a single reflective module provided according to some embodiments of the present specification is shown;

[0036] Figure 6B A side view of a single reflection module provided in accordance with some embodiments of the present specification when multiple reflection surfaces are tilted is shown;

[0037] Figure 7 A schematic diagram of the structure of another transmission assembly provided according to some embodiments of this specification is shown;

[0038] Fig. 8A A schematic diagram of a control module driven by electricity according to some embodiments of this specification is shown;

[0039] Figure 8B A schematic diagram of a manually driven control module provided according to some embodiments of this specification is shown;

[0040] Fig. 9 A schematic diagram of a locking mechanism provided according to some embodiments of the present specification is shown;

[0041] Fig.10 A schematic diagram of the structure of a double reflection module provided according to some embodiments of this specification is shown;

[0042] Fig.11 A schematic diagram showing a case where the linkage mechanism provided in some embodiments of the present specification is a gear mechanism;

[0043] Fig.12 A schematic diagram showing a linkage mechanism provided in some embodiments of the present specification is a connecting rod mechanism; and

[0044] Fig.13 A flow chart of a method for adjusting equivalent reflectivity provided according to some embodiments of the present specification is shown. DETAILED DESCRIPTION

[0045] The following description provides specific application scenarios and requirements of this specification, with the purpose of enabling those skilled in the art to make and use the contents of this specification. Various local modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but to the widest scope consistent with the claims.

[0046] The terms used in this application are only used for the purpose of describing specific example embodiments and are not restrictive. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include plural forms. When used in this specification, the terms "include", "comprise" and / or "contain" mean that the associated integers, steps, operations, elements and / or components exist, but do not exclude the existence of one or more other features, integers, steps, operations, elements, components and / or groups or that other features, integers, steps, operations, elements, components and / or groups may be added in the system / method.

[0047] In the present application, "X includes at least one of A, B, or C" means that X includes at least A, or X includes at least B, or X includes at least C. That is, X may include only any combination of A, B, and C, or may include any combination of A, B, and C and other possible contents / elements at the same time. The any combination of A, B, and C may be A, B, C, AB, AC, BC, or ABC.

[0048] In this application, unless explicitly stated otherwise, the association relationship between structures can be a direct association relationship or an indirect association relationship. For example, when describing "A is connected to B", unless it is explicitly stated that A is directly connected to B, it should be understood that A can be directly connected to B or indirectly connected to B; for another example, when describing "A is above B", unless it is explicitly stated that A is directly above B (AB is adjacent and A is above B), it should be understood that A can be directly above B or indirectly above B (AB is separated by other elements and A is above B). And so on.

[0049] In view of the following description, these and other features of the present specification, as well as the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the parts can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0050] The flowcharts used in this specification illustrate the operations implemented by the system according to some embodiments in this specification. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. On the contrary, the operations may be implemented in reverse order or simultaneously. In addition, one or more other operations may be added to the flowchart. One or more operations may be removed from the flowchart.

[0051] Before describing the specific embodiments of this specification, Figure 1 A brief description of the structure and working process of the laser radar is given.

[0052] Figure 1 FIG. 1 shows a schematic diagram of a working scene 001 of the laser radar 100. Figure 1 As shown, scene 001 includes a laser radar 100 and an obstacle 200. The laser radar 100 may include a transmitting system and a receiving system. The transmitting system may include a laser transmitting device. The laser transmitting device may transmit laser. The receiving system may include a laser detection device. After the laser emitted by the laser transmitting device irradiates the surface of the obstacle 200, it will be reflected by the obstacle 200 to form an echo, and the corresponding echo signal can be received by the laser detection device.

[0053] In practical applications, the laser radar 100 can be used in different scenarios. Different obstacles 200 in different scenarios may have different reflectivities. Reflectivity refers to the ratio of the radiation energy reflected by the obstacle 200 to the total radiation energy projected onto the obstacle 200. For example, the reflectivities of trees and people may be different, the reflectivities of cars and the ground may be different, and so on. In order to ensure that the laser radar 100 has good working performance in different application scenarios and when detecting different obstacles 200, the performance of the laser radar 100 needs to be tested and calibrated.

[0054] In the process of research and development, testing and production in the laser radar industry, target plates 210 with different reflectivities are usually used to simulate obstacles 200 with different reflectivities. The target plate 210 can be a standard diffuse reflector (also called a Lambert body). In this way, the target plate 210 can diffusely reflect the laser (also called Lambert reflection). In other words, after the laser radar 100 irradiates the target plate 210, the incident energy E0 is centered on the incident point O and reflects energy isotropically around the entire hemispherical space. According to the Lambert body cosine theorem, it can be known that the reflected energy per unit surface area of ​​the Lambert body in a unit solid angle in a specified direction in space is proportional to the cosine of the angle between that direction and the surface normal direction.

[0055] Figure 1 The dotted line in the middle shows the surface normal of the target plate 210, and its direction is perpendicular to the target plate 210. Figure 1 In the scene shown, the target plate 210 is perpendicular to the incident direction of the laser. The direction in which the laser radar 100 receives the reflected energy of the target plate 210 coincides with the surface normal, and the angle is 0 degrees. Therefore, the cosine value of the angle between the direction of the reflected energy and the direction of the surface normal is 1. The energy reflected per unit surface area to a unit solid angle in this direction is recorded as E1. Therefore, the actual reflectivity of the target plate 210 is η0 = (∫E1) / E0×100%. Figure 1 The angle between the direction of the S2 area and the surface normal is θ, so the cosine value is cosθ, and the energy reflected by its unit surface area to a unit solid angle in this direction is recorded as E2. According to the Lambert cosine theorem, it can be known that E2 = E1 × cosθ. In the field of laser radar, since the laser radar 100 can only receive echo energy in a very small field of view, the echo energy received by the laser radar 100 is approximately E1. In other words, when the laser radar 100 measures the obstacle 200 (target plate 210), it actually calculates the equivalent Lambert reflectivity of the reflective surface perpendicular to the laser emission direction based on the measured echo energy reflected by the obstacle 200.

[0056] like Figure 1As shown, the reflected energy obtained by the laser radar 100 is the energy E1 in the S1 area. Figure 1 After the reflected energy in the S1 area, Figure 1 The dotted line in the figure is the normal line to construct an equivalent reflection energy body, that is, an equivalent circle S is made with the energy of the area where S1 is located (that is, the length of the S1 area shown in the figure) as the diameter (actually, an equivalent sphere is made. The equivalent sphere is simplified as a flat circle in the figure). The laser radar 100 uses the total energy of the equivalent reflection energy body as the total energy of the incident energy after being reflected by the target plate 210, and uses the equivalent reflection energy body to calculate the reflectivity of the target plate 210. When making the equivalent circle S, the reflectivity η1 calculated by the laser radar is equal to (∫E1) / E0×100%, where it should be noted that ∫ represents the integration of E1 in the surface area and angle direction. Therefore, when the laser of the laser radar is vertically incident on the target plate 210 and the target plate 210 is a Lambertian body, the reflectivity of the target plate 210 calculated by the laser radar is equal to (or substantially equal to) the actual reflectivity of the target plate 210.

[0057] Figure 2 FIG. 1 shows a schematic diagram of a laser radar 100 irradiating an inclined target plate 210, wherein the energy of the laser radar incident on the target plate is E0. The angle between the target plate 210 and the incident direction of the laser can be β degrees, and the angle between the incident direction and the normal direction of the target plate 210 is The energy reflected by the unit surface area in this direction to the unit solid angle is recorded as E3, and the energy reflected by the unit surface area in the normal direction of the target plate 210 to the unit solid angle is recorded as E4. According to the Lambert cosine theorem, The reflected energy that the laser radar 100 can receive is the energy E3 in the S3 area. Since the laser radar 100 cannot distinguish the angle between the target plate 210 and the incident direction of the laser, when constructing the equivalent reflected energy body, the laser radar 100 will assume that the energy it receives comes from the normal direction of the target plate 210, and construct a virtual equivalent reflected energy body based on this, and use the energy value received from the field of view area as the diameter to make an equivalent circle. Figure 2 In the laser radar 100, when constructing an equivalent reflected energy body according to the reflected energy of the field of view area S3, an equivalent circle S' (S' is represented by Figure 2 The shaded part in the figure shows the equivalent circle S' made by Figure 2 The virtual line perpendicular to the incident direction of the laser is tangent to the target plate 210. For the target plate 210, the actual reflected energy body is the equivalent circle S, and the virtual equivalent reflected energy body restored by the laser radar 100 after receiving the reflected energy is the equivalent circle S'. Then the reflectivity η2 calculated by the laser radar is (∫E3) / E0×100%, and because Therefore, the reflectivity calculated by the laser radar can be expressed as η2 = (∫E4×sinβ) / E0×100%. Since the actual reflectivity of the target plate 210 η3 = (∫E4) / E0×100%, then η2 / η 3＝ It should be noted that in the present disclosure, the angle between the plane where the target plate 210 is located and the plane where the target plate 210 is located when the laser is vertically incident can be considered as the rotation angle δ of the target plate 210. Then η2 / η 3＝ cosδ. Therefore, the measured reflectivity of the target plate 210 obtained by the laser radar 100 through measurement and calculation is related to the angle between the actual reflectivity of the target plate 210 and the incident direction of the laser on the target plate 210 (or the measured reflectivity of the target plate 210 obtained by the laser radar 100 through measurement and calculation is related to the actual reflectivity of the target plate 210 and the rotation angle of the target plate). Therefore, the angle between the target plate 210 and the incident direction of the laser is different, and the reflectivity measured by the laser radar 100 for the same target plate 210 is also different. Therefore, we can use this feature to simulate obstacles 200 or target plates 210 with different reflectivities by adjusting the angle between the target plate 210 and the incident direction of the laser.

[0058] The target plate 210 may be a standard diffuse reflector. However, the cost of a standard diffuse reflector is relatively high. Therefore, the target plate 210 may also be a low-cost non-standard diffuse reflector. A variety of materials may be selected for the non-standard diffuse reflector. For example, a non-standard diffuse reflector may be obtained by spraying paint on a rough surface plate and then cutting it. The energy distribution reflected by the laser after irradiating the non-standard diffuse reflector may be an arbitrary non-spherical shape. Figure 3A A schematic diagram of the actual reflected energy body when the laser radar 100 irradiates a non-standard diffuse reflection plate is shown. Figure 3B A schematic diagram of the equivalent reflected energy body when the laser is vertically incident on a non-standard diffuse reflector is shown. Figure 3C A schematic diagram showing the relationship between the rotation angle and equivalent reflectivity of a non-standard diffuse reflection plate is shown.

[0059] like Figure 3A As shown, the reflected energy body after the laser irradiates the non-standard diffuse reflection plate can be an ellipsoid (the reflected energy body of the ellipsoid is represented by Figure 3A When the energy incident on the standard reflector and the non-standard diffuse reflector is the same, the reflected energy body after the laser irradiates the standard diffuse reflector is a sphere (the spherical reflected energy body is represented by Figure 3A ). Figure 3AIt can be seen that when the incident energy is the same, the energy reflected by the non-standard diffuse reflector in the normal direction of the plate surface is greater than the energy reflected by the standard diffuse reflector in this direction. Therefore, the actual reflectivity of the non-standard diffuse reflector in the normal direction of the plate surface is higher than the actual reflectivity of the standard diffuse reflector. However, in the present application, when the laser radar 100 uses the received reflected energy to simulate the total reflected energy, it still uses the equivalent method of the above-mentioned standard diffuse reflector to calculate the total reflected energy. That is to say, it is assumed that the reflected energy received in the field of view area comes from the normal direction of the plate surface of the standard diffuse reflector after the laser is vertically incident, and then the received energy is equivalent to a spherical reflected energy body. Figure 3B As shown in the figure, the actual reflected energy body reflected by the non-standard diffuse reflector is as follows Figure 3B The solid line in the middle shows that the equivalent reflected energy volume is calculated based on the energy value of the received field of view area. Figure 3B The dashed line portion is shown in the figure. It can be seen that when the normal direction of the plate surface is the same as the laser incident direction, the energy of the equivalent reflected energy body is greater than the energy of the actual reflector. At this time, when the laser radar 100 calculates the reflectivity using the above-mentioned equivalent method, the calculated equivalent reflectivity is greater than the actual reflectivity. That is to say, in this case, the target plate 210 can be used to simulate an obstacle 200 with a higher reflectivity than its own reflectivity. When the angle between the target plate 210 and the laser incident direction is changed, the energy of the equivalent energy reflector calculated by the laser radar 100 can be less than the actual reflected energy. In this case, the target plate 210 can be used to simulate an obstacle 200 with a lower reflectivity than its own reflectivity.

[0060] Since the energy reflected by the non-standard diffuse reflector for the laser can be an arbitrary uncertain non-sphere, the equivalent reflectivity of the non-standard diffuse reflector needs to be known before using the non-standard diffuse reflector. In order to obtain the equivalent reflectivity of the non-standard diffuse reflector, the non-standard diffuse reflector can be measured and recorded first, so as to obtain the equivalent reflectivity-angle curve, that is, the equivalent reflectivity parameter of the non-standard diffuse reflector. Figure 3C An equivalent reflectivity-rotation angle curve C1 of a non-standard diffuse reflector whose actual reflected energy is an ellipsoid is shown. Figure 3C The equivalent reflectivity-angle curve diagram C2 of the laser irradiating the standard diffuse reflector is also shown. When the rotation angle is 0°, the angle between the incident direction of the laser and the normal line of the plate surface is 0°. Figure 3CIt can also be seen that when the target plate 210 is a standard diffuse reflection plate, by changing the angle between the target plate 210 and the incident direction, the target plate 210 can simulate an obstacle 200 with a reflectivity equal to or lower than its own reflectivity. When the target plate 210 is a non-standard diffuse reflection plate, by changing the angle between the target plate 210 and the incident direction, the target plate 210 can be used to simulate an obstacle 200 with a reflectivity higher or lower than its own reflectivity.

[0061] With the help of the above-mentioned equivalent characteristics, this specification provides a reflection device 300 with adjustable equivalent reflectivity (referred to as the reflection device 300 or device 300). The reflection device 300 may include at least one reflection module and a control module. Each reflection module may include multiple reflection surfaces for reflecting the laser emitted by the laser radar 100. The rotation angles of the multiple reflection surfaces are controllable and can be adjusted within a preset range. By adjusting the rotation angles of the multiple reflection surfaces, the incident angle of the laser incident on the reflection surface can be adjusted. The control module can control the rotation angles of the multiple reflection surfaces of each reflection module based on the required equivalent reflectivity of the reflection device 300 along the incident direction of the laser. Among them, the reflection characteristics of each of the multiple reflection surfaces are known.

[0062] The reflection module may be one or more. Figure 4 A schematic diagram of a single reflection module 310 is shown. The characteristics and / or structural features of each reflection module 310 are introduced by taking this reflection module 310 as an example. When the reflection device 300 includes multiple reflection modules 310, each reflection module 310 may have the characteristics and / or structural features described below.

[0063] The reflection module 310 may include a plurality of reflection surfaces 311. Each reflection surface 311 can be rotated at a controllable angle within a preset range. The number of reflection surfaces 311 may be any natural number greater than 1, such as 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, etc. Figure 4 The reflection module 310 includes four reflection surfaces 311 -A, 311 -B, 311 -C, and 311 -D.

[0064] At any rotation angle within the preset range, the distance between the front end and the rear end of the multiple reflective surfaces is less than or equal to the preset distance, wherein the front end of the multiple reflective surfaces is the end closest to the laser radar along the incident direction of the laser, and the rear end of the multiple reflective surfaces is the end farthest from the laser radar along the incident direction of the laser. The distance between the front end and the rear end refers to the distance between the front end and the rear end along the incident direction of the laser. Since the position of the laser incident reflective surface 311 is uncertain, the distance between the front end and the rear end also refers to the maximum distance that may occur between the various positions on the reflective surface 311 when the multiple reflective surfaces 311 are rotated to any angle within the preset range. The front end and the rear end are the two positions of the laser on the reflective surface 311 when they are at the maximum distance. That is, the laser irradiates the front end of a reflective surface 311 and the rear end of a reflective surface 311 at the same time. The front end and the rear end mentioned above can be positions on different reflective surfaces 311, or positions on the same reflective surface 311.

[0065] Specifically, Figure 5A shown. Figure 5A FIG. 3 is a schematic diagram showing a laser incident on a single reflective module 310. The single reflective module 310 may be Figure 4 The laser is incident on the reflective module 310. Figure 5A When the laser is incident on the reflecting surface 311 in the image, part of the laser is incident on the reflecting surface 311-B, and part of the laser is incident on the reflecting surface 311-C. Among them, the laser is incident on the front end F1 of the reflecting surface 311-B and the rear end R1 of the reflecting surface 311-C. At this time, the front end and the rear end are different positions on the reflecting surface 311. The distance between these two points is the maximum distance that may appear along the incident direction. The distance between the front end and the rear end is the distance D1 between the front end F1 of the reflecting surface 311-B and the rear end R1 of the reflecting surface 311-C along the incident direction. The D1 is less than or equal to the preset distance. The following is an explanation of setting the distance between the front end and the rear end to be less than or equal to the preset distance:

[0066] Figure 5BA schematic diagram is shown when the laser is incident on a single target plate 210. In actual use, the target object detected by the laser radar 100 is often far away. For example, the detection object of a vehicle-mounted radar is often several hundred meters away. Since the emitted laser has a certain divergence angle, when the emitted laser reaches the target object, its diameter can often reach tens of centimeters. When the target plate 210 is a whole plate surface, as mentioned above, when the equivalent reflectivity of the laser incident direction is adjusted by adjusting the rotation angle of the target plate 210, the rotation of the target plate 210 will cause different areas of the light spot to have different straight-line distances from the laser radar after the same laser beam is incident on the target plate 210, especially the straight-line distance between the upper edge of the light spot and the lower edge of the light spot and the laser radar is quite different. Figure 5B As shown, the rotation angle of the target plate 210, that is, the angle between the plane where the target plate 310 is located and the plane where the target plate 210 is located when the laser is vertically incident, is η. The center point of the incident light spot is point O, and the straight-line distance from the laser radar 100 is L0. The straight-line distance between the upper edge O1 of the light spot and the laser radar 100 is L1, and the straight-line distance between the lower edge O2 of the light spot and the laser radar 100 is L2. Figure 5B It can be seen that L1>L0>L2, and the larger the rotation angle η of the target plate 210, the larger the difference between L1 and L2. When the rotation angle η of the target plate 210 is large, the difference between L1 and L2 is large, which causes the waveform of the echo signal reflected by the laser from the target plate to change, affecting the accuracy of the measurement of parameters such as the laser radar distance and reflectivity, and thus making the calibration or test results unreliable. Figure 5C A schematic diagram of the laser waveform is shown. When the diameter of the laser spot is large (for example, 70 cm), if it is irradiated on the entire target plate 210, the difference ΔL between L1 and L2 will make the echo signal of the laser radar 100 become flat and wide. As a result, there is a large time difference Δt between the echo signals reflected from the upper and lower edges of the laser spot, which affects the waveform of the echo signal received by the receiving system of the laser radar 100, thereby affecting the calibration of the ranging performance of the laser radar 100 (because the laser class uses the received echo signal to calculate the distance, reflectivity and other information. When the waveform of the echo signal is abnormal, it will affect the accuracy of the distance, reflectivity and other information calculated by the laser radar).

[0067] By setting the reflection module 310 as Figure 5A The multiple reflective surfaces 311 are equivalent to Figure 5BThe whole target plate 210 is split into multiple sub-reflection surfaces arranged in parallel in a direction perpendicular to the ground. In this way, when the laser hits the reflection surface 311, the maximum distance between the upper and lower edges of the light spot is the distance between the front end and the rear end of the reflection surface 311 along the incident direction. When the multiple reflection surfaces 311 rotate at an angle, by reasonably designing the width W of each reflection surface 311, the spacing of each reflection surface 311 along the incident direction, the rotation angle of the multiple reflection surfaces 311, etc., the time difference Δt of the radar echo signal caused by the tilt of the reflection surface 311 can be controlled within a reasonable range. Furthermore, since the maximum possible distance D1 (the distance between the front end and the rear end) of the reflecting surface 311 is limited to be less than or equal to the preset distance, even if the laser does not irradiate the front end of a reflecting surface 311 and the rear end of a reflecting surface 311 at the same time, it can be ensured that at any rotation angle within the aforementioned preset range, the distance between the front end and the rear end of the multiple reflecting surfaces 311 will be less than or equal to the preset distance, so that the time difference Δt of the radar echo signal caused by the tilt of the reflecting surface is controlled within a reasonable range, thereby not affecting the calibration of the laser radar 100.

[0068] According to experience, laser signals are generally pulses lasting nanoseconds, so when the time difference Δt of the echo signal is on the order of 1 nanometer, the impact on the performance calibration of the laser radar is small and within an acceptable range. Therefore, the distance between the front and rear ends of the multiple reflection surfaces 311 after rotation can be controlled to be on the order of centimeters, so that the time error of the obtained echo signal is on the order of sub-nanoseconds. For example, the distance D1 between the front and rear ends of the multiple reflection surfaces 311 is less than or equal to the preset distance. The preset distance can be 5cm, 10cm, 20cm, 30cm, 40cm, 50cm, 60cm, etc., or it can be any value between any two of the above values.

[0069] Through the above design, it is possible to reduce the problem of excessive delay in the laser echo pulse caused by the target plate 210 / reflecting surface 311 being too large and the laser not directly irradiating its surface after the target plate 210 / reflecting surface 311 rotates, that is, the problem of excessive time difference Δt of the echo signal, thereby reducing the impact on the calibration of the laser radar 100 performance.

[0070] Back to Figure 4, the sizes of the reflecting surfaces 311-A, 311-B, 311-C, and 311-D may be equal or unequal. In order to use the multiple reflecting surfaces 311 to calibrate the laser radar 100, the reflection characteristics of each reflecting surface in the reflecting surface 311 need to be known in advance. For example, the reflection characteristics may refer to the equivalent reflectivity exhibited along the incident direction when the reflecting surface 311 is rotated to different angles. Among them, the reflecting surfaces 311 may all be reflection surfaces of standard diffuse reflection plates, or may all be reflection surfaces of non-standard diffuse reflection plates. Among them, when the reflecting surfaces 311 are all reflection surfaces of standard diffuse reflection plates, the reflection characteristics of all standard diffuse reflection plates constituting the reflecting surface 311 are the same; the reflection characteristics of all non-standard diffuse reflection plates constituting the reflecting surface 311 are the same, and the reflection characteristics of all non-standard diffuse reflection plates constituting the reflecting surface 311 are the same. By selecting a reflective surface 311 with the same reflection characteristics, it can be ensured that during the test, no matter where the laser hits the reflective surface 311, the echo energy test data reflected by the same equivalent reflectivity can be measured. The preset range can be the angle range in which the reflective surface 311 can rotate relative to the vertical laser incident direction when the laser is fully reflected on the reflective surface 311. The specific range definition of the preset range will be introduced below.

[0071] Each reflection module 310 may also include a transmission component 313. The transmission component 313 may be rotatably connected to a plurality of reflection surfaces 311 so that the plurality of reflection surfaces 311 are parallel to each other. That is, the plurality of reflection surfaces 311 are arranged in parallel. Since the position where the laser emitted by the laser radar 100 irradiates the reflection surface 311 of the reflection module 310 is uncertain, the angle between each reflection surface 311 and the incident direction of the laser is kept consistent by arranging the plurality of reflection surfaces 311 in parallel, thereby exhibiting the same equivalent reflectivity along the incident direction, and ensuring that the test data obtained is under the same equivalent reflectivity no matter where the laser is incident on the reflection surface 311. For example, Figure 4 Each of the reflecting surfaces 311 is rotatably connected to the transmission assembly 313 .

[0072] The reflection device 300 may also include a control module. The control module may be connected to the transmission component 313 and configured to adjust the rotation angles of the multiple reflection surfaces 311 through the transmission component 313 during operation. Since the reflection surfaces 311 are parallel to each other, the control module may make the multiple reflection surfaces 311 rotate synchronously when adjusting the multiple reflection surfaces 311 to ensure that the rotation angles between the reflection surfaces 311 are consistent and the angles toward the laser radar 100 are consistent, so that the equivalent reflectivity of the reflection surface 311 along the incident direction is the same, and no matter where the laser is incident on the reflection surface 311, the test data obtained is the same equivalent reflectivity.

[0073] The reflection device 300 may have a single reflection module 310 as described above. Since it is impossible to accurately determine the position where the laser emitted by the laser radar 100 irradiates the reflection module 310, when the at least one reflection module 310 is a single reflection module 310, at any angle within the preset range, the projections of any two adjacent reflection surfaces among the multiple reflection surfaces 311 along the incident direction of the laser at least partially overlap. In other words, within the preset rotation range, it can be ensured that the laser emitted by the laser radar 100 can be fully incident on the reflection surface 311, so as to obtain an accurate reflection energy value to calculate the reflectivity and / or calibrate the laser radar 100.

[0074] for example, Fig. 6A A side view of a single reflective module 310 is shown; Figure 6B FIG. 3 shows a side view of a single reflection module 310 with multiple reflection surfaces 311 tilted. For ease of description, the laser incident direction is recorded as the P direction, and the vertical laser incident direction is recorded as the Q direction. Fig. 6A, the angle between the reflecting surface 311 and the direction Q is θ. It can be understood by those skilled in the art that the angle θ is also the incident angle of the incident laser, that is, the angle between the normal of the reflecting surface 311 and the incident laser. At this time, the projection of the reflecting surface 311-A along the P direction is 311-a, the projection of the reflecting surface 311-B along the P direction is 311-b, the projection of the reflecting surface 311-C along the P direction is 311-c, and the projection of the reflecting surface 311-D along the P direction is 311-d. When θ is within a certain range, the projections of any two adjacent reflecting surfaces in the reflecting surface 311 along the P direction overlap. For example, there is an overlapping part AB between the projection 311-a and the projection 311-b, thereby ensuring that there is no gap between the reflecting surface 311-A and the reflecting surface 311-B along the P direction, and preventing the laser from passing between the two. As the angle θ increases, the overlap becomes smaller. When the angle θ exceeds the critical value δ, a gap (i.e., light leakage) begins to appear between two adjacent reflective surfaces (such as reflective surface 311-A and reflective surface 311-B) in the reflective surface 311, so that the laser can pass through the gap. In order to ensure the accuracy of the laser radar 100 for the calibration of the reflectivity, the preset range of the angle θ that the reflective surface 311 can rotate can be [0, δ], or any subset of [0, δ], such as [0, δ / 2], [0, 3δ / 4], etc. The reflective surface 311 can be 0 degrees in the direction of Q, and the rotation angle of the reflective surface 311 can be adjusted under the condition that the rotation relative to the Q direction does not exceed δ degrees. Correspondingly, when the multiple reflective surfaces 311 all use a standard diffuse reflective target plate 210 with a reflectivity of R for the laser, the equivalent reflectivity of the target plate 210 in the P direction is in the interval [Rcosδ, R]. That is, by adjusting the angle of the target plate 210 between δ and 0 degrees, an equivalent reflectivity of any value in the interval [Rcosδ, R] can be obtained in the P direction, and the equivalent reflectivity can be used to calibrate the performance of the laser radar 100. Through such a setting, within the preset rotation range, no matter where the laser is incident on the reflection surface 311, the laser can be completely incident on the reflection surface 311 and reflected by the reflection surface 311, and the laser will not pass through the reflection surface 311 without being reflected, thereby avoiding the problem of inaccurate echo energy measurement caused by a part of the laser passing through the reflection module 310.

[0075] The multiple reflective surfaces 311 may have the same reflective characteristics. Such a reflective surface 311 may have a single reflectivity adjustment range [Rcosδ,R]. Of course, the multiple reflective surfaces 311 may also have different reflective characteristics, and such a reflective surface 311 may provide multiple reflectivity adjustment ranges. Among them, the reflective surfaces 311 with different reflective characteristics can be obtained by using target plates 210 of different materials. For example, in some embodiments, the multiple reflective surfaces 311 of each reflective device 300 may include at least one type of reflective surface and at least one type of reflective surface. Among them, the type one reflective surface may have a first reflectivity R1, and the type two reflective surface may have a second reflectivity R2. The first reflectivity R1 and the second reflectivity R2 may be different. The type one reflective surfaces may be arranged adjacent to each other in sequence, and the type two reflective surfaces may be arranged adjacent to each other in sequence. For example Figure 4 In the figure, the reflecting surface 311-A and the reflecting surface 311-B can be a type I reflecting surface with a first reflectivity R1; the reflecting surface 311-C and the reflecting surface 311-D can be a type II reflecting surface with a second reflectivity R2. The maximum angle that the type I reflecting surface and the type II reflecting surface can rotate relative to the Q direction is δ, but because the reflectivities of the two are different, the equivalent reflectivity ranges obtained by rotation are different, namely [R1cosδ, R] and [R2cosδ, R]. Therefore, the reflecting surface 311 can provide two equivalent reflectivity ranges, and the user (tester) can select the area position on the reflecting surface 311 where the laser is irradiated according to the required equivalent reflectivity or equivalent reflectivity range. For example: the equivalent reflectivity range required by the user (tester) is [R1cosδ, R]. The user (tester) can control the laser radar 100 to move up and down in the vertical direction without moving the reflecting module 310 so that the laser is only irradiated on the reflecting surface 311-A and the reflecting surface 311-B. Alternatively, the user (tester) can move the reflection module 310 up and down in the vertical direction to irradiate the laser onto the reflection surface 311-A and the reflection surface 311-B without moving the laser radar 100. Similarly, the reflection surface 311 can be provided with a target plate 210 with more reflectivities (for example, the reflection surface 311 has three reflectivities, etc.) to provide the user (tester) with more selectable equivalent reflectivity ranges.

[0076] In order to adjust the rotation angle of the reflecting surface 311, the reflecting surface 311 can be rotatably connected to the transmission assembly 313. The transmission assembly 313 may include a first connecting rod assembly 313-a and a second connecting rod assembly 313-b. The first connecting rod assembly 313-a and the second connecting rod assembly 313-b can respectively form a four-bar structure with the reflecting surface 311 (311-A, 311-B, 311-C, 311-D). The control module includes a driving mechanism. The driving mechanism is configured to drive the transmission assembly 313 to move when in motion, thereby adjusting the rotation angle of the multiple reflecting surfaces. Figure 4 A schematic structural diagram of a transmission assembly 313 is shown.

[0077] The transmission assembly 313 can be hinged to the reflective surface 311, or can be rotatably connected in other ways. For example, the first link assembly 313-a and the second link assembly 313-b can be connected to the reflective surface 311 by a hinge, or can be connected by a bendable flexible connector. For example, the reflective surface 311 can be a rectangle, including four sides E1, E2, E3, and E4, wherein the E1 side is opposite to the E2 side, and the E3 side is opposite to the E4 side; the first link assembly 313-a can include two links, which are hinged to the reflective surface 311 along the E1 and E2 sides respectively; the second link assembly 313-b can include two links, which are hinged to the reflective surface 311 along the other side of the E1 side and the E2 side respectively. The first link assembly 313-a and the second link assembly 313-b can perform relative linear motion in the vertical direction under the control of the control module, which is called the first relative motion, so that the reflective surface 311 rotates.

[0078] Figure 7Another schematic diagram of the structure of a transmission assembly 313 is shown. The structure of the transmission assembly 313 includes a plurality of parallelogram structures. The transmission assembly 313 may include a transmission rod and a slide groove 313-c. For example, the reflection surface 311-B may be fixed on the transmission rod 313-d. The transmission rod 313-d may be rotatably connected to the transmission rod 313-e and the transmission rod 313-f respectively, and the connection method may be a pin connection, or a bolt connection or other connection methods that allow the above-mentioned transmission rods to rotate back and forth at a certain angle. The connection part of the transmission rod 313-d and the transmission rod 313-e and the transmission rod 313-f may be slidably placed in the slide groove 313-c. The transmission rod 313-e may be connected to the transmission rod 313-g. The transmission rod 313-f may be connected to the transmission rod 313-h. The transmission rod 313-g, the transmission rod 313-f, the transmission rod 313-g, the transmission rod 313-h and their connection parts form a parallelogram structure. The connection structure between other reflective surfaces 311 and the connecting rod is shown in the figure. The parallelogram structures of each reflective surface 311 are connected to each other through a connecting part to achieve synchronous movement. For example, by moving the connecting part 313-i in the figure by the control module, the other connecting parts in the slide groove 313-c can be controlled to move along the slide rail, thereby changing the rotation angle of the reflective surface 311.

[0079] Above Figure 4 and Figure 7 The schematic diagrams of the structures of two different transmission components 313 are shown respectively. It can be understood by those skilled in the art that the transmission component 313 can also have other different structural designs. Figure 4 The reflecting device 300 is described by taking the structure in as an example.

[0080] In order to control the rotation of the reflective surface 311, the transmission assembly 313 is also connected to the corresponding control module. In some embodiments, the control module may include a drive mechanism and a controller. The drive mechanism is configured to drive the transmission assembly to move during operation, thereby adjusting the rotation angle of the multiple reflective surfaces. In some embodiments, the drive mechanism may also include a motor and / or a manual control assembly. In some embodiments, the control module may also include a locking mechanism and a dial.

[0081] The driving mechanism may be connected to the transmission assembly 313. The control module 330 may control the movement of the transmission assembly 313 through the driving mechanism. There are many options for the driving mechanism to drive the transmission assembly 313. The transmission assembly 313 includes Figure 4 The first connecting rod assembly 313-a and the second connecting rod assembly 313-b in the embodiment respectively illustrate the driving mechanism by examples:

[0082] Fig. 8ASchematic diagram of a control module 330 driven by electricity is shown. Fig. 8A As shown, the driving mechanism may include a rotating wheel 331. The first connecting rod assembly 313-a and the second connecting rod assembly 313-b may be respectively connected to the rotating wheel 331. For example, the first connecting rod assembly 313-a and the first connecting rod assembly 313-a may be rotatably connected to the side of the rotating wheel 331 through a hinge, and the positions of the second connecting rod assembly 313-b and the first connecting rod assembly 313-a on the side of the rotating wheel 311 are symmetrical with respect to the rotation axis of the rotating wheel 331.

[0083] The driving mechanism can drive the transmission assembly 313 to move through an electric device. The driving mechanism can include a motor 332. At this time, the control module 330 can also include a controller 334, which controls the motor 332 to rotate a target angle to adjust the rotation angle of the reflecting surface 331. Among them, the rotating wheel 331 can be a gear, and the motor 332 can be connected to the rotating wheel 331 through gear transmission. When the motor 332 rotates, it drives the rotating wheel 331 to rotate, thereby driving the first connecting rod assembly 313-a and the second connecting rod assembly 313-b of the transmission assembly 313 to perform a first relative movement, so that the reflecting surface 311 rotates. The motor 332 can be a stepping motor. When the stepping motor receives a pulse signal, it drives the stepping motor to rotate a fixed angle in a set direction. The stepping motor can control the angular displacement by controlling the number of pulses, thereby accurately controlling the rotation angle of the reflecting surface 311. The controller 334 accurately adjusts the rotation angle of each reflecting surface 311 by accurately controlling the rotation angle of the control motor 332. For example, the user (tester) can input a signal, that is, a pulse signal, to the stepper motor through the controller 334. When the controller receives the corresponding signal, it controls the output shaft of the stepper motor to rotate a preset angle. Every time the stepper motor rotates a preset angle, it can drive the transmission assembly 313 to move, thereby driving the first connecting rod assembly 313-a and the second connecting rod assembly 313-b to perform the first relative motion.

[0084] Figure 8B Schematic diagram of a control module driven manually is shown. Figure 8B As shown, the driving mechanism may include a rotating wheel 331. Fig. 8ASimilar to the structure shown, the first link assembly 313-a and the second link assembly 313-b can be respectively connected to the rotating wheel 331. For example, the first link assembly 313-a and the first link assembly 313-a can be rotatably connected to the side of the rotating wheel 331 through a hinge, and the positions of the second link assembly 313-b and the first link assembly 313-a on the side of the rotating wheel 311 are symmetrical with respect to the rotation axis of the rotating wheel 331.

[0085] The driving mechanism can manually drive the transmission assembly 313 to move. The driving mechanism may include a manual control assembly 333. At this time, the control module 330 may also include a dial. The dial is configured to indicate the rotation angle of each reflective surface 311. The manual control assembly 333 may be fixedly connected to the rotating wheel 313 or connected through a transmission mechanism. For example, the manual control assembly 333 may be in the form of a handle or other structure that can rotate the rotating wheel 331. By accepting manual control from the user (tester), the manual control assembly 333 can drive the first connecting rod assembly 313-a and the second connecting rod assembly 313-b to perform the first relative movement. Figure 8B In the structure shown, when the manual control assembly 333 rotates in the clockwise direction, the rotating wheel 331 is driven to rotate in the clockwise direction, so that the first connecting rod assembly 313-a is relative to Figure 8B The position in the middle rises, and the second connecting rod assembly 313-b is relative to Figure 8B The first relative movement can change the deflection angle of the reflecting surface 311, thereby changing the equivalent reflectivity of the reflecting surface 311.

[0086] The dial 335 may be arranged on the rotating wheel 331. The dial 335 may have a scale on its surface. The scale may indicate the rotation angle of the reflecting surface 311 so that the user (tester) can accurately adjust the rotation angle of the multiple reflecting surfaces 311 according to the scale. The scale may be the rotation angle of the reflecting surface 311, or may be the different equivalent reflectivities of the corresponding reflecting module 310. When the scale indicates the rotation angle of the reflecting surface 311, there is a known corresponding relationship between the rotation angle of the dial 335 and the rotation angle of the reflecting surface 311. When the dial 335 rotates a certain angle, the reflecting surface 311 may rotate a corresponding angle. For example, when the manual control component 333 rotates to the scale of 60°, the dial 335 may not necessarily rotate 60°, but the reflecting surface 311 rotates 60° to obtain an equivalent reflecting surface with an equivalent reflectivity of Rcos60°. When the scale indicates the equivalent reflectivity of the reflection module 310, that is, the user (tester) rotates the manual control component 333 to the reflectivity indicated on the dial 335, the reflection surface 311 can exhibit the corresponding reflectivity without the need to convert between angle and reflectivity.

[0087] When the driving mechanism drives the transmission assembly 313 to move through the manual control assembly 333 , the control module 330 may further include a locking mechanism 337 . The locking mechanism 337 is configured to lock the rotation angle of each reflection surface 311 .

[0088] Fig. 9 The schematic diagram of the locking mechanism 337 is shown. The locking mechanism 337 can lock the rotation angle of the multiple reflecting surfaces 311, so that the multiple reflecting surfaces do not rotate and remain at a certain position, so that the reflecting surface 311 can maintain the equivalent reflectivity required by the user (tester) along the incident direction, and avoid the manual control component 333 being loosened to cause the reflecting surface 311 to rotate, the equivalent reflectivity changes, and the measured echo energy is the echo energy under the equivalent reflectivity that does not meet the needs of the user (tester).

[0089] like Fig. 9 As shown, the locking mechanism 337 may include a ratchet 337-a, a pawl 337-b and a spring assembly 337-c. The ratchet 337-a may be arranged on the side of the dial 335, and the interval of the ratchet 337-a corresponds to the scale; the pawl 337-b may be engaged with the ratchet 337-a so that the ratchet 337-a can only rotate in one direction; the spring assembly 337-c may be elastically connected to the pawl so that the pawl and the ratchet remain in contact.

[0090] The dial 335 is located on the rotating wheel 331, and the ratchet 337-a can be on the same surface as the surface where the scale is located. The gears of the ratchet 337-a are evenly distributed. The intervals of the ratchet 337-a can correspond to the scale. For example, when the scale indicates the rotation angle of the reflecting surface, the intervals of the ratchet 337-a can correspond to the scale, the scale can be distributed at intervals of 5°, and the intervals between adjacent gears of the ratchet 337-a can also be set to 5°. When the ratchet 337-a rotates one interval according to the scale, the dial 335 can drive the reflecting surface 311 to rotate 5 degrees.

[0091] The pawl 337-b can be engaged with the ratchet wheel 337-a so that the ratchet wheel 337-a can only rotate in one direction. Fig. 9 In the embodiment, the ratchet 337-a can only rotate in the clockwise direction. When the ratchet 337-a wants to rotate in the counterclockwise direction, the lower edge of the pawl 337-b that fits the ratchet 337-b will prevent the ratchet 337-b from rotating. The spring assembly 337-c can be elastically connected to the pawl 337-b, thereby ensuring that the pawl 337-b can maintain contact with the ratchet 337-a and lock the ratchet 337-a. When using the manual control assembly 333, the dial 335 structure and the locking mechanism 337 can ensure the accuracy of the manual adjustment of the angle, thereby obtaining an equivalent reflection surface with an accurate equivalent reflectivity.

[0092] The above describes the case where the reflection device 300 includes only a single reflection module 310. Of course, the reflection device 300 may also have a plurality of reflection modules 310. For example, the plurality of reflection modules 310 may be arranged in parallel. Each reflection module 310 may have the reflection characteristics described above. By setting a plurality of reflection modules 310, when the angle of rotation of the reflection module 310 closest to the laser radar 100 among the reflection modules 310 exceeds the maximum angle at which it can completely reflect the laser when working alone, the laser will be transmitted through the gap between its adjacent reflection surfaces, which is called light leakage. At this time, by setting one or more rows of reflection modules, the leakage light can be further received and all the leakage light can be reflected to ensure the accuracy of the reflected energy received by the receiving system of the laser radar 100.

[0093] The plurality of reflection modules 310 may include two reflection modules. For example, Fig.103 shows a schematic diagram of the structure of the dual reflection module 310. Of course, those skilled in the art will appreciate that the reflection device 300 may also include any number of reflection modules 310 greater than 2. Along the incident direction, the at least one reflection module 310 may include a first reflection module 317 located in the front row and a second reflection module 319 located in the back row. The first reflection module 317 reflects a portion of the laser light, and the remaining portion of the laser light passes through the first reflection module 317 and is at least partially reflected by the second reflection module 329.

[0094] The number of reflective surfaces of each reflective module in the multiple reflective modules 310 may be the same or different. For example, the first reflective module 317 may include four first reflective surfaces 317-A, 317-B, 317-C and 317-D. The second reflective module 319 may include three second reflective surfaces 319-A, 319-B and 319-C. The laser may be incident on any reflective surface of the two reflective modules 310. Among them, when the first reflective surface is within the first preset rotation range of the first reflective module 317, the laser may be completely reflected after being incident on the first reflective surface. When the first reflective surface exceeds the first preset rotation range of the first reflective module 317, since the first reflective surface and the second reflective surface can be arranged in a staggered manner, the first reflective surface reflects a part of the laser, and the remaining part of the laser can be reflected by the second reflective surface after passing through the first reflective module 317. By setting a plurality of reflection modules 310, when the reflection module 310 in the front row exceeds the first preset rotation range, the laser passing through the reflection module in the front row can still be fully reflected by the reflection module in the back row. Through this design, when the rotation angle of the reflection surface 311 of the plurality of reflection modules 310 exceeds the maximum rotation angle of the reflection surface 311 of a single reflection module 310, the laser can still be fully reflected, that is, the preset range of the rotation angle of the reflection module is increased. For example, when there is a single reflection module 310, the preset rotation angle range of the reflection surface 311 is [0, δ], and when there are two reflection modules 310, the preset rotation angle range of the reflection surface 311 is [0, δ1], where δ<δ1. In other words, the two reflection modules 310 can provide a larger equivalent reflectivity range than a single reflection module 310 while ensuring that the laser does not leak light, and can be equivalent to more obstacles 200.

[0095] The first reflection module 317 may include a first transmission assembly 313-A. The first transmission assembly 313-A may include a third link assembly 313-A1 and a fourth link assembly 313-A2. The third link assembly 313-A1 and the fourth link assembly 313-A2 may be rotatably connected to each first reflection surface and form a four-bar structure. The second reflection module 319 may include a second transmission assembly 313-B. The second transmission assembly 313-B may include a fifth link assembly 313-B1 and a sixth link assembly 313-B2. The fifth link assembly 313-B1 and the sixth link assembly 313-B2 may be rotatably connected to each second reflection surface and form a four-bar structure. The first transmission component 313-A and the second transmission component 313-B can make the first reflection surface and the second reflection surface parallel to each other, so that all reflection surfaces 311 show the same equivalent reflectivity along the incident direction, which can ensure that the test data obtained is the same no matter where the laser is incident on the reflection surface 311.

[0096] When the reflection device 300 has a plurality of reflection modules 310, the control module may include a linkage mechanism 350 and a driving mechanism. The linkage mechanism 350 may be connected to the first transmission assembly 313-A and the second transmission assembly 313-B. The linkage mechanism 350 is configured to make the reflection surface of the first reflection module 317 and the reflection surface of the second reflection module 319 move synchronously. The driving mechanism is connected to the linkage mechanism 350 and is configured to drive the linkage mechanism 350 to move, thereby adjusting the rotation angle of the reflection surface of the first reflection module 317 and the reflection surface of the second reflection module 319. The linkage mechanism 350 makes the reflection surfaces 311 move synchronously, and can ensure that all reflection surfaces 311 show the same equivalent reflectivity along the incident direction at any angle within a preset rotation range, thereby ensuring that the test data obtained at the same equivalent reflectivity is obtained regardless of where the laser is incident on the reflection surface 311.

[0097] The driving mechanism can be driven by electric drive, manual drive, etc. as described above. There are many options for implementing the linkage mechanism 350. For example, the linkage mechanism 350 can be a gear mechanism, a connecting rod mechanism, etc., and the following examples are given respectively:

[0098] The linkage mechanism 350 may be a gear mechanism 351 . Fig.11 The schematic diagram shows the case where the linkage mechanism 350 is a gear mechanism 351. The gear mechanism 351 may include a first gear structure 351-A, a second gear structure 351-B and a driving gear 351-C.

[0099] The first gear structure 351-A can be connected to the third connecting rod assembly 313-A1 and the fourth connecting rod assembly 313-A2. The third connecting rod assembly 313-A1 and the fourth connecting rod assembly 313-A2 can be connected to the first gear structure 351-A respectively, for example, the third connecting rod assembly 313-A1 and the fourth connecting rod assembly 313-A2 can be rotatably connected to the side of the first gear structure 351-A respectively through hinges, and the positions where they are connected on the side of the first gear structure 351-A are symmetrical with the rotation axis of the first gear structure 351-A. In this way, when the first gear structure 351-A rotates, the corresponding two connecting rod assemblies generate a height difference, so that the first reflection surface rotates.

[0100] The second gear structure 351-B can be connected to the fifth link assembly 313-B1 and the sixth link assembly 313-B2. The fifth link assembly 313-B1 and the sixth link assembly 313-B2 can be connected to the second gear structure 351-B respectively. For example, the fifth link assembly 313-B1 and the sixth link assembly 313-B2 can be rotatably connected to the side of the second gear structure 351-B through hinges respectively, and the positions where they are connected on the side of the second gear structure 351-B are symmetrical with the rotation axis of the second gear structure 351-B. In this way, when the second gear structure 351-B rotates, the corresponding two link assemblies generate a height difference, so that the second reflection surface rotates.

[0101] The first gear structure 351-A and the second gear structure 351-B can be connected to the driving mechanism through the driving gear 351-C. When the driving mechanism drives any one of the first gear structure 351-A, the second gear structure 351-B and the driving gear 351-C to rotate, the other two gears will also rotate, so that the first reflecting surface and the second reflecting surface rotate synchronously. The gear radius of the first gear structure 351-A and the second gear structure 351-B can be the same, so that when the driving gear 321-C rotates, the two gear structures are driven to rotate at the same angle, and the rotation angles of the first reflecting surface and the second reflecting surface are also the same, so that the first reflecting surface and the second reflecting surface can have the same equivalent reflectivity.

[0102] The linkage mechanism 350 may also be a connecting rod mechanism 353 . Fig.12 The schematic diagram shows the case where the linkage mechanism 350 is a connecting rod mechanism 353. The connecting rod mechanism 353 may include a first connecting member 353-A, a second connecting member 353-B and a transmission connecting rod 353-C.

[0103] The first connecting member 353-A may be Fig.12The first connecting member 353-A can be connected to the fifth connecting rod assembly 313-B1 and the sixth connecting rod assembly 313-B2. Fig.11 Thus, when the first connecting member 353-A rotates, the corresponding two connecting rod assemblies generate a height difference, so that the first reflecting surface rotates.

[0104] The second connecting member 353-B may be as follows Fig.12 The second connecting member 353-B can be connected to the fifth connecting rod assembly 313-B1 and the sixth connecting rod assembly 313-B2. Fig.11 Thus, when the second connecting member 353-B rotates, the corresponding two connecting rod assemblies generate a height difference, so that the second reflecting surface rotates.

[0105] The first connecting member 353-A and the second connecting member 353-B can be connected to the driving mechanism through the transmission connecting rod 353-C. When the driving mechanism drives the first connecting member 353-A to rotate, the first connecting member 353-A drives the second connecting member 353-B to rotate synchronously through the transmission connecting rod 353-C, so that the first reflecting surface and the second reflecting surface rotate synchronously.

[0106] The driving mechanism can be connected to the linkage mechanism 350, and by driving the linkage mechanism 350 to move, the rotation angle of the reflection surface of the first reflection module 317 and the reflection surface of the second reflection module 319 can be adjusted. There are multiple options for the driving mechanism to drive the linkage mechanism 350, such as the electric drive or manual drive described above. The driving mechanism can be connected to any component in the linkage mechanism 350, and drive the structure to drive all the reflection surfaces to rotate.

[0107] With linkage mechanism 350 as Fig.11 The gear structure 351 in the embodiment is described as a manual drive mechanism. Fig.11 As shown, the driving mechanism includes a manual control component 333. The manual control component 333 can be connected to the driving gear 351-C, and by driving the driving gear 351-C to rotate, the first gear structure 351-A and the second gear structure 351-C are driven to rotate. The control module 330 may include the dial 335 and the locking mechanism 337 (see Fig. 9 , Fig.11The dial 335 can be set on the driving gear 351-C or other gears. The scale of the dial 333 allows the user (tester) to accurately rotate the first reflective surface and the second reflective surface to the corresponding angle. The locking structure 337 ( Fig.11 (not shown) can be set on the second gear structure 351-B or other gears to prevent the first reflecting surface and the second reflecting surface from rotating.

[0108] As described above, the first reflection surface of the first reflection module 317 and the second reflection surface of the second reflection module 319 can use a plurality of small-plate target plates 210 instead of a single large-area target plate 210, which can reduce the influence of the time difference of the echo signal caused by the rotation of the rotation center of the reflection surface. At any rotation angle within the aforementioned preset range, the distance between the front end and the rear end of the plurality of reflection surfaces of the first reflection module 317 and the second reflection module 319 is less than or equal to the preset distance, wherein the distance between the front end and the rear end refers to the distance between the front end and the rear end along the incident direction of the laser. Since the position of the laser incident reflection surface 311 is uncertain, the distance between the front end and the rear end also refers to the maximum distance that may appear along the incident direction between the positions where the laser is incident on the reflection surface when the plurality of reflection surfaces 311 are rotated to any angle within the preset range. The front end and the rear end are the two positions where the laser is incident on the reflection surface 311 at the maximum distance. In the case of multiple reflection modules 310, the two positions at the maximum distance are the positions where the laser is simultaneously irradiated to the front end of one reflection surface 311 and the rear end of one reflection surface 311. At this time, the front end and the rear end are not on the same reflective surface 311. Specifically, Fig.10 As shown, part of the laser is incident on the first reflection surface of the first reflection module 317, and part of the laser is incident on the second reflection surface of the second reflection module 319. The laser is incident on the front end F2 of the first reflection surface and the rear end R2 of the second reflection surface. At this time, the distance between the front end and the rear end, that is, the maximum distance that may appear, is the distance D2 between the front end F1 of the first reflection surface and the rear end R2 of the second reflection surface along the incident direction. D2 also needs to be less than or equal to the preset distance. The preset distance can be in the order of centimeters, such as 10cm, 20cm, 30cm, 40cm, 50cm, 60cm, etc. or a value between any two of the above values. Such a setting can make the corresponding echo signal time difference at the sub-nanosecond level when the laser is irradiated to the front and rear reflection modules at the same time, thereby reducing the impact on the performance calibration of the laser radar 100. By setting the second reflection module 319, the preset range of the rotatable angle of the reflection surface 311 of the two reflection modules 310 is enlarged, the equivalent reflectivity range is larger, and more obstacles 200 can be equivalent.

[0109] In some embodiments, each reflection module 310 may also include a micro-electromechanical system with a reflector array. The reflector array may include a plurality of reflective surfaces 311. The size of each reflective surface 311 is at least one order of magnitude smaller than the diameter of the spot where the laser is incident on the reflector array, and the overall reflection characteristics of the plurality of reflective surfaces 311 are known. Micro-electromechanical system (MEMS) refers to a high-tech device with a size of a few millimeters or even smaller, and its internal structure is generally in the micrometer or even nanometer order, and is an independent intelligent system. For example, a reflective mirror with a reflection function is miniaturized, and the size of the reflective surface 311 is set to be at least one to two orders of magnitude smaller than the diameter of the spot where the laser is incident on the reflector array, and the reflective mirror is fixed on a silicon wafer by a three-dimensional stacking technology and then packaged to obtain the reflector array. When the reflector array is used to obtain an equivalent reflectivity, the plurality of reflective surfaces can rotate synchronously or asynchronously. When the plurality of reflective surfaces 311 rotate asynchronously, the reflective characteristics exhibited by the reflective surface 311 as a whole are used as the equivalent reflectivity. Therefore, before using the MEMS reflector array to calibrate the performance of the laser radar 100, it is necessary to know the reflective characteristics of the reflective array. By adjusting the rotation angle of at least one of the multiple reflective surfaces, the corresponding equivalent reflectivity is obtained. By repeatedly adjusting the rotation angles of the reflective surfaces 311 at different positions and numbers of the N first reflective surfaces, the overall reflective characteristics of the multiple reflector arrays can be obtained. When the number of the overall reflective characteristics is large enough, a reflectivity diagram of the relationship between the equivalent reflectivity of the reflector array and the reflective surface 311 can be obtained, which is similar to the reflectivity diagram of the reflective surface 311. Figure 3C Thus, according to the obtained reflectivity graph of the reflector array, the specific number of reflective surfaces 311 in the reflector array can be adjusted, so that the overall reflective characteristics meet the needs of the user (tester).

[0110] For the reflector array, since the reflective surface 311 can rotate asynchronously, the control module 330 may include a plurality of sub-control modules corresponding to the plurality of the reflective surfaces 311. Each of the plurality of sub-control modules is configured to control the corresponding reflective surface 311, thereby changing the rotation angle of the corresponding reflective surface 311. For example, the reflector array may include 100 reflective surfaces, and the control module 330 may include 100 sub-control modules, and each reflective surface 311 has a corresponding sub-control module. Each sub-control module can control the corresponding reflective surface 311 to change the rotation angle, thereby changing the overall reflection characteristics of the reflector array. The user (tester) can use the control module 330 to change the overall reflection characteristics of the reflector array to obtain a reflectivity that meets the requirements.

[0111] Fig.13The flowchart of the method S100 for adjusting the equivalent reflectivity is shown in FIG. The method S100 for adjusting the equivalent reflectivity described in this specification can be Fig.12 The method S100 is performed by the reflection device 300 in the embodiment. The reflection device 300 includes one reflection module 310 as an example for description. When the reflection device 300 includes multiple reflection modules 310, the method S100 is also applicable. Fig.13 As shown, method S100 may include:

[0112] S120: Obtaining the equivalent reflectivity of the reflecting device to be adjusted.

[0113] For example, when the reflectivity of the reflecting surface 311 in the reflecting device 300 is R, the user (tester) needs to test the reflection performance of the laser radar 100 for an object with a reflectivity of 0.5R.

[0114] S140: Obtain a reflection angle corresponding to the equivalent reflectivity.

[0115] S160: Based on the reflection angle, adjust the rotation angle of the reflection surface 311 of the reflection device 300 to a reflection angle corresponding to the equivalent reflectivity.

[0116] In summary, the present specification provides a reflective device 300 with adjustable equivalent reflectivity and a method S100 for adjusting equivalent reflectivity. The reflective device 300 can adjust the rotation angle of the multiple reflective surfaces 311 of each reflective module 310 so that the equivalent reflectivity of the multiple reflective surfaces 311 after adjusting the angle along the laser incident direction is the required reflectivity, and then the obtained multiple equivalent reflectivities can be used to calibrate the performance of the laser radar 100, thereby reducing the cost in the calibration or testing process. In addition, the reflective device 300 disclosed in the present invention can adjust the equivalent reflectivity by adjusting the rotation angle of the reflective surface 311, without frequently replacing the target plate 210, thereby improving the efficiency of calibration or testing. In addition, the reflective device 300 provided in the present disclosure uses multiple reflective surfaces 311 to replace a whole target plate 210 to reflect laser light, which can reduce the time difference between the echoes reflected from different positions of the target plate 210 due to the large plate surface when using a whole target plate 210, resulting in different positions of the laser irradiating the rotated target plate 210. In summary, the reflective device 300 with adjustable equivalent reflectivity provided in this specification can provide multiple equivalent reflectivities without requiring a large number of target plates 210 with different reflectivities. At the same time, the device can also solve the problem that the echo pulse delay is too large when the laser is not directly irradiated, which affects the calibration of the laser radar 100 performance.

[0117] On the other hand, the present specification provides a non-transitory storage medium storing at least one set of executable instructions for adjusting the equivalent reflectivity method. When the executable instructions are executed by the processor, the executable instructions instruct the processor to implement the steps of the laser radar calibration method S100 described in the present specification. In some possible implementations, various aspects of the present specification can also be implemented in the form of a program product, which includes a program code. When the program product is run on the reflection device 300, the program code is used to make the reflection device 200 perform the steps of the adjustment equivalent reflectivity method S100 described in the present specification. The program product for implementing the above method can use a portable compact disk read-only memory (CD-ROM) to include program code and can be run on the reflection device 300. However, the program product of the present specification is not limited to this. In the present specification, the readable storage medium can be any tangible medium containing or storing a program, which can be used by the instruction execution system or used in combination with it. The program product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of readable storage media include: an electrical connection with one or more conductors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, device, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof. Program code for performing the operations of the present specification may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the reflection device 300, partially on the reflection device 300, as a separate software package, partially on the reflection device 300 and partially on a remote computing device, or entirely on a remote computing device.

[0118] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require a specific order or a continuous order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0119] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented only by way of example and may not be limiting. Although not explicitly stated herein, those skilled in the art will appreciate that this specification requires various reasonable changes, improvements and modifications to the embodiments. These changes, improvements and modifications are intended to be proposed by this specification and are within the spirit and scope of the exemplary embodiments of this specification.

[0120] In addition, certain terms in this specification have been used to describe embodiments of this specification. For example, "one embodiment", "an embodiment" and / or "some embodiments" mean that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this specification. Therefore, it can be emphasized and should be understood that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various parts of this specification do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics may be appropriately combined in one or more embodiments of this specification.

[0121] It should be understood that in the foregoing description of the embodiments of this specification, in order to help understand a feature and for the purpose of simplifying this specification, this specification combines various features in a single embodiment, figure or its description. However, this does not mean that the combination of these features is necessary. When reading this specification, it is entirely possible for a person skilled in the art to mark out some of the devices as separate embodiments. In other words, the embodiments in this specification can also be understood as the integration of multiple secondary embodiments. This is also true when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0122] Each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, documents, articles, etc., cited herein, except any historical prosecution documents to which it is relevant, any equivalent that may be inconsistent or conflicting with this document, or any equivalent historical prosecution documents that may have a limiting effect on the broadest scope of the claims, may be incorporated herein by reference and used for all purposes now or hereafter associated with this document. In addition, in the event of any inconsistency or conflict between the descriptions, definitions, and / or use of terms associated with any of the incorporated materials and the terminology, descriptions, definitions, and / or use associated with this document, the terminology in this document shall control.

[0123] Finally, it should be understood that the embodiments of the application disclosed herein are explanations of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are only used as examples and not as limitations. Those skilled in the art can adopt alternative configurations according to the embodiments in this specification to implement the applications in this specification. Therefore, the embodiments of this specification are not limited to the embodiments accurately described in the application.

Claims

1. A reflective device with adjustable equivalent reflectivity, used for calibrating laser radar performance, characterized in that: include: At least one reflection module, each reflection module comprising a plurality of reflection surfaces with controllable rotation angles within a preset range, for reflecting the laser emitted by the laser radar; as well as a control module configured to control the rotation angles of the multiple reflection surfaces of each reflection module based on the required equivalent reflectivity of the reflection device along the incident direction of the laser, The reflection characteristics of each of the multiple reflection surfaces are known.

2. The reflecting device according to claim 1, characterized in that Each of the reflection modules further includes a transmission component, and the transmission component is rotatably connected to the multiple reflection surfaces so that the multiple reflection surfaces are parallel to each other.

3. The reflecting device according to claim 2, characterized in that The control module is connected to the transmission component and is configured to adjust the rotation angles of the multiple reflection surfaces through the transmission component during operation.

4. The reflecting device according to claim 3, characterized in that: The at least one reflection module is a single reflection module, and at any angle within the preset range, projections of any two adjacent reflection surfaces among the multiple reflection surfaces along the incident direction at least partially overlap.

5. The reflecting device according to claim 4, characterized in that: in The transmission assembly includes a first connecting rod assembly and a second connecting rod assembly, and forms a four-link structure with each of the multiple reflecting surfaces. The control module includes a driving mechanism, and the driving mechanism is configured to drive the transmission assembly to move during operation, thereby adjusting the rotation angles of the multiple reflective surfaces.

6. The reflecting device according to claim 3, characterized in that: Wherein along the incident direction, the at least one reflection module comprises: A first reflective module located in the front row and at least one second reflective module located in the back row; The first reflection module reflects a portion of the laser, The remaining portion of the laser light passes through the first reflective module and is at least partially reflected by the second reflective module.

7. The reflecting device according to claim 6, characterized in that The transmission assembly comprises: The first transmission assembly of the first reflection module includes a third link assembly and a fourth link assembly, which form a four-link structure with each reflection surface of the first reflection module; and The second transmission assembly of the second reflection module includes a fifth connecting rod assembly and a sixth connecting rod assembly, which form a four-link structure with each reflection surface of the second reflection module.

8. The reflecting device according to claim 7, characterized in that: The control module includes A linkage mechanism connected to the first transmission assembly and the second transmission assembly, wherein the linkage mechanism is configured to make the reflective surface of the first reflective module move synchronously with the reflective surface of the second reflective module; as well as The driving mechanism is connected to the linkage mechanism and is configured to drive the linkage mechanism to move, thereby adjusting the rotation angle of the reflection surface of the first reflection module and the reflection surface of the second reflection module.

9. The reflecting device according to claim 8, characterized in that: The linkage mechanism includes one of a gear mechanism or a connecting rod mechanism.

10. The reflecting device according to claim 5 or 8, characterized in that: The driving mechanism includes a motor, and the control module also includes: The controller adjusts the rotation angle of each reflecting surface by controlling the motor to rotate a target angle.

11. The reflecting device according to claim 5 or 8, characterized in that: The driving mechanism includes a manual control component, and the control module also includes: A dial is configured to indicate a rotation angle of each of the reflecting surfaces.

12. The reflecting device according to claim 11, characterized in that: The control module also includes a locking mechanism configured to lock the rotation angle of each reflecting surface.

13. The reflecting device according to claim 12, characterized in that: The locking mechanism comprises: A ratchet wheel, arranged on the side of the dial, wherein the spacing of the ratchet wheels corresponds to the scale; A pawl meshed with the ratchet wheel so that the ratchet wheel can only rotate in one direction; and A spring assembly is elastically connected to the pawl to keep the pawl in contact with the ratchet wheel.

14. The reflecting device according to claim 1, characterized in that: Each of the reflection modules includes a microelectromechanical system (MEMS) with a reflector array, wherein the reflector array includes multiple reflective surfaces, wherein the size of each reflective surface is at least one order of magnitude smaller than the diameter of the light spot where the laser is incident on the reflector array, and the overall reflective characteristics of the multiple reflective surfaces are known.

15. The reflecting device according to claim 14, characterized in that: The control module includes a plurality of sub-control modules corresponding to the plurality of reflective surfaces; Each of the plurality of sub-control modules is configured to control a corresponding reflective surface to change the rotation angle of the corresponding reflective surface.

16. The reflecting device according to claim 1, characterized in that: The multiple reflective surfaces of each reflective device include at least one type one reflective surface and at least one type two reflective surface; The at least one first-type reflective surface has a first reflectivity, and the at least one second-type reflective surface has a second reflectivity; and The at least one first-type reflecting surface is adjacent to each other and arranged in sequence, and the at least one second-type reflecting surface is adjacent to each other and arranged in sequence.

17. The reflecting device according to claim 1, characterized in that: At any rotation angle within the preset range, the distance between the front and rear ends of the plurality of reflective surfaces is less than or equal to the preset distance, wherein The front end of the plurality of reflective surfaces is the end closest to the laser radar along the incident direction of the laser. The rear end of the multiple reflecting surfaces is the end farthest from the laser radar along the incident direction of the laser.

18. A method for adjusting equivalent reflectivity, applied to any one of the reflection devices in claims 1-17, characterized in that: Obtaining an equivalent reflectivity of the reflecting device to be adjusted; Obtaining a reflection angle corresponding to the equivalent reflectivity; and Based on the reflection angle, the rotation angle of the reflection surface of the reflection device is adjusted to the reflection angle corresponding to the equivalent reflectivity.

Images