Laser radar and scanning method thereof

Abstract

The invention provides a laser radar and a scanning method thereof. The laser radar comprises a first transmit-receive module and a second transmit-receive module. A first reflecting surface and a second reflecting surface; the control module is configured to enable the first reflecting surface and the second reflecting surface to move in the same direction around a first axis, so that the first detection light and the second detection light form a first sub-view field and a second sub-view field respectively; and the first sub-view field and the second sub-view field form a detection view field of the laser radar. Detection light generated by different receiving and transmitting modules is reflected through different reflectors, and the first reflecting surface and the second reflecting surface are made to move in the same direction around the first axis, so that the distance measuring capability of the laser radar is not reduced, and the distance measuring capability of the laser radar is improved. A larger view field range is obtained, the middle area of the view field has a higher frame rate, and improvement of the detection performance of the laser radar is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a laser radar and a scanning method thereof. Background Art

[0002] LiDAR is a commonly used distance measurement sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in unmanned driving, intelligent robots, drones and other fields. In recent years, autonomous driving technology has developed rapidly, and LiDAR, as its core sensor for distance perception, has become indispensable.

[0003] In laser radar, a light beam is reflected by a reflective surface of a scanning device, thereby forming a scanning beam for space scanning. The scanning device for laser radar realizes scanning of the scanning beam within the field of view of the laser radar through the reciprocating motion of the reflective surface.

[0004] However, it is difficult for existing lidars to achieve a balance between distance measurement capability, a large field of view, and a high intermediate field of view frame rate. Summary of the invention

[0005] The problem solved by the present invention is to obtain a larger field of view and achieve a higher frame rate in the middle area of ​​the field of view while the laser radar does not reduce the distance measurement capability.

[0006] In order to solve the above problems, the present invention provides a laser radar, comprising:

[0007] A first transceiver module, wherein the first transceiver module is configured to generate a first detection light and receive a first echo light formed by the first detection light being reflected by a target; a second transceiver module, wherein the second transceiver module is configured to generate a second detection light and receive a second echo light formed by the second detection light being reflected by a target; a first reflecting surface, wherein the first reflecting surface is configured to reflect the first detection light so as to be emitted from a laser radar; a second reflecting surface, wherein the second reflecting surface is configured to reflect the second detection light so as to be emitted from the laser radar; and a control module, wherein the control module is configured to make the first reflecting surface and the second reflecting surface move in the same direction around a first axis so that the first detection light and the second detection light respectively form a first sub-field of view and a second sub-field of view, and the first sub-field of view and the second sub-field of view form a detection field of view of the laser radar.

[0008] Optionally, the control module is further configured to enable the first reflecting surface and the second reflecting surface to move synchronously around a first axis.

[0009] Optionally, it includes: a first scanning module, the first scanning module has two reflecting surfaces, and the two reflecting surfaces are the first reflecting surface and the second reflecting surface respectively.

[0010] Optionally, the first scanning module further includes a supporting member, and the supporting member is fixedly connected to both the first reflecting surface and the second reflecting surface.

[0011] Optionally, the control module is configured to cause the first reflecting surface to reciprocate between a first posture and a second posture, and to cause the second reflecting surface to reciprocate between a third posture and a fourth posture.

[0012] Optionally, the control module is configured to move the first reflecting surface from a first posture to a second posture, and to move the second reflecting surface from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

[0013] Optionally, the control module is configured to move the first reflecting surface from a first posture to a second posture and then return to the first posture, and to move the second reflecting surface from a third posture to a fourth posture and then return to the third posture, so that the laser radar obtains a frame of point cloud.

[0014] Optionally, the control module is further configured to make the first sub-field of view partially overlap with the second sub-field of view.

[0015] Optionally, the detection field of view of the laser radar includes an overlapping area and a non-overlapping area, the overlapping area includes an area where the first sub-field of view overlaps with the second sub-field of view, and the non-overlapping area includes at least one of an area in the first sub-field of view excluding the overlapping area and an area in the second sub-field of view excluding the overlapping area.

[0016] Optionally, the frame rate of the overlapping area is greater than the frame rate of the non-overlapping area.

[0017] Optionally, the angular resolution of the overlapping area is greater than the angular resolution of the non-overlapping area.

[0018] Optionally, it also includes: a third reflection surface, located on the optical path between the first transceiver module and the first reflection surface, and the third reflection surface is configured to reflect the first detection light toward the first reflection surface; a fourth reflection surface, located on the optical path between the second transceiver module and the second reflection surface, and the fourth reflection surface is configured to reflect the second detection light toward the second reflection surface; the control module is also configured to make the third reflection surface and the fourth reflection surface move in the same direction around a second axis, and the second axis is perpendicular to the first axis.

[0019] Optionally, the control module is further configured to enable the third reflecting surface and the fourth reflecting surface to move synchronously around the second axis.

[0020] Optionally, it further includes: a second scanning module, the second scanning module has two reflecting surfaces, and the two reflecting surfaces are the third reflecting surface and the fourth reflecting surface respectively.

[0021] Optionally, the control module is configured to make the third reflecting surface reciprocate between a fifth posture and a sixth posture, and to make the fourth reflecting surface reciprocate between a seventh posture and an eighth posture.

[0022] Optionally, when the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the control module is configured to enable the third reflecting surface to complete multiple reciprocating motions between the fifth posture and the sixth posture, and to enable the fourth reflecting surface to complete multiple reciprocating motions between the seventh posture and the eighth posture.

[0023] Optionally, when the first reflecting surface returns to the first posture from the second posture, and the second reflecting surface returns to the third posture from the fourth posture, the control module is configured to make the third reflecting surface complete multiple reciprocating motions between the fifth posture and the sixth posture, and to make the fourth reflecting surface complete multiple reciprocating motions between the seventh posture and the eighth posture.

[0024] Optionally, the control module is configured to make the angular velocity of the third reflecting surface and the fourth reflecting surface moving around the second axis n times the angular velocity of the first reflecting surface and the second reflecting surface moving around the first axis; wherein n is an integer greater than 1.

[0025] Optionally, it also includes: a first fixed reflector, which is located in the optical path between the third reflective surface and the first reflective surface, and is configured to reflect the first detection light reflected by the third reflective surface to the first reflective surface; and a second fixed reflector, which is located in the optical path between the fourth reflective surface and the second reflective surface, and is configured to reflect the second detection light reflected by the fourth reflective surface to the second reflective surface.

[0026] Optionally, it further includes: a first lens group, the first lens group is located at the most upstream of the optical path of the first detection light; and a second lens group, the second lens group is located at the most upstream of the optical path of the second detection light.

[0027] Optionally, the first transceiver module includes: multiple first transmitting units, at least part of the first transmitting units are arranged axially along the first axis; the second transceiver module includes: multiple second transmitting units, at least part of the second transmitting units are arranged axially along the first axis.

[0028] Optionally, the multiple emitted first detection lights and the multiple emitted second detection lights are distributed at intervals along the axial direction of the first axis.

[0029] Optionally, the plurality of first emitting units arranged axially along the first axis and the plurality of second emitting units arranged axially along the first axis are arranged in a preset manner so that the plurality of first detection lights and the plurality of second detection lights are distributed at intervals along the axial direction of the first axis; or, the first fixed reflector and the second fixed reflector are respectively set at a first preset angle and a second preset angle so that the plurality of first detection lights and the plurality of second detection lights are distributed at intervals along the axial direction of the first axis.

[0030] Optionally, a first homogenizer is located in the optical path of the first detection light, and the first homogenizer is configured to make the first detection light form a linear spot; a second homogenizer is located in the optical path of the second detection light, and the second homogenizer is configured to make the second detection light form a linear spot.

[0031] Optionally, it also includes: a processing module, which is configured to fuse the point cloud corresponding to the first sub-field of view and the point cloud corresponding to the second sub-field of view to form a frame of point cloud in the detection field of view of the laser radar.

[0032] Accordingly, the present invention also provides a laser radar scanning method, comprising:

[0033] Generate a first detection light and a second detection light; reflect the first detection light through a first reflection surface to emit from the laser radar; reflect the second detection light through a second reflection surface to emit from the laser radar; make the first reflection surface and the second reflection surface move in the same direction around the first axis, the emitted first detection light forms a first sub-field of view, the emitted second detection light forms a second sub-field of view, and the first sub-field of view and the second sub-field of view form a detection field of view of the laser radar.

[0034] Optionally, in the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface and the second reflecting surface move synchronously around the first axis.

[0035] Optionally, in the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface is made to reciprocate between a first posture and a second posture, and the second reflecting surface is made to reciprocate between a third posture and a fourth posture.

[0036] Optionally, in the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface is moved from a first posture to a second posture, and the second reflecting surface is moved from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

[0037] Optionally, in the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface is moved from a first posture to a second posture and then returned to the first posture, and the second reflecting surface is moved from a third posture to a fourth posture and then returned to the third posture, so that the laser radar obtains a frame of point cloud.

[0038] Optionally, in the step of causing the first reflecting surface and the second reflecting surface to move in the same direction around the first axis, the first sub-field of view and the second sub-field of view are partially overlapped.

[0039] Optionally, the detection field of view of the laser radar includes an overlapping area and a non-overlapping area, the overlapping area includes an area where the first sub-field of view overlaps with the second sub-field of view, and the non-overlapping area includes at least one of an area in the first sub-field of view excluding the overlapping area and an area in the second sub-field of view excluding the overlapping area.

[0040] Optionally, the frame rate of the overlapping area is greater than the frame rate of the non-overlapping area.

[0041] Optionally, the angular resolution of the overlapping area is greater than the angular resolution of the non-overlapping area.

[0042] Optionally, it also includes: reflecting the first detection light toward the first reflection surface through a third reflection surface; reflecting the second detection light toward the second reflection surface through a fourth reflection surface; and making the third reflection surface and the fourth reflection surface move in the same direction around a second axis, and the second axis is perpendicular to the first axis.

[0043] Optionally, in the step of making the third reflecting surface and the fourth reflecting surface move in the same direction around the second axis, the third reflecting surface and the fourth reflecting surface move synchronously around the second axis.

[0044] Optionally, in the step of making the third reflecting surface and the fourth reflecting surface move in the same direction around the second axis, the third reflecting surface is made to reciprocate between a fifth posture and a sixth posture, and the fourth reflecting surface is made to reciprocate between a seventh posture and an eighth posture.

[0045] Optionally, when the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the third reflecting surface completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface completes multiple reciprocating motions between the seventh posture and the eighth posture.

[0046] Optionally, when the first reflecting surface returns to the first posture from the second posture, and the second reflecting surface returns to the third posture from the fourth posture, the third reflecting surface completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface completes multiple reciprocating motions between the seventh posture and the eighth posture.

[0047] Optionally, the angular velocity of the third reflecting surface and the fourth reflecting surface moving around the second axis is n times the angular velocity of the first reflecting surface and the second reflecting surface moving around the first axis; wherein n is an integer greater than 1.

[0048] Optionally, in the step of generating the first detection light and the second detection light, multiple beams of first detection light and multiple beams of second detection light are generated, at least part of the first detection light is arranged axially along the first axis, and at least part of the second detection light is arranged axially along the first axis.

[0049] Optionally, the multiple emitted first detection lights and the multiple emitted second detection lights are distributed at intervals along the axial direction of the first axis.

[0050] Optionally, it also includes: making the first detection light form a line spot to be emitted from the laser radar; making the second detection light form a line spot to be emitted from the laser radar.

[0051] Optionally, it also includes: fusing the point cloud corresponding to the first sub-field of view and the point cloud corresponding to the second sub-field of view to form a frame of point cloud in the detection field of view of the laser radar.

[0052] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0053] In the technical solution of the present invention, the control module is configured to make the first reflecting surface and the second reflecting surface move in the same direction around the first axis, and the emitted first detection light and the second detection light form a first sub-field of view and a second sub-field of view respectively, and the first sub-field of view and the second sub-field of view form the detection field of view of the laser radar. In the technical solution of the present invention, by reflecting the detection light generated by different transceiver modules through different reflectors, and by making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, a larger field of view can be obtained while the laser radar does not reduce the distance measurement capability, and a higher frame rate can be achieved in the middle area of ​​the field of view, which is beneficial to the improvement of the detection performance of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0055] Figure 1 It is a schematic structural diagram of an embodiment of a laser radar of the present invention;

[0056] Figure 2 yes Figure 1 A schematic structural diagram of the laser radar embodiment shown in FIG. 1 when the first reflecting surface is in the first posture and the second reflecting surface is in the third posture;

[0057] Figure 3 yes Figure 1 A schematic structural diagram of the laser radar embodiment shown in FIG. 1 when the third reflecting surface is in the sixth posture and the second reflecting surface is in the eighth posture;

[0058] Figure 4 yes Figure 1 A schematic structural diagram of the laser radar embodiment shown in FIG. 1 when the first reflecting surface is in the second posture and the second reflecting surface is in the fourth posture;

[0059] Figure 5 yes Figure 1 A schematic diagram of scanning trajectories of the first detection light and the second detection light in the laser radar embodiment shown;

[0060] Figure 6 is a schematic structural diagram of another embodiment of the laser radar of the present invention;

[0061] Figure 7 yes Figure 6 A schematic diagram of the optical path structure of the optical transceiver array module in the laser radar embodiment shown;

[0062] Figure 8 is a schematic diagram of a top view of the structure of an optical transceiver array module in another embodiment of a laser radar of the present invention;

[0063] Fig. 9 yes Figure 6 A schematic diagram of scanning trajectories of the first detection light and the second detection light in the laser radar embodiment shown;

[0064] Fig.10is a schematic diagram of scanning trajectories of the first detection light and the second detection light in another embodiment of the laser radar of the present invention;

[0065] Fig.11 is a schematic diagram of the optical path structure of the optical transceiver array module in another embodiment of the laser radar of the present invention;

[0066] Fig.12 is a schematic structural diagram of another embodiment of the laser radar of the present invention;

[0067] Fig.13 yes Fig.12 A schematic diagram of scanning trajectories of the first detection light and the second detection light in the laser radar embodiment shown;

[0068] Fig.14 is a schematic diagram of scanning trajectories of the first detection light and the second detection light in another embodiment of the laser radar of the present invention;

[0069] Fig.15 It is a flow chart of an embodiment of a scanning method of a laser radar of the present invention. DETAILED DESCRIPTION

[0070] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0071] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0072] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0074] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0075] As can be seen from the background technology, it is difficult for the laser radar in the prior art to achieve a balance between long-distance measurement capability, a large field of view, and a high intermediate field of view frame rate.

[0076] To solve the technical problem, the present invention provides a laser radar, comprising: a first transceiver module, the first transceiver module is configured to generate a first detection light and receive a first echo light formed by the first detection light reflected by a target; a second transceiver module, the second transceiver module is configured to generate a second detection light and receive a second echo light formed by the second detection light reflected by a target; a first reflecting surface, the first reflecting surface is configured to reflect the first detection light so as to be emitted from the laser radar; a second reflecting surface, the second reflecting surface is configured to reflect the second detection light so as to be emitted from the laser radar; and a control module, the control module is configured to make the first reflecting surface and the second reflecting surface move in the same direction around a first axis, so that the first detection light and the second detection light form a first sub-field of view and a second sub-field of view respectively, and the first sub-field of view and the second sub-field of view form a detection field of view of the laser radar.

[0077] In the technical solution of the present invention, the detection light generated by different transceiver modules is reflected by different reflectors, and the first reflecting surface and the second reflecting surface are made to move in the same direction around the first axis. This can achieve a larger field of view and a higher frame rate in the middle area of ​​the field of view without reducing the ranging capability of the laser radar, which is beneficial to improving the detection performance of the laser radar.

[0078] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0079] refer to Figure 1 , shows a schematic structural diagram of an embodiment of a laser radar of the present invention.

[0080] The laser radar includes: a first transceiver module 110, the first transceiver module 110 is configured to generate a first detection light 101 and receive a first echo light formed by the first detection light 101 being reflected by a target; a second transceiver module 120, the second transceiver module 120 is configured to generate a second detection light 102 and receive a second echo light formed by the second detection light 102 being reflected by a target; a first reflecting surface 131, the first reflecting surface 131 is configured to reflect the first detection light 101 so as to be emitted from the laser radar; a second reflecting surface 132, the second reflecting surface 132 is configured to reflect the second detection light 102 so as to be emitted from the laser radar; and a control module 160, the control module 160 is configured to make the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around a first axis, so that the first detection light 101 and the second detection light 102 respectively form a first sub-field of view 181 and a second sub-field of view 182, and the first sub-field of view 181 and the second sub-field of view 182 form a detection field of view 190 of the laser radar.

[0081] By using different reflectors to reflect the detection light generated by different transceiver modules, and by making the first reflection surface 131 and the second reflection surface 132 move in the same direction around the first axis, a larger field of view can be obtained and a higher frame rate can be achieved in the middle area of ​​the field of view without reducing the distance measurement capability of the laser radar, which is conducive to improving the detection performance of the laser radar. The specific technical scheme in the embodiment of the laser radar of the present invention is described in detail below with reference to the accompanying drawings.

[0082] The first transceiver module 110 and the second transceiver module 120 generate a first detection light 101 and a second detection light 102 , respectively, and receive a first echo light and a second echo light formed by the first detection light 101 and the second detection light 102 respectively being reflected by a target.

[0083] It should be noted that the target for reflecting to form the first echo light and the second echo light may be the same target or different targets; the first detection light 101 and the second detection light 102 may be respectively reflected from the same target to form the first echo light and the second echo light, or the first detection light 101 and the second detection light 102 may be respectively reflected from different targets to form the first echo light and the second echo light.

[0084] In some embodiments of the present invention, the first transceiver module 110 includes at least one first transmitting unit 111, each of the first transmitting unit 111 generates a beam of first detection light 101, and the second transmitting module 120 includes at least one second transmitting unit 121, each of the second transmitting unit 121 generates a beam of second detection light 102. Specifically, the first transmitting unit 111 and the second transmitting unit 121 can be lasers.

[0085] It should be noted that the laser may be a vertical cavity surface emitting laser (VCSEL). In other embodiments of the present disclosure, the laser may also be an edge emitting laser (EEL), or other light-emitting components capable of generating laser light. The wavelength of the laser emitted by the laser may be any one of 905nm, 940nm, and 1550nm, or may emit laser light of other wavelengths.

[0086] It should be noted that the first transceiver module 110 further includes at least one first receiving unit (not shown in the figure), the first receiving unit corresponds to the first transmitting unit one by one, and each of the first receiving units receives a first echo light formed by a beam of the first detection light 101; the second transceiver module 120 includes at least one second receiving unit, the second receiving unit corresponds to the second transmitting unit one by one, and each of the second receiving units receives a second echo light formed by a beam of the second detection light 102. The first reflecting surface 131 and the second reflecting surface 132 are used to reflect the first detection light 101 and the second detection light 102 respectively to achieve scanning.

[0087] It should also be noted that the first transceiver module 110 and the second transceiver module 120 also receive the first echo light and the second echo light respectively; the first reflecting surface 131 and the second reflecting surface 132 are also used to reflect the first echo light and the second echo light to the first transceiver module 110 and the second transceiver module 120 respectively.

[0088] In some embodiments of the present invention, the first reflecting surface 131 and the second reflecting surface 132 are relatively fixedly connected. Specifically, the first reflecting surface 131 and the second reflecting surface 132 are relatively fixedly connected and indirectly connected. In other embodiments of the present invention, the first reflecting surface and the second reflecting surface may also be directly connected.

[0089] In some embodiments of the present invention, the laser radar includes: a first scanning module 130, wherein the first scanning module 130 has two reflecting surfaces, the two reflecting surfaces are the first reflecting surface 131 and the second reflecting surface 132. Figure 1 As shown, in the first scanning module 130 , the reflection surface close to the first transceiver module 110 is a first reflection surface 131 , and the reflection surface close to the second transceiver module 120 is a second reflection surface 132 .

[0090] The first reflecting surface 131 and the second reflecting surface 132 are coupled in the same scanning module. That is, compared with the number of reflecting surfaces (greater than 2 surfaces) in the multi-faceted rotating mirror, the angle between the reflecting surfaces and the field of view corresponding to the reflecting surfaces are relatively fixed, the angle between the first reflecting surface 131 and the second reflecting surface 132 used in the first scanning module 130 will not be restricted and can be set arbitrarily, so there will be no limit on the size of the field of view corresponding to the reflecting surface and the distribution of detection light at different positions in the field of view.

[0091] In some embodiments of the present invention, the first scanning module 130 further includes a support member 133, and the support member 133 is fixedly connected to both the first reflecting surface 131 and the second reflecting surface 132. Specifically, the support member 133 is located between the two reflecting surfaces and is fixedly connected to the two reflecting surfaces respectively. The first reflecting surface 131 and the second reflecting surface 132 are both fixedly connected to the same support member 133, so the relative position between the first reflecting surface 131 and the second reflecting surface 132 is fixed.

[0092] The first scanning module 130 can simultaneously realize the scanning of the first detection light 101 of the first transceiver module 110 and the second detection light 102 of the second transceiver module 120 in the horizontal direction, that is, the first detection light 101 is synchronously scanned in the horizontal direction in the corresponding vertical field of view and the second detection light 102 is synchronously scanned in the horizontal direction in the corresponding vertical field of view. Specifically, in the horizontal direction, the scanning directions of the first detection light 101 and the second detection light 102 are the same, wherein the first detection light 101 and the second detection light 102 can both scan from left to right, or both scan from right to left.

[0093] The first reflecting surface 131 and the second reflecting surface 132 are both fixed on the same supporting member 133, and the relative position between the first reflecting surface 131 and the second reflecting surface 132 is fixed. The scanning angle synchronization of the first reflecting surface 131 and the second reflecting surface 132 is good, and the calibration difficulty is low, which can effectively improve the production efficiency; the first reflecting surface 131 and the second reflecting surface 132 are integrated on the same supporting member 133, which can also simplify the control method, save control costs, and reduce the number and power consumption of driving motors and angle measuring devices.

[0094] like Figure 1 In some specific embodiments shown, the laser radar also includes: a third reflection surface 141, located on the optical path between the first transceiver module 110 and the first reflection surface 131, and the third reflection surface 141 is configured to reflect the first detection light 101 toward the first reflection surface 131; a fourth reflection surface 142, located on the optical path between the second transceiver module 120 and the second reflection surface 132, and the fourth reflection surface 142 is configured to reflect the second detection light 102 toward the second reflection surface 132.

[0095] The third reflection surface 141 is used to reflect the first detection light 101 generated by the first transmitting module 110 toward the first reflection surface 131 ; the fourth reflection surface 142 is used to reflect the second detection light 102 generated by the second transmitting module 120 toward the second reflection surface 132 .

[0096] It should be noted that the first transceiver module 110 and the second transceiver module 120 also receive the first echo light and the second echo light respectively; the third reflection surface 141 and the fourth reflection surface 142 are also used to reflect the first echo light and the second echo light to the first transceiver module 110 and the second transceiver module 120 respectively.

[0097] In some embodiments of the present invention, the third reflective surface 141 and the fourth reflective surface 142 are relatively fixedly connected. Specifically, the third reflective surface 141 and the fourth reflective surface 142 are relatively fixedly connected and indirectly connected. In other embodiments of the present invention, the third reflective surface and the fourth reflective surface may also be directly connected.

[0098] In some embodiments of the present invention, the laser radar further includes: a second scanning module 140, wherein the second scanning module 140 has two reflecting surfaces, and the two reflecting surfaces are the third reflecting surface 141 and the fourth reflecting surface 142. Figure 1 As shown, in the second scanning module 140 , the reflection surface close to the first transceiver module 110 is the third reflection surface 141 , and the reflection surface close to the second transceiver module 120 is the fourth reflection surface 142 .

[0099] like Figure 1 As shown, the second scanning module 140 further includes a support member 143, and the support member 143 is fixedly connected to both the third reflecting surface 141 and the fourth reflecting surface 142. Specifically, the support member 143 is located between the two reflecting surfaces and is fixedly connected to the two reflecting surfaces respectively. The third reflecting surface 141 and the fourth reflecting surface 142 are both fixedly connected to the same support member 143, so the relative position between the third reflecting surface 141 and the fourth reflecting surface 142 is fixed.

[0100] The second scanning module 140 can simultaneously realize the first detection light 101 of the first transceiver module 110 and the second detection light 102 of the second transceiver module 120 scanning in the vertical direction, that is, the first detection light 101 is in the corresponding horizontal field of view ( Figure 1 The second detection light 102 is in the corresponding horizontal field of view ( Figure 1 Specifically, along the vertical direction, the scanning directions of the first detection light 101 and the second detection light 102 are opposite, wherein one of the first detection light 101 and the second detection light 102 scans from top to bottom, and the other scans from bottom to top.

[0101] It should be noted that, Figure 1In some of the embodiments shown, the laser radar also includes: a first fixed reflector 151, wherein the first fixed reflector 151 is located in the optical path between the third reflective surface 141 and the first reflective surface 131, and the first fixed reflector 151 is configured to reflect the first detection light 101 reflected by the third reflective surface 141 to the first reflective surface 131; a second fixed reflector 152, wherein the second fixed reflector 152 is located in the optical path between the fourth reflective surface 142 and the second reflective surface 132, and the second fixed reflector 152 is configured to reflect the second detection light 102 reflected by the fourth reflective surface 142 to the second reflective surface 132.

[0102] The first fixed reflector 151 is configured to realize the folding of the light path between the third reflective surface 141 and the first reflective surface 131; the second fixed reflector 151 is configured to realize the folding of the light path between the fourth reflective surface 142 and the second reflective surface 132, which is beneficial to reducing the size of the laser radar and can more flexibly set the first scanning module and the second scanning module in the laser radar.

[0103] It should be noted that the first transceiver module 110 and the second transceiver module 120 also receive the first echo light and the second echo light respectively; the first fixed reflector 151 is also configured to reflect the first echo light reflected by the first reflector 131 to the third reflector 141, and the second fixed reflector 152 is also configured to reflect the second echo light reflected by the second reflector 132 to the fourth reflector 142.

[0104] It should also be noted that, in some embodiments, the laser radar also includes: a first lens group 161, the first lens group 161 is located at the most upstream of the optical path of the first detection light 101; and a second lens group 162, the second lens group 162 is located at the most upstream of the optical path of the second detection light 102.

[0105] Specifically, Figure 1 As shown, the first lens group 161 is located in the optical path between the first transceiver module 110 and the third reflector 141, and shapes (including collimates) the first detection light 101 generated by the first transceiver module 110; the second lens group 162 is located in the optical path between the second transceiver module 120 and the fourth reflector 142, and shapes (including collimates) the second detection light 102 generated by the second transceiver module 120. In addition, the first lens group 161 is also configured to converge the first echo light to the receiving unit in the first transceiver module 110; the second lens group 162 is also configured to converge the second echo light to the receiving unit in the second transceiver module 120.

[0106] Continue to refer Figure 1, the control module 160 of the laser radar is indirectly connected to the first reflecting surface 131 and the second reflecting surface 132, so that the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis; with the movement of the first reflecting surface 131, the first detection light 101 reflected by the first reflecting surface 131 and emitted from the laser radar is scanned in the three-dimensional space outside the laser radar to form the first sub-field of view 181; with the movement of the second reflecting surface 132, the second detection light 102 reflected by the second reflecting surface 132 and emitted from the laser radar is scanned in the three-dimensional space outside the laser radar to form the second sub-field of view 182.

[0107] It should be noted that the first axis is perpendicular to the horizontal plane, and the movement of the first reflecting surface 131 makes the first sub-field of view 181 formed by the scanning of the first detection light 101 to be the first horizontal sub-field of view; the movement of the second reflecting surface 132 makes the second sub-field of view 182 formed by the scanning of the second detection light 102 to be the second horizontal sub-field of view.

[0108] It should also be noted that the control module 160 causes the first reflecting surface 131 and the second reflecting surface 132 to move in the same direction around the first axis, wherein the first reflecting surface 131 and the second reflecting surface 132 to move in the same direction around the first axis means that the first reflecting surface 131 and the second reflecting surface 132 swing or rotate in the same direction around the first axis.

[0109] In addition, the control module 160 enables the first reflecting surface 131 and the second reflecting surface 132 to reciprocate around the first axis, and during the reciprocating motion, the first reflecting surface 131 and the second reflecting surface 132 always move in the same direction around the first axis.

[0110] In some embodiments of the present invention, the control module 160 is further configured to make the first reflective surface 131 and the second reflective surface 132 move synchronously around the first axis. The control module 160 makes the first reflective surface 131 and the second reflective surface 132 move around the first axis at the same speed and azimuth.

[0111] It should be noted that the synchronous movement of the first reflecting surface 131 and the second reflecting surface 132 around the first axis includes: the first reflecting surface 131 and the second reflecting surface 132 synchronously rotate around the first axis and the first reflecting surface 131 and the second reflecting surface 132 synchronously swing around the first axis.

[0112] In some specific embodiments, the two reflection surfaces of the first scanning module 130 are the first reflection surface 131 and the second reflection surface 132 ; the control module 160 is connected to the first scanning module 130 to control the movement of the first reflection surface 131 and the second reflection surface 132 .

[0113] In some specific embodiments, in the first scanning module 120, the first reflecting surface 131 and the second reflecting surface 132 are both connected to the supporting member 133, and the control module 160 is connected to the supporting member 133. The control module 160 controls the synchronous movement of the first reflecting surface 131 and the second reflecting surface 132 by moving the supporting member 133 around the first axis.

[0114] Combined with reference Figures 2 to 4 In some embodiments, the control module 160 is configured to make the first reflective surface 131 in the first posture (such as Figure 2 The second position (shown by the dashed line) Figure 4 and reciprocates between the two positions (shown by the dashed line in the middle), and makes the second reflecting surface 132 move in the third position (shown by the dashed line in the middle) and moves in the third position (shown by the dashed line in the middle) and makes the second reflecting surface 132 move ... Figure 2 The fourth position (shown by the dashed line) and the fourth position (shown by the dashed line) Figure 4 The dotted line shows the reciprocating motion between the two.

[0115] In some specific embodiments, the control module 160 is configured to move the first reflecting surface 131 from a first posture to a second posture, and to move the second reflecting surface 132 from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

[0116] Combined with reference Figure 5 In the process of the control module 160 causing the first reflecting surface 131 to move from the first posture to the second posture, the first detection light 101 reflected by the first reflecting surface 131 and emitted from the laser radar is scanned in the three-dimensional space outside the laser radar to form the first sub-field of view 181; in the process of the control module 160 causing the second reflecting surface 132 to move from the third posture to the fourth posture, the second detection light 102 reflected by the second reflecting surface 132 and emitted from the laser radar is scanned in the three-dimensional space outside the laser radar to form the second sub-field of view 182. The first sub-field of view 181 and the second sub-field of view 182 form the horizontal field of view of the laser radar. The control module 160 causes the first reflecting surface 131 to move from the first posture to the second posture, and causes the second reflecting surface 132 to move from the third posture to the fourth posture, so that the laser radar completes detection in the entire horizontal field of view and forms a frame of point cloud according to the detection results.

[0117] In some embodiments, the control module 160 is further configured to partially overlap the first sub-field of view 181 and the second sub-field of view 182. Specifically, the control module 160 causes the first reflecting surface 131 and the second reflecting surface 132 to rotate in the same direction around the first axis at an angle greater than an initial angle, so that the first sub-field of view and the second sub-field of view partially overlap, wherein the initial angle is the angle between the first detection light 101 and the second detection light 102 at any moment.

[0118] In some embodiments, the detection field of view 190 of the laser radar includes an overlapping area 171 and non-overlapping areas 172a and 172b. The overlapping area 171 includes the overlapping area of ​​the first sub-field of view 181 and the second sub-field of view 182. The non-overlapping area 172a includes the area of ​​the first sub-field of view 181 except the overlapping area 171. The non-overlapping area 172b includes: the area of ​​the second sub-field of view 182 except the overlapping area 171.

[0119] Specific as Figure 5 In some of the illustrated embodiments, the detection field of view 190 of the laser radar has a non-overlapping area 172a and a non-overlapping area 172b, and the non-overlapping area 172a and the non-overlapping area 172b are respectively located on both sides of the overlapping area 171.

[0120] From time t1 to time t2, the control module 160 causes the first reflecting surface 131 and the second reflecting surface 132 to rotate around the first axis at an angle equal to the initial angle, and the second detection light 102 scans the non-overlapping area 172b; at the same time, the first detection light 101 scans area 173, and area 173 extends from the overlapping area 171 to the partial non-overlapping area 172a.

[0121] From time t2 to time t3, the control module 160 enables the first reflecting surface 131 and the second reflecting surface 132 to continue to move in the same direction around the first axis, and the first detection light 101 scans the remaining part of the non-overlapping area 172a; the second detection light 102 scans the overlapping area 171.

[0122] The overlapping area 171 has been scanned once by the second detection light 102 from time t1 to time t2; the overlapping area 171 has been scanned once by the first detection light 101 and the second detection light 102 in different time periods from time t1 to time t3, and the first detection light 131 and the second detection light 132 scan the overlapping area 171 in a time-sharing manner.

[0123] From time t1 to time t2 and from time t2 to time t3, since the first reflecting surface 131 and the second reflecting surface 132 move synchronously around the first axis, the sizes of the areas scanned by the first detection light 101 and the second detection light 102 are the same in the horizontal direction of the field of view.

[0124] In addition, if Figure 1 In some of the embodiments shown, the laser radar also has the third reflector 141 and the fourth reflector 142; the control module 160 is also configured to make the third reflective surface 141 and the fourth reflective surface 142 move in the same direction around a second axis, and the second axis is perpendicular to the first axis.

[0125] The control module 160 of the laser radar is connected to both the third reflecting surface 141 and the fourth reflecting surface 142 so that the third reflecting surface 141 and the fourth reflecting surface 142 move in the same direction around the second axis.

[0126] The control module 160 enables the third reflecting surface 141 and the fourth reflecting surface 142 to move in the same direction around the second axis, wherein enabling the third reflecting surface 141 and the fourth reflecting surface 142 to move in the same direction around the second axis means enabling the third reflecting surface 141 and the fourth reflecting surface 142 to swing or rotate in the same direction around the second axis.

[0127] It should be noted that Figure 1 A top view of the laser radar is shown, wherein the second axis is parallel to the horizontal plane, the third reflecting surface 141 moves to make the first detection light 101 scan along a direction perpendicular to the horizontal plane (i.e., the vertical direction); the fourth reflecting surface 142 moves to make the second detection light 102 scan along a direction perpendicular to the horizontal plane (i.e., the vertical direction); and the scanning direction of the first detection light 101 is opposite to the scanning direction of the second detection light 102.

[0128] In some embodiments of the present invention, the control module 160 is further configured to make the third reflective surface 141 and the fourth reflective surface 142 move synchronously around the second axis. The control module 160 makes the third reflective surface 141 and the fourth reflective surface 142 move around the second axis at the same speed and azimuth.

[0129] In some specific embodiments, the two reflection surfaces of the second scanning module 140 are the third reflection surface 141 and the fourth reflection surface 142 ; the control module 160 is connected to the second scanning module 140 to control the movement of the third reflection surface 141 and the fourth reflection surface 142 .

[0130] In some specific embodiments, in the second scanning module 140, the third reflecting surface 141 and the fourth reflecting surface 142 are both connected to the support member 143, and the control module 160 is connected to the support member 143. The control module 160 controls the movement of the third reflecting surface 141 and the fourth reflecting surface 142 by moving the support member 143 around the second axis.

[0131] Combined with reference Figures 2 to 4 In some embodiments, the control module 160 is configured to make the third reflective surface 141 in a fifth posture (such as Figure 2 and Figure 4 The sixth position (shown by the dashed line) and the Figure 3 and reciprocatingly move between the seventh position (shown in the dotted frame filled with dots) and make the fourth reflecting surface 142 move in the seventh position (shown in the dotted frame filled with dots). Figure 2 and Figure 4 The dotted box filled with dots) and the eighth posture (as shown in Figure 3 It should be noted that Figure 3 The dotted frame filled with dots shows a schematic projection diagram of the third reflection surface 141 in the horizontal plane; Figure 2 and Figure 4 The dotted frame filled with dots shows a schematic diagram of the projection of the fourth reflection surface 142 in the horizontal plane.

[0132] Specifically, the control module 160 enables the third reflecting surface 141 to move from the fifth position to the sixth position and then return to the fifth position as one reciprocating motion, and enables the fourth reflecting surface 142 to move from the seventh position to the eighth position and then return to the seventh position as one reciprocating motion.

[0133] The third reflecting surface 141 and the fourth reflecting surface 142 move synchronously around the second axis, the reciprocating motion of the third reflecting surface 141 and the fourth reflecting surface 142 is synchronous motion, and the reciprocating speed and azimuth angle of the third reflecting surface 141 and the fourth reflecting surface 142 are the same.

[0134] like Figure 5 In some of the embodiments shown, when the first reflecting surface 131 moves from the first posture to the second posture, and the second reflecting surface 132 moves from the third posture to the fourth posture, the control module 160 is configured to enable the third reflecting surface 141 to complete multiple reciprocating motions between the fifth posture and the sixth posture, and to enable the fourth reflecting surface 142 to complete multiple reciprocating motions between the seventh posture and the eighth posture, and the number of reciprocating motions of the third reflecting surface 141 and the fourth reflecting surface 142 is equal.

[0135] In some specific embodiments, the control module 160 causes the third reflecting surface 141 to move around the second axis at an angular velocity that is n times the angular velocity of the first reflecting surface 131 to move around the first axis, where n is greater than 1.

[0136] The angular velocity of the third reflecting surface 141 moving around the second axis is greater than the angular velocity of the first reflecting surface 131 moving around the first axis, so that the third reflecting surface 141 can complete reciprocating motion between the third posture and the fourth posture. Figure 5 As shown, in some embodiments, the angular velocity of the third reflecting surface 141 moving around the second axis matches the angular velocity of the first reflecting surface 131 moving around the first axis, and the angular velocity of the third reflecting surface 141 moving around the second axis is n times the angular velocity of the first reflecting surface 131 moving around the first axis, that is, n is an integer greater than 1, so that the third reflecting surface 141 can complete multiple reciprocating motions between the third posture and the fourth posture.

[0137] In some specific embodiments, the third reflecting surface 141 and the fourth reflecting surface 142 move synchronously around the second axis; Figure 5 In some specific embodiments shown, the control module 160 is configured to make the angular velocity of the third reflecting surface 141 and the fourth reflecting surface 142 move around the second axis be n times the angular velocity of the first reflecting surface 131 and the second reflecting surface 132 move around the first axis; wherein n is an integer greater than 1.

[0138] In some specific embodiments, the control module 160 causes the fourth reflective surface 142 to move around the second axis at an angular velocity that is n times the angular velocity of the second reflective surface 132 to move around the first axis, where n is greater than 1.

[0139] The angular velocity of the fourth reflecting surface 142 moving around the second axis is greater than the angular velocity of the second reflecting surface 132 moving around the first axis, so that the fourth reflecting surface 142 can complete reciprocating motion between the seventh posture and the eighth posture. Figure 5As shown, in some embodiments, the angular velocity of the fourth reflecting surface 142 moving around the second axis matches the angular velocity of the second reflecting surface 132 moving around the first axis, and the angular velocity of the fourth reflecting surface 142 moving around the second axis is n times the angular velocity of the second reflecting surface 132 moving around the first axis, that is, n is an integer greater than 1, so that the fourth reflecting surface 142 can complete multiple reciprocating motions between the seventh posture and the eighth posture. It should be noted that in some other embodiments, the control module is configured to make the movement frequency of the third reflecting surface and the fourth reflecting surface moving around the second axis be an integer multiple of the movement frequency of the first reflecting surface and the second reflecting surface moving around the first axis.

[0140] Specific as Figure 5 As shown, the scanning trajectory of the first detection light 101 emitted from the laser radar after being reflected by the first reflection surface 131 and the scanning trajectory of the second detection light 102 emitted from the laser radar after being reflected by the second reflection surface 132 are two resonance curves respectively.

[0141] The first axis is perpendicular to the horizontal plane, the second axis is parallel to the horizontal plane, and the movement of the first reflecting surface 131 and the second reflecting surface 132 enables the first detection light 101 and the second detection light 102 to scan the horizontal field of view; the movement of the third reflecting surface 141 and the fourth reflecting surface 142 enables the first detection light 101 and the second detection light 102 to scan the vertical field of view. The third reflecting surface 141 and the fourth reflecting surface 142 have a greater angular velocity when moving, and the laser radar has a higher scanning speed when scanning the vertical field of view. In some specific embodiments, the scanning speed of the vertical field of view of the laser radar (e.g., 10 Hz, 20 Hz) is greater than the scanning speed in the horizontal field of view (e.g., 5 Hz or lower).

[0142] Continue to refer Figure 1 The laser radar also includes: a processing module 170, and the processing module 170 is configured to fuse the point cloud corresponding to the first sub-field of view 181 and the point cloud corresponding to the second sub-field of view 182 to form a frame of point cloud in the detection field of view 190 of the laser radar.

[0143] Specifically, the processing module 170 fuses the point cloud corresponding to the first sub-field of view 181 and the point cloud corresponding to the second sub-field of view 182, which means that the processing module 170 splices the point cloud corresponding to the first sub-field of view 181 and the point cloud corresponding to the second sub-field of view 182 into one point cloud, and uses the spliced ​​point cloud as a frame of point cloud corresponding to the detection field of view 190 of the laser radar.

[0144] By forming a first sub-field of view 181 formed by moving the first reflecting surface around the first axis and a second sub-field of view 182 formed by moving the second reflecting surface around the first axis to form the detection field of view 190 of the laser radar, an ultra-large field of view range (usually refers to the range of the field of view angle) can be obtained; in some specific embodiments, the detection field of view 190 of the laser radar corresponding to a frame of fused point cloud can exceed 150°; and, since the detection field of view 190 is formed by the fusion of the first sub-field of view 181 and the second sub-field of view 182, any one of the first sub-field of view 181 and the second sub-field of view 182 does not need to be too large, and the field of view range of the first sub-field of view 181 and the second sub-field of view 182 can be constrained to 120° or even smaller. Constraining the first sub-field of view 181 and the second sub-field of view 182 can ensure the distance measurement capability of the entire field of view, especially the edge channel of the field of view, thereby increasing the detection field of view 190 range of the laser radar without reducing the distance measurement capability within the detection field of view 190 of the laser radar.

[0145] It should be noted that, in some specific embodiments, the first transceiver module and the second transceiver module are both optical transceiver array modules, and the optical transceiver array module includes: a plurality of transmitting units, each of which transmits a beam of detection light, and at least part of the transmitting units are arranged along the axial direction of the first axis. Specifically, the transmitting unit can be a laser.

[0146] like Figure 8 As shown, in other embodiments of the present invention, the optical transceiver array module includes multiple rows of strip light sources 123, and the multiple rows of strip light sources 123 are arranged along a first direction X, and multiple strip light sources in each row of the strip light sources are arranged along a second direction Y, wherein the first direction X is parallel to the axial direction of the first axis, and the second direction Y is perpendicular to the axial direction of the first axis. Specifically, the axial direction of the first axis corresponds to a direction perpendicular to the horizontal plane, the axial direction of the first axis corresponds to a direction perpendicular to the field of view, the first direction X corresponds to a direction perpendicular to the field of view, and the second direction Y corresponds to a direction horizontal to the field of view.

[0147] The light spot shape generated by the strip light source 123 is a long strip extending along the second direction Y. In some embodiments, the strip light source 123 can be a long strip light-emitting unit, or the strip light source can be a plurality of light-emitting units extending along the second direction Y. The light beams emitted by the plurality of light-emitting units are homogenized to form a long strip light spot.

[0148] The second direction Y corresponds to the direction of the horizontal field of view. Arranging multiple strip light sources extending along the second direction Y along the second direction Y can expand the detection area in the horizontal direction. For the same laser radar detection field of view, the scanning speed of the scanning module can be effectively improved, thereby effectively shortening the time required to obtain a frame of point cloud.

[0149] In some embodiments, the strip light sources 123 of one row and the strip light sources 123 of an adjacent row are arranged alternately along the second direction Y. Along the second direction Y, the strip light sources 123 in one row are located between two adjacent strip light sources 123 of adjacent rows. For example, the strip light sources 123 of the i-th row and the strip light sources 123 of the i+1-th row are arranged adjacently along the first direction X, and the strip light sources 123 of the i-th row are located between two adjacent strip light sources 123 of the i+1-th row along the second direction Y, where i is an integer greater than or equal to 1.

[0150] In some embodiments of the present invention, the optical transceiver array module includes: a receiving unit group, which corresponds to the strip light source and is used to receive the echo light formed by the detection light generated by the corresponding strip light source after being reflected by the target.

[0151] In some specific embodiments, the receiving unit group includes a plurality of receiving units, and the arrangement of the receiving units in the receiving unit group is adapted to the strip light source. Specifically, the receiving unit may be a silicon photomultiplier (SiPM), and the receiving unit group may be a linear silicon photomultiplier.

[0152] In some other specific embodiments, the optical transceiver array module may also include at least one planar array detector, wherein a local area of ​​the planar array detector can be activated individually to detect the echo light to generate an electrical signal, and the strip light source corresponds to the activation area of ​​the planar array detector one by one. Specifically, the planar array detector may be a detector array in which a plurality of single-photon detectors are arranged in two dimensions along a preset direction, wherein the first direction and the second direction intersect, and the single-photon detector may be a single-photon avalanche diode (SPAD).

[0153] refer to Figure 6 , shows a schematic structural diagram of another embodiment of the laser radar of the present invention.

[0154] The same points as the above embodiments are not described in detail in the present disclosure. The difference from the above embodiments is that, in some embodiments, the first transceiver module 210 includes: a plurality of the first transmitting units, each of which transmits a beam of first detection light 201, and at least a portion of the first transmitting units are arranged along the axial direction of the first axis; the second transceiver module 220 includes: a plurality of the second transmitting units, each of which transmits a beam of second detection light 202, and at least a portion of the second transmitting units are arranged along the axial direction of the first axis.

[0155] It should be noted that, in some embodiments, the laser radar further includes: a first lens group 261, wherein the first lens group 261 is located at the most upstream of the optical path of the first detection light 201; and a second lens group 262, wherein the second lens group 262 is located at the most upstream of the optical path of the second detection light 202.

[0156] like Figure 6 As shown, the first lens group 261 is located in the optical path between the first transceiver module 210 and the first fixed reflector 251, and shapes (including collimation) the first detection light 201 generated by the first transceiver module 210; the second lens group 262 is located in the optical path between the second transceiver module 220 and the second fixed reflector 252, and shapes (including collimation) the second detection light 202 generated by the second transceiver module 220.

[0157] It should be noted that the first lens group 261 is further configured to converge the first echo light to the first transceiver module 210 ; and the second lens group 262 is further configured to converge the second echo light to the second transceiver module 220 .

[0158] In some specific embodiments, Figure 7 As shown, the first transceiver module 210 and the second transceiver module 220 are both optical transceiver array modules 290, and the optical transceiver array module 290 includes: a plurality of transmitting units 291, each of which transmits a beam of detection light 203, and at least part of the transmitting units 291 are arranged along the axial direction of the first axis. Specifically, the transmitting unit can be a laser.

[0159] It should be noted that the laser may be a vertical-cavity surface-emitting laser (VCSEL). In other embodiments of the present disclosure, the laser may also be an edge-emitting laser (EEL), or other light-emitting components capable of generating laser light.

[0160] The optical transceiver array module 290 further includes: a plurality of receiving units (not shown in the figure), the plurality of receiving units correspond to the plurality of transmitting units one by one, and each receiving unit receives the echo light formed by the detection light emitted by the corresponding transmitting unit and reflected by the target. The receiving unit may be a detector.

[0161] like Figure 7 As shown, in the optical transceiver array module 290, the multiple transmitting units 291 arranged axially along the first axis can be arranged at equal intervals or at unequal intervals, wherein the axial arrangement position of each transmitting unit 291 along the first axis determines the azimuth angle of the corresponding detection light in the vertical direction of the detection field of view of the laser radar.

[0162] like Figure 8 As shown, in other embodiments of the present invention, the optical transceiver array module includes multiple rows of strip light sources 123, and the multiple rows of strip light sources 123 are arranged along a first direction X, and multiple strip light sources in each row of the strip light sources are arranged along a second direction Y, wherein the first direction X is parallel to the axial direction of the first axis, and the second direction Y is perpendicular to the axial direction of the first axis. Specifically, the axial direction of the first axis corresponds to a direction perpendicular to the horizontal plane, the axial direction of the first axis corresponds to a direction perpendicular to the field of view, the first direction X corresponds to a direction perpendicular to the field of view, and the second direction Y corresponds to a direction horizontal to the field of view.

[0163] The light spot shape generated by the strip light source 123 is a long strip extending along the second direction Y. In some embodiments, the strip light source 123 can be a long strip light-emitting unit, or the strip light source can be a plurality of light-emitting units extending along the second direction Y. The light beams emitted by the plurality of light-emitting units are homogenized to form a long strip light spot.

[0164] The second direction Y corresponds to the direction of the horizontal field of view. Arranging multiple strip light sources extending along the second direction Y along the second direction Y can expand the detection area in the horizontal direction. For the same laser radar detection field of view, the scanning speed of the scanning module can be effectively improved, thereby effectively shortening the time required to obtain a frame of point cloud.

[0165] In some embodiments, the strip light sources 123 of one row and the strip light sources 123 of an adjacent row are arranged alternately along the second direction Y. Along the second direction Y, the strip light sources 123 in one row are located between two adjacent strip light sources 123 of adjacent rows. For example, the strip light sources 123 of the i-th row and the strip light sources 123 of the i+1-th row are arranged adjacently along the first direction X, and the strip light sources 123 of the i-th row are located between two adjacent strip light sources 123 of the i+1-th row along the second direction Y, where i is an integer greater than or equal to 1.

[0166] In some embodiments of the present invention, the optical transceiver array module includes: a receiving unit group, which corresponds to the strip light source and is used to receive the echo light formed by the detection light generated by the corresponding strip light source after being reflected by the target.

[0167] In some specific embodiments, the receiving unit group includes a plurality of receiving units, and the arrangement of the receiving units in the receiving unit group is adapted to the strip light source. Specifically, the receiving unit may be a silicon photomultiplier (SiPM), and the receiving unit group may be a linear silicon photomultiplier.

[0168] In some other specific embodiments, the optical transceiver array module may also include at least one planar array detector, wherein a local area of ​​the planar array detector can be activated individually to detect the echo light to generate an electrical signal, and the strip light source corresponds to the activation area of ​​the planar array detector one by one. Specifically, the planar array detector may be a detector array in which a plurality of single-photon detectors are arranged in two dimensions along a preset direction, wherein the first direction and the second direction intersect, and the single-photon detector may be a single-photon avalanche diode (SPAD).

[0169] A lens group 293 is arranged downstream of the optical transceiver array module 290 in the optical path of the detection light 203. The lens group 293 is used to adjust the propagation direction of the detection light 203 generated by each transmitting unit 291. After the detection light 203 is collimated and adjusted by the lens group 293, it is emitted in different axial directions of the first axis, and is reflected by the first fixed reflector 251 or the second fixed reflector 252 toward the first reflection surface 231 or the second reflection surface 231, and then reflected by the first reflection surface 231 or the second reflection surface 231 and emitted, thereby scanning in the detection field of view of the laser radar.

[0170] In the optical transceiver array module 290, the multiple transmitting units 291 arranged axially along the first axis can be arranged at equal intervals or unequal intervals, and the detection lights generated by different transmitting units do not overlap. Along the axial direction of the first axis, there is an offset between the detection lights generated by different transmitting units.

[0171] Specifically, the multiple transmitting units 291 arranged along the axial direction of the first axis can be arranged at equal intervals or unequal intervals, and the detection lights generated by different transmitting units have an offset in the direction perpendicular to the horizontal plane (i.e., the vertical direction); and the multiple transmitting units 291 arranged along the axial direction perpendicular to the first axis can also be arranged at equal intervals or unequal intervals, so the detection lights generated by different transmitting units also have an offset in the direction parallel to the horizontal plane.

[0172] Figure 6 and Figure 7 In some of the embodiments shown, the emitted first detection light 201 and the emitted second detection light 202 are spaced apart from each other along the axial direction of the first axis.

[0173] like Fig. 9 As shown, along the axial direction of the first axis, the emitted first detection light 201 is located between two adjacent emitted second detection lights 202, and the emitted second detection light 202 is located between two adjacent emitted first detection lights 202. It should be noted that, Fig. 9 A solid line in corresponds to a scanning trajectory of the second detection light 202, Fig. 9 A dotted line in the figure corresponds to a scanning trajectory of the first detection light 201. In some specific embodiments, the first emitting units arranged along the axial direction of the first axis and the second emitting units arranged along the axial direction of the first axis are arranged in a preset manner so that the first detection light 201 and the second detection light 202 are distributed at intervals along the axial direction of the first axis. The first detection light 201 and the second detection light 202 are distributed at intervals by arranging the first emitting units and the second emitting units.

[0174] In some embodiments, the control module (not shown in the figure) moves the first reflecting surface 231 from the first posture to the second posture, and moves the second reflecting surface 232 from the third posture to the fourth posture, so that the laser radar obtains a frame of point cloud.

[0175] also, Figure 6 and Figure 7 As shown, no other scanning modules are arranged upstream of the first reflector 231 in the optical path of the first detection light 201 and upstream of the second reflector 232 in the optical path of the second detection light 202, and the first detection light 201 and the second detection light 202 are respectively reflected to the first reflector 231 and the second reflector 232 by the first fixed reflector 251 and the second fixed reflector 252.

[0176] In the process of obtaining a frame of point cloud, when the first reflecting surface 231 moves from the first posture to the second posture, the emission directions of the multiple beams of the first detection light 201 along the axial direction of the first axis remain unchanged; when the second reflecting surface 232 moves from the third posture to the fourth posture, the emission directions of the multiple beams of the second detection light 202 along the axial direction of the first axis remain unchanged.

[0177] When the first axis is perpendicular to the horizontal plane, the first reflecting surface 231 swings in the horizontal plane, and the horizontal azimuth angles of the multiple first detection light beams 201 change accordingly, while the vertical azimuth angles of the multiple first detection light beams 201 remain unchanged; the second reflecting surface 232 swings in the horizontal plane, and the horizontal azimuth angles of the multiple second detection light beams 202 change accordingly, while the vertical azimuth angles of the multiple second detection light beams 202 remain unchanged.

[0178] like Fig. 9 As shown, the first detection light 201 and the second detection light 202 are synchronously scanned in the same direction within an angle range of θ1, and form a non-overlapping area 271, a non-overlapping area 272 and an overlapping area 273 in the detection field of view, respectively. Fig. 9 In the figure, the solid line shows the scanning trajectory of the multiple second detection light beams 202 in the detection field of view, and the point 202a on the solid line corresponds to a light spot formed in the detection field of view by a second detection light beam 202; the dotted line shows the scanning trajectory of the multiple first detection light beams 201 in the detection field of view, and the point 201a on the dotted line corresponds to a light spot formed in the detection field of view by a first detection light beam 201. The solid line and the dotted line are scanning lines formed in the detection field of view by the light spots of the first detection light 201 and the second detection light 202 after the first reflection surface 231 and the second reflection surface 232 are scanned in the horizontal direction.

[0179] In some specific embodiments, the frame rate of the overlapping area 273 is greater than the frame rate of the non-overlapping area. In the process of obtaining a frame of point cloud, the non-overlapping area 271 is scanned once by the second detection light 202, and the non-overlapping area 272 is scanned once by the first detection light 201; the overlapping area 273 is scanned once by the first detection light 201 and the second detection light 202 respectively, and the overlapping area 273 completes two scans.

[0180] Specifically, the scanning frequency of the first reflector 231 and the second reflector 232 is f, the scanning frequency of the first scanning module is f, the scanning frame rate of the non-overlapping area 271 and the non-overlapping area 272 is the same as the scanning frequency of the first reflector 231 and the second reflector 232, which is f, and the scanning frame rate of the overlapping area 273 is 2f.

[0181] In some specific embodiments, the emitted first detection light 201 and the emitted second detection light 202 are distributed axially at intervals along the first axis; the angular resolution of the overlapping area 273 is smaller than the angular resolution of the non-overlapping area 271 , and smaller than the angular resolution of the non-overlapping area 272 .

[0182] In the process of obtaining a frame of point cloud, when the first reflecting surface 231 moves from the first posture to the second posture and the second reflecting surface 232 moves from the third posture to the fourth posture, the axial emission directions of the multiple beams of the first detection light 201 along the first axis and the axial emission directions of the multiple beams of the second detection light 202 along the first axis are staggered with each other; when the first axis is perpendicular to the horizontal plane, the vertical azimuth angles of the multiple beams of the first detection light 201 and the vertical azimuth angles of the multiple beams of the second detection light 202 are different.

[0183] Figures 6 to 9 In some of the embodiments shown, the difference in the emission angles in the axial direction of the first axis between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1. When the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1.

[0184] like Fig. 9 As shown, in the non-overlapping area 271 and the non-overlapping area 272, the difference in the emission angles in the axial direction of the first axis between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1; when the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1.

[0185] Figures 6 to 9 In some of the embodiments shown, the difference in the axial emission angles along the first axis between adjacent first detection lights 201 and second detection lights 202 is Δφ2 or Δφ3, and when the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights 201 and second detection lights 202 is Δφ2 or Δφ3, wherein Δφ1>Δφ2, Δφ1>Δφ3.

[0186] like Fig. 9 As shown, in the overlapping area 273, the difference in the axial emission angle along the first axis between the adjacent first detection lights 201 and the second detection lights 202 is Δφ2 or Δφ3; when the first axis is perpendicular to the horizontal plane, the angular resolution of the vertical azimuth angle between the adjacent first detection lights 201 and the second detection lights 202 is Δφ2 or Δφ3, and the vertical angular resolution of the detection field of view is Δφ2 or Δφ3.

[0187] Fig.10 In some embodiments shown, the emitted first detection light and the emitted second detection light are evenly spaced along the axial direction of the first axis. Along the axial direction of the first axis, the second detection light at a non-edge position is located in the middle of the adjacent first detection light; and the first detection light at a non-edge position is located in the middle of the adjacent second detection light.

[0188] In the non-overlapping area 371 and the non-overlapping area 372, the difference in the axial emission angles along the first axis between adjacent first detection lights and between adjacent second detection lights is Δφ; when the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights and between adjacent second detection lights is Δφ.

[0189] In the overlapping area 273 , the difference between the axial emission angles of adjacent first detection lights and second detection lights along the first axis is Δφ / 2; when the first axis is perpendicular to the horizontal plane, the difference between the vertical azimuth angles of adjacent first detection lights and second detection lights is Δφ / 2.

[0190] It should be noted that, by arranging the first emitting unit and the second emitting unit, the first detection light 201 and the second detection light 202 are spaced apart. However, the arrangement of the first emitting unit and the second emitting unit to achieve the spaced distribution of the first detection light 201 and the second detection light 202 is only an example.

[0191] In other embodiments of the present invention, the first detection light is reflected by the first fixed reflector to the first reflection surface, and the second detection light is reflected by the second fixed reflector to the second reflection surface; the angle of the reflection surface of the first fixed reflector and the angle of the reflection surface of the second fixed reflector will also affect the emission direction and scanning trajectory of the first detection light and the second detection light respectively, and the emission direction and scanning trajectory of the first detection light and the second detection light can also be adjusted by adjusting the posture of the first fixed reflector and the second fixed reflector. In some specific embodiments, the first fixed reflector and the second fixed reflector are respectively set at a first preset angle and a second preset angle so that a plurality of the first detection lights and a plurality of the second detection lights are distributed at intervals along the axial direction of the first axis.

[0192] It should also be noted that the first reflector 231 and the second reflector 232 move synchronously around the first axis, and along the circumference of the first axis, the non-overlapping area is located on both sides of the overlapping area, and the field of view angles corresponding to the non-overlapping areas on both sides are equal, and the central angles of the non-overlapping areas relative to the first axis are equal.

[0193] In some other embodiments of the present invention, a homogenizer is further provided in the optical path of the laser radar to further improve the angular resolution; the laser radar also includes: a first homogenizer, which is located in the optical path of the first detection light, and the first homogenizer is configured to make the first detection light form a linear light spot; a second homogenizer, which is located in the optical path of the second detection light, and the second homogenizer is configured to make the second detection light form a linear light spot.

[0194] like Fig.11 As shown, the first transceiver module and the second transmitter module are both optical transceiver array modules 490. The optical transceiver array module 490 includes: a plurality of transmitter units 491, each transmitter unit 491 transmits a beam of detection light 403, and at least part of the transmitter units 491 are arranged along the axial direction of the first axis.

[0195] In the optical transceiver array module 490 , a plurality of transmitting units 491 arranged along the axial direction of the first axis are arranged at equal or unequal intervals, and the axial arrangement along the first axis determines the vertical position arrangement of a certain beam of detection light.

[0196] The light homogenizer 480 is disposed in the optical path between the optical transceiver array module 490 and the lens group 493 , and the light homogenizer 480 homogenizes the multiple detection light beams 403 generated by the multiple transmitting units 491 arranged axially along the first axis into a line light spot 404 for scanning.

[0197] In other embodiments of the present invention, the light homogenizer may be arranged in the optical path downstream of the lens group. The light homogenizer may be a cylindrical, spherical or planar light homogenizer. In some specific embodiments, the light homogenizer may be a cylindrical lens or a cylindrical light homogenizer.

[0198] refer to Fig.12 , shows a schematic structural diagram of another embodiment of the laser radar of the present invention.

[0199] The present disclosure will not repeat the same points as the above embodiments. The difference from the above embodiments is that, in some embodiments, the control module 560 is configured to make the first detection light and the second detection light reciprocate to obtain a frame of point cloud.

[0200] Combined with reference Fig.13 The control module 560 is configured to move the first reflecting surface 531 from the first posture to the second posture and then return to the first posture, and to move the second reflecting surface 532 from the third posture to the fourth posture and then return to the third posture, so that the laser radar obtains a frame of point cloud.

[0201] Specifically, the first reflecting surface 531 moves from the first posture to the second posture and then returns to the first posture, which is a reciprocating motion; the second reflecting surface 532 moves from the third posture to the fourth posture and then returns to the third posture, which is a reciprocating motion.

[0202] like Fig.13As shown, when the control module 560 causes the first reflecting surface 531 to move from the first posture to the second posture, the first detection light 501 reflected by the first reflecting surface 531 forms a scanning trajectory 501a in the first sub-field of view; when the control module 560 causes the second reflecting surface 532 to move from the third posture to the fourth posture, the second detection light 502 reflected by the second reflecting surface 532 forms a scanning trajectory 502a in the second sub-field of view.

[0203] Specifically, the control module 560 is connected to the support member 533 of the first scanning module to control the synchronous movement of the first reflecting surface 531 and the second reflecting surface 532 .

[0204] In addition, if Fig.12 In some of the embodiments shown, the laser radar also has the third reflector 541 and the fourth reflector 542; the control module 560 is also configured to make the third reflective surface 541 move around the third axis, and the control module 560 is also configured to make the fourth reflective surface 542 move around the fourth axis, wherein the third axis and the fourth axis are parallel to each other, and the third axis is perpendicular to the first axis.

[0205] The control module 560 of the laser radar is connected to both the third reflecting surface 541 and the fourth reflecting surface 542 (not shown in the figure) so that the third reflecting surface 541 and the fourth reflecting surface 542 move around the third axis and the fourth axis respectively. Specifically, the control module 560 is configured to reciprocate the third reflecting surface 541 between the fifth posture and the sixth posture, and reciprocate the fourth reflecting surface 542 between the seventh posture and the eighth posture.

[0206] Fig.13 In some of the embodiments shown, under the control of the control module 560, the first reflector 531, the second reflector 532, the third reflector 541, and the fourth reflector 542 cooperate with each other so that when the first reflecting surface 531 moves from the first posture to the second posture, and the second reflecting surface 532 moves from the third posture to the fourth posture, the emitted first detection light 501 and the emitted second detection light 502 are distributed at intervals along the axial direction of the first axis; when the first reflecting surface 531 returns to the first posture from the second posture, and the second reflecting surface 532 returns to the third posture from the fourth posture, the emitted first detection light 501 and the emitted second detection light 502 are distributed at intervals along the axial direction of the first axis.

[0207] Moreover, the first detection light 501 emitted when the first reflecting surface 531 moves from the first posture to the second posture and the first detection light 501 emitted when the first reflecting surface 531 returns to the first posture from the second posture are distributed at intervals along the axial direction of the first axis. The scanning trajectory 501a formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 moves from the first posture to the second posture is located between two adjacent scanning trajectories 501b formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 returns to the first posture from the second posture; similarly, the scanning trajectory 501b formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 returns to the first posture from the second posture is located between two adjacent scanning trajectories 501a formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 moves from the first posture to the second posture.

[0208] The second detection light 502 emitted when the second reflecting surface 532 moves from the third position to the fourth position and the second detection light 502 emitted when the second reflecting surface 532 returns to the third position from the fourth position are also distributed at intervals along the axial direction of the first axis. The scanning trajectory 502a formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 moves from the third position to the fourth position is located between two adjacent scanning trajectories 502b formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 returns to the third position from the fourth position; similarly, the scanning trajectory 502b formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 returns to the third position from the fourth position is located between two adjacent scanning trajectories 502a formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 moves from the third position to the fourth position.

[0209] In some embodiments of the present invention, in the laser radar, the first transceiver module and the second transceiver module are both optical transceiver array modules, that is, the first transceiver module includes: a plurality of the first transmitting units, each of the first transmitting units transmits a beam of first detection light, and at least a part of the first transmitting units are arranged axially along the first axis; the second transceiver module includes: a plurality of the second transmitting units, each of the second transmitting units transmits a beam of second detection light, and at least a part of the second transmitting units are arranged axially along the first axis.

[0210] Specifically, when the first reflecting surface 531 moves from the first posture to the second posture, and the second reflecting surface 532 moves from the third posture to the fourth posture, the control module 560 is configured to maintain the third reflecting surface 541 in the fifth posture and the fourth reflecting surface 542 in the seventh posture; when the first reflecting surface 531 returns to the first posture from the second posture, and the second reflecting surface 532 returns to the third posture from the fourth posture, the control module 560 is configured to maintain the third reflecting surface 541 in the sixth posture and the fourth reflecting surface 542 in the eighth posture.

[0211] like Fig.13 As shown in the figure, the scanning trajectory 501a and the scanning trajectory 502a are respectively the scanning trajectories of the first detection light 501 and the second detection light 502 emitted when the first reflecting surface 531 moves from the first posture to the second posture, and the second reflecting surface 532 moves from the third posture to the fourth posture; the scanning trajectory 501b and the scanning trajectory 502b are respectively the scanning trajectories of the first detection light 501 and the second detection light 502 emitted when the first reflecting surface 531 returns from the second posture to the first posture, and the second reflecting surface 532 returns from the fourth posture to the third posture.

[0212] It should be noted that, in other embodiments of the present invention, the third reflecting surface can also make multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface can also make multiple reciprocating motions between the seventh posture and the eighth posture.

[0213] In some specific embodiments, when the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the control module is configured to enable the third reflecting surface to complete multiple reciprocating motions between the fifth posture and the sixth posture, and to enable the fourth reflecting surface to complete multiple reciprocating motions between the seventh posture and the eighth posture.

[0214] When the first reflecting surface returns to the first posture from the second posture, and the second reflecting surface returns to the third posture from the fourth posture, the control module is configured to make the third reflecting surface complete multiple reciprocating motions between the fifth posture and the sixth posture, and to make the fourth reflecting surface complete multiple reciprocating motions between the seventh posture and the eighth posture.

[0215] like Fig.14As shown, when the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the scanning trajectory 601a of the emitted first detection light 601 and the scanning trajectory 602a of the emitted second detection light 602 are obtained; when the first reflecting surface returns from the second posture to the first posture, and the second reflecting surface returns from the fourth posture to the third posture, the scanning trajectory 601b of the emitted first detection light 601 and the scanning trajectory 602b of the emitted second detection light 602 are obtained.

[0216] Correspondingly, the present invention also provides a laser radar scanning method.

[0217] refer to Fig.15 , shows a flow chart of an embodiment of a scanning method of a laser radar of the present invention.

[0218] The scanning method of the laser radar includes: step S110, generating a first detection light 101 and a second detection light 102; step S120, reflecting the first detection light 101 through the first reflection surface 131 to emit from the laser radar; step S130, reflecting the second detection light 102 through the second reflection surface 132 to emit from the laser radar; step S140, making the first reflection surface 131 and the second reflection surface 132 move in the same direction around the first axis, the emitted first detection light 101 forms a first sub-field of view 181, the emitted second detection light 102 forms a second sub-field of view 182, and the first sub-field of view 181 and the second sub-field of view 182 form a detection field of view 190 of the laser radar.

[0219] It should be noted that, in some embodiments of the present invention, the scanning method of the laser radar is implemented by the laser radar of the present invention, and the specific technical solution of the scanning method of the laser radar can refer to the aforementioned embodiments of the laser radar.

[0220] It should be noted that, in some embodiments of the present invention, the scanning method of the laser radar is implemented by the laser radar of the present invention, and the specific technical solution of the scanning method of the laser radar can refer to the aforementioned embodiments of the laser radar.

[0221] First, execute step S110 to generate a first detection light 101 and a second detection light 102; then, execute step S120 to reflect the first detection light 101 through the first reflection surface 131 so as to be emitted from the laser radar; and in step S130, reflect the second detection light 102 through the second reflection surface 132 so as to be emitted from the laser radar.

[0222] Combined with reference Figure 1, execute step S110, in the step of generating the first detection light 101 and the second detection light 102, the first detection light 101 and the second detection light 102 are generated respectively by the first transceiver module 110 and the second transceiver module 120.

[0223] In some embodiments of the present invention, the first reflecting surface 131 and the second reflecting surface 132 are relatively fixedly connected. Specifically, the first reflecting surface 131 and the second reflecting surface 132 are relatively fixedly connected and indirectly connected. In other embodiments of the present invention, the first reflecting surface and the second reflecting surface may also be directly connected.

[0224] In some embodiments of the present invention, the laser radar includes: a first scanning module 130, wherein the first scanning module 130 has two reflecting surfaces, the two reflecting surfaces are the first reflecting surface 131 and the second reflecting surface 132. Figure 1 As shown, in the first scanning module 130 , the reflection surface close to the first transceiver module 110 is a first reflection surface 131 , and the reflection surface close to the second transceiver module 120 is a second reflection surface 132 .

[0225] The first reflecting surface 131 and the second reflecting surface 132 are coupled in the same scanning module. That is, compared with the number of reflecting surfaces (greater than 2 surfaces) in the multi-faceted rotating mirror, the angle between the reflecting surfaces and the field of view corresponding to the reflecting surfaces are relatively fixed, the angle between the first reflecting surface 131 and the second reflecting surface 132 used in the first scanning module 130 will not be restricted and can be set arbitrarily, so there will be no limit on the size of the field of view corresponding to the reflecting surface and the distribution of detection light at different positions in the field of view.

[0226] In some embodiments of the present invention, the first scanning module 130 further includes a support member 133, and the support member 133 is fixedly connected to both the first reflecting surface 131 and the second reflecting surface 132. Specifically, the support member 133 is located between the two reflecting surfaces and is fixedly connected to the two reflecting surfaces respectively. The first reflecting surface 131 and the second reflecting surface 132 are both fixedly connected to the same support member 133, so the relative positional relationship between the first reflecting surface 131 and the second reflecting surface 132 is fixed.

[0227] The first scanning module 130 can simultaneously scan the first detection light 101 of the first transceiver module 110 and the second detection light 102 of the second transceiver module 120 in the horizontal direction, that is, the first detection light 101 is synchronously scanned in the horizontal direction in the corresponding horizontal and vertical fields of view and the second detection light 102 is synchronously scanned in the horizontal direction in the corresponding horizontal and vertical fields of view. Specifically, in the horizontal direction, the scanning directions of the first detection light 101 and the second detection light 102 are the same, wherein the first detection light 101 and the second detection light 102 can both scan from left to right, or both scan from right to left.

[0228] The first reflecting surface 131 and the second reflecting surface 132 are both fixed on the same supporting member 133, the relative position between the first reflecting surface 131 and the second reflecting surface 132 is fixed, the scanning angle synchronization of the first reflecting surface 131 and the second reflecting surface 132 is good, the calibration difficulty is relatively high, and the production efficiency can be effectively improved; the first reflecting surface 131 and the second reflecting surface 132 are integrated on the same supporting member 133, which can also simplify the control method, save control costs, and reduce the number and power consumption of driving motors and angle measuring devices.

[0229] Afterwards, step S140 is executed to make the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, the emitted first detection light 101 forms a first sub-field of view 181, and the emitted second detection light 102 forms a second sub-field of view 182. The first sub-field of view 181 and the second sub-field of view 182 form a detection field of view 190 of the laser radar.

[0230] It should be noted that the first axis is perpendicular to the horizontal plane, and step 140 is executed to move the first reflecting surface 131 so that the first detection light 101 scans to form a first sub-field of view 181, and the first sub-field of view 181 is a first horizontal sub-field of view; and the second reflecting surface 132 is moved so that the second detection light 102 scans to form a second sub-field of view 182, and the second sub-field of view 182 is a second horizontal sub-field of view.

[0231] It should also be noted that, in the step of making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis means making the first reflecting surface 131 and the second reflecting surface 132 rotate or swing in the same direction around the first axis.

[0232] In some embodiments of the present invention, step S140 is executed to make the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, so that the first reflecting surface 131 and the second reflecting surface 132 move synchronously around the first axis, and the speed and azimuth angle of the first reflecting surface 131 and the second reflecting surface 132 moving around the first axis are the same.

[0233] It should be noted that the step of making the first reflecting surface 131 and the second reflecting surface 132 move synchronously around the first axis includes: making the first reflecting surface 131 and the second reflecting surface 132 rotate synchronously around the first axis and making the first reflecting surface 131 and the second reflecting surface 132 swing synchronously around the first axis. In some specific embodiments, in the first scanning module 120, the first reflecting surface 131 and the second reflecting surface 132 are both connected to the support member 133, and in the step of making the first reflecting surface 131 and the second reflecting surface 132 move synchronously around the first axis, the movement of the first reflecting surface 131 and the second reflecting surface 132 is controlled by making the support member 133 move around the first axis.

[0234] Combined with reference Figures 2 to 4 In some specific embodiments, in the step of moving the first reflecting surface 131 and the second reflecting surface 132 in the same direction around the first axis, the first reflecting surface 131 is in a first posture (such as Figure 2 As shown in the figure) and the second pose (as shown in the figure) Figure 4 and reciprocates between the two positions (as shown in FIG. Figure 2 ) and the fourth position (as shown Figure 4 as shown).

[0235] In some specific embodiments, in the step of making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, the first reflecting surface 131 is moved from a first posture to a second posture, and the second reflecting surface 132 is moved from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

[0236] Combined with reference Figure 5 , when the first reflecting surface 131 moves from the first posture to the second posture, the area scanned by the first detection light 101 reflected by the first reflecting surface 131 forms the first sub-field of view 181; when the second reflecting surface 132 moves from the third posture to the fourth posture, the area scanned by the second detection light 102 reflected by the second reflecting surface 132 forms the second sub-field of view 182.

[0237] In some embodiments, in step S140, in the step of making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, the first sub-field of view 181 and the second sub-field of view 182 are partially overlapped.

[0238] Specifically, in step S140, in the step of making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, the angle at which the first reflecting surface 131 and the second reflecting surface 132 rotate in the same direction around the first axis is greater than an initial angle, so that the first sub-field of view 181 and the second sub-field of view 182 partially overlap, wherein the initial angle is the angle between the first detection light 101 and the second detection light 102 at any moment.

[0239] In some embodiments, the detection field of view 190 of the laser radar includes an overlapping area 171 and a non-overlapping area 172a and a non-overlapping area 172b, wherein the overlapping area 171 includes the overlapping area of ​​the first sub-field of view 181 and the second sub-field of view 182, the non-overlapping area 172a includes the area of ​​the first sub-field of view 181 except the overlapping area 171, and the non-overlapping area 172b includes the area of ​​the second sub-field of view 182 except the overlapping area 171.

[0240] Specific as Figure 5 As shown, the detection field of view 190 of the laser radar has two non-overlapping areas 172, a non-overlapping area 172a and a non-overlapping area 172b, and the non-overlapping area 172a and the non-overlapping area 172b are respectively located on both sides of the overlapping area 171.

[0241] From time t1 to time t2, the first reflecting surface 131 and the second reflecting surface 132 are rotated around the first axis at an angle equal to the initial angle, and the second detection light 102 scans the non-overlapping area 172b; at the same time, the first detection light 101 scans the area 173, and the area 173 extends from the overlapping area 171 to the partial non-overlapping area 172a.

[0242] From time t2 to time t3, the first reflection surface 131 and the second reflection surface 132 continue to move in the same direction around the first axis, and the first detection light 101 scans the remaining part of the non-overlapping area 172a; the second detection light 102 scans the overlapping area 171.

[0243] The overlapping area 171 has been scanned once by the second detection light 102 from time t1 to time t2; the overlapping area 171 has been scanned once by the first detection light 101 and the second detection light 102 in different time periods from time t1 to time t3, and the first detection light 131 and the second detection light 132 scan the overlapping area 171 in a time-sharing manner.

[0244] From time t1 to time t2 and from time t2 to time t3, since the first reflecting surface 131 and the second reflecting surface 132 move synchronously around the first axis, the sizes of the areas scanned by the first detection light 101 and the second detection light 102 are the same in the horizontal direction of the field of view.

[0245] Continue to refer Fig.15 , combined with reference Figure 1 The scanning method further includes: executing step S120, before reflecting the first detection light 101 through the first reflection surface 131, executing step S121, reflecting the generated first detection light 101 toward the first reflection surface 131 through the third reflection surface 141; executing step S130, before reflecting the second detection light 102 through the second reflection surface 132, executing step S131, reflecting the generated second detection light 102 toward the second reflection surface 132 through the fourth reflection surface 142; executing step S141, making the third reflection surface 141 and the fourth reflection surface 142 move in the same direction around the second axis, and the second axis is perpendicular to the first axis.

[0246] Herein, making the third reflecting surface 141 and the fourth reflecting surface 142 move in the same direction around the second axis means making the third reflecting surface 141 and the fourth reflecting surface 142 rotate or swing in the same direction around the second axis.

[0247] It should be noted that Figure 1 A top view of the laser radar is shown, wherein the second axis is parallel to the horizontal plane, the third reflecting surface 141 moves to make the first detection light 101 scan in a direction perpendicular to the horizontal plane (i.e., the vertical direction); the fourth reflecting surface 142 moves to make the second detection light 102 scan in a direction perpendicular to the horizontal plane (i.e., the vertical direction); and the scanning direction of the first detection light 101 is opposite to the scanning direction of the second detection light 102.

[0248] Specifically, Figure 1 As shown, in some specific embodiments, the laser radar also includes: a third reflection surface 141, located on the optical path between the first transceiver module 110 and the first reflection surface 131; a fourth reflection surface 142, located on the optical path between the second transceiver module 120 and the second reflection surface 132.

[0249] In some embodiments of the present invention, the third reflective surface 141 and the fourth reflective surface 142 are relatively fixedly connected. Specifically, the third reflective surface 141 and the fourth reflective surface 142 are relatively fixedly connected and indirectly connected. In other embodiments of the present invention, the third reflective surface and the fourth reflective surface may also be directly connected.

[0250] In some embodiments of the present invention, the laser radar further includes: a second scanning module 140, wherein the second scanning module 140 has two reflecting surfaces, and the two reflecting surfaces are the third reflecting surface 141 and the fourth reflecting surface 142. Figure 1 As shown, in the second scanning module 140 , the reflection surface close to the first transceiver module 110 is the third reflection surface 141 , and the reflection surface close to the second transceiver module 120 is the fourth reflection surface 142 .

[0251] like Figure 1 As shown, the second scanning module 140 further includes a support member 143, and the support member 143 is fixedly connected to both the third reflecting surface 141 and the fourth reflecting surface 142. Specifically, the support member 143 is located between the two reflecting surfaces and is fixedly connected to the two reflecting surfaces respectively. The third reflecting surface 141 and the fourth reflecting surface 142 are both fixedly connected to the same support member 143, so the relative position relationship between the third reflecting surface 141 and the fourth reflecting surface 142 is fixed.

[0252] The second scanning module 140 can simultaneously realize the vertical scanning of the first detection light 101 of the first transceiver module 110 and the second detection light 102 of the second transceiver module 120, that is, the vertical scanning of the left and right fields of view is synchronized; and the numerical scanning directions of the left and right fields of view are opposite, one of the first detection light 101 and the second detection light 102 scans from top to bottom, and the other scans from bottom to top.

[0253] It should be noted that, Figure 1In some of the embodiments shown, the laser radar further includes: a first fixed reflector 151, the first fixed reflector 151 is located in the optical path between the third reflective surface 141 and the first reflective surface 131, and the first fixed reflector 151 is configured to reflect the first detection light 101 reflected by the third reflective surface 141 to the first reflective surface 131; a second fixed reflector 152, the second fixed reflector 152 is located in the optical path between the fourth reflective surface 142 and the second reflective surface 132, and the second fixed reflector 152 is configured to reflect the second detection light 102 reflected by the fourth reflective surface 142 to the second reflective surface 132. The first fixed reflector 151 is configured to realize the folding of the optical path between the third reflective surface 141 and the first reflective surface 131; the second fixed reflector 151 is configured to realize the folding of the optical path between the fourth reflective surface 142 and the second reflective surface 132, which is conducive to reducing the size of the laser radar and can more flexibly set the first scanning module and the second scanning module in the laser radar.

[0254] In some embodiments of the present invention, step S141 is executed to make the third reflecting surface 141 and the fourth reflecting surface 142 move in the same direction around the second axis, and the third reflecting surface 141 and the fourth reflecting surface 142 move synchronously around the second axis, so that the speed and azimuth of the movement of the third reflecting surface 141 and the fourth reflecting surface 142 around the second axis are the same.

[0255] In some specific embodiments, in the second scanning module 140, the third reflecting surface 141 and the fourth reflecting surface 142 are both connected to the supporting member 143. In the step of making the third reflecting surface 141 and the fourth reflecting surface 142 move synchronously around the second axis, the movement of the third reflecting surface 141 and the fourth reflecting surface 142 is controlled by making the supporting member 143 move around the second axis.

[0256] Combined with reference Figures 2 to 4 In some embodiments of the present invention, step S141 is executed to make the third reflecting surface 141 and the fourth reflecting surface 142 move in the same direction around the second axis so that the third reflecting surface 141 is in a fifth posture (such as Figure 2 and Figure 4 The sixth position (shown by the dashed line) and the Figure 3 and reciprocatingly move between the seventh position (shown in the dotted frame filled with dots) and make the fourth reflecting surface 142 move in the seventh position (shown in the dotted frame filled with dots). Figure 2 and Figure 4 The dotted box filled with dots) and the eighth posture (as shown in Figure 3 The dotted line shows the reciprocating motion between the two.

[0257] It should be noted that Figure 3 The dotted frame filled with dots shows a schematic projection diagram of the third reflection surface 141 in the horizontal plane; Figure 2 and Figure 4 The dotted frame filled with dots shows a schematic diagram of the projection of the fourth reflection surface 142 in the horizontal plane.

[0258] Specifically, the third reflecting surface 141 moves from the fifth position to the sixth position and then returns to the fifth position, which is one reciprocating motion; the fourth reflecting surface 142 moves from the seventh position to the eighth position and then returns to the seventh position, which is one reciprocating motion.

[0259] The third reflecting surface 141 and the fourth reflecting surface 142 move synchronously around the second axis, the reciprocating motion of the third reflecting surface 141 and the fourth reflecting surface 142 is synchronous motion, the reciprocating motion speed and azimuth of the third reflecting surface 141 and the fourth reflecting surface 142 are the same, and the number of reciprocating motions is equal.

[0260] In some specific embodiments, when the first reflecting surface 131 moves from the first posture to the second posture, and the second reflecting surface 132 moves from the third posture to the fourth posture, the third reflecting surface 141 completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface 142 completes multiple reciprocating motions between the seventh posture and the eighth posture.

[0261] In some embodiments, the angular velocity of the third reflective surface 141 moving around the second axis is n times the angular velocity of the first reflective surface 131 moving around the first axis, where n is greater than 1.

[0262] The angular velocity of the third reflecting surface 141 moving around the second axis is greater than the angular velocity of the first reflecting surface 131 moving around the first axis, so that the third reflecting surface 141 can complete reciprocating motion between the third posture and the fourth posture.

[0263] like Figure 5 As shown, in some embodiments, the angular velocity of the third reflecting surface 141 moving around the second axis matches the angular velocity of the first reflecting surface 131 moving around the first axis, and the angular velocity of the third reflecting surface 141 moving around the second axis is n times the angular velocity of the first reflecting surface 131 moving around the first axis, that is, n is an integer greater than 1, so that the third reflecting surface 141 can complete multiple reciprocating motions between the third posture and the fourth posture.

[0264] In some specific embodiments, the fourth reflecting surface 142 and the third reflecting surface 142 move synchronously around the second axis; Figure 5In some specific embodiments shown, the angular velocity of the third reflecting surface 141 and the fourth reflecting surface 142 moving around the second axis is n times the angular velocity of the first reflecting surface 131 and the second reflecting surface 132 moving around the first axis; wherein n is an integer greater than 1.

[0265] In some specific embodiments, the control module 160 causes the fourth reflective surface 142 to move around the second axis at an angular velocity that is n times the angular velocity of the second reflective surface 132 to move around the first axis, where n is greater than 1.

[0266] The angular velocity of the fourth reflecting surface 142 moving around the second axis is greater than the angular velocity of the second reflecting surface 132 moving around the first axis, so that the fourth reflecting surface 142 can complete reciprocating motion between the seventh posture and the eighth posture. Figure 5 As shown, in some embodiments, the angular velocity of the fourth reflecting surface 142 moving around the second axis matches the angular velocity of the second reflecting surface 132 moving around the first axis, and the angular velocity of the fourth reflecting surface 142 moving around the second axis is n times the angular velocity of the second reflecting surface 132 moving around the first axis, that is, n is an integer greater than 1, so that the fourth reflecting surface 142 can complete multiple reciprocating motions between the seventh posture and the eighth posture. It should be noted that in some other embodiments, the control module is configured to make the movement frequency of the third reflecting surface and the fourth reflecting surface moving around the second axis be an integer multiple of the movement frequency of the first reflecting surface and the second reflecting surface moving around the first axis.

[0267] Specific as Figure 5 As shown, the scanning trajectory of the first detection light 101 emitted from the laser radar after being reflected by the first reflection surface 131 and the scanning trajectory of the second detection light 102 emitted from the laser radar after being reflected by the second reflection surface 132 are two resonance curves respectively.

[0268] The first axis is perpendicular to the horizontal plane, the second axis is parallel to the horizontal plane, and the movement of the first reflecting surface 131 and the second reflecting surface 132 enables the first detection light 101 and the second detection light 102 to scan the horizontal field of view; the movement of the third reflecting surface 141 and the fourth reflecting surface 142 enables the first detection light 101 and the second detection light 102 to scan the vertical field of view. The third reflecting surface 141 and the fourth reflecting surface 142 have a greater angular velocity when moving, and the laser radar has a higher scanning speed when scanning the vertical field of view. In some specific embodiments, the scanning speed of the vertical field of view of the laser radar (e.g., 10 Hz, 20 Hz) is greater than the scanning speed in the horizontal field of view (e.g., 5 Hz or lower).

[0269] Continue to refer Fig.15 The scanning method also includes: executing step S150, fusing the point cloud corresponding to the first sub-field of view 181 and the point cloud corresponding to the second sub-field of view 182 to form a frame of point cloud in the detection field of view 190 of the laser radar.

[0270] Specifically, in the step of fusing the point cloud corresponding to the first sub-field of view 181 and the point cloud corresponding to the second sub-field of view 182, the point cloud corresponding to the first sub-field of view 181 and the point cloud corresponding to the second sub-field of view 182 are spliced ​​into one point cloud, and the spliced ​​point cloud is used as a frame of point cloud in the detection field of view 190 of the laser radar.

[0271] Combined with reference Figure 6 , shows a schematic structural diagram of a laser radar in another embodiment of the laser radar scanning method of the present invention.

[0272] The same points as the above embodiments are not described in detail in the present disclosure. The difference from the above embodiments is that, in some embodiments, the first transceiver module 210 includes: a plurality of the first transmitting units, each of which transmits a beam of first detection light 201, and at least a portion of the first transmitting units are arranged along the axial direction of the first axis; the second transceiver module 220 includes: a plurality of the second transmitting units, each of which transmits a beam of second detection light 202, and at least a portion of the second transmitting units are arranged along the axial direction of the first axis.

[0273] It should be noted that, in some embodiments, the laser radar further includes: a first lens group 261, wherein the first lens group 261 is located at the most upstream of the optical path of the first detection light 201; and a second lens group 262, wherein the second lens group 262 is located at the most upstream of the optical path of the second detection light 202.

[0274] like Figure 6 As shown, the first lens group 261 is located in the optical path between the first transceiver module 210 and the first fixed reflector 251, and shapes (including collimation) the first detection light 201 generated by the first transceiver module 210; the second lens group 262 is located in the optical path between the second transceiver module 220 and the second fixed reflector 252, and shapes (including collimation) the second detection light 202 generated by the second transceiver module 220.

[0275] It should be noted that the first lens group 261 converges the first echo light to the first transceiver module 210 ; and the second lens group 262 converges the second echo light to the second transceiver module 220 .

[0276] In some specific embodiments, Figure 7As shown, the first transceiver module 210 and the second transmitting module 220 are both optical transceiver array modules 290, and the optical transceiver array module 290 includes: a plurality of transmitting units 291, each of which transmits a beam of detection light 203, and at least a portion of the transmitting units 291 are arranged axially along the first axis.

[0277] like Figure 7 As shown, in the optical transceiver array module 290, the multiple transmitting units 291 arranged axially along the first axis can be arranged at equal intervals or unequal intervals, wherein the axial arrangement position of each transmitting unit 291 along the first axis determines the azimuth angle of the corresponding detection light in the vertical direction in the detection field of view 190 of the laser radar.

[0278] A lens group 293 is arranged downstream of the optical transceiver array module 290 in the optical path of the detection light 203. The lens group 293 is used to adjust the propagation direction of the detection light 203 generated by each transmitting unit 291. After the detection light 203 is collimated and adjusted by the lens group 293, it is emitted in different axial directions of the first axis, and is reflected by the first fixed reflector 251 or the second fixed reflector 252 toward the first reflection surface 231 or the second reflection surface 231, and then reflected by the first reflection surface 231 or the second reflection surface 231 and emitted, thereby scanning in the detection field of view of the laser radar.

[0279] Figure 6 and Figure 7 In some of the embodiments shown, the emitted first detection light 201 and the emitted second detection light 202 are spaced apart from each other along the axial direction of the first axis.

[0280] In some specific embodiments, the first emitting units arranged along the axial direction of the first axis and the second emitting units arranged along the axial direction of the first axis are arranged in a preset manner so that the first detection light 201 and the second detection light 202 are distributed at intervals along the axial direction of the first axis. By arranging the first emitting units and the second emitting units, the first detection light 201 and the second detection light 202 are distributed at intervals.

[0281] In some embodiments, the first reflecting surface 231 is moved from a first posture to a second posture, and the second reflecting surface 232 is moved from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

[0282] like Fig. 9 As shown, the first detection light 201 and the second detection light 202 are synchronously scanned in the same direction within an angle range of θ1, and form a non-overlapping area 271, a non-overlapping area 272 and an overlapping area 273 in the detection field of view, respectively. Fig. 9In the figure, the solid line shows the scanning trajectory of one of the multiple second detection light beams 202 in the detection field of view, and the point 202a on the solid line corresponds to a light spot formed in the detection field of view by the second detection light beam 202; the dotted line shows the scanning trajectory of the multiple first detection light beams 201 in the detection field of view, and the point 201a on the dotted line corresponds to a light spot formed in the detection field of view by the first detection light beam 201. The solid line and the dotted line are scanning lines formed in the detection field of view by the light spots of the first detection light 201 and the second detection light 202 after the first reflection surface 231 and the second reflection surface 232 are scanned in the horizontal direction.

[0283] In some specific embodiments, the frame rate of the overlapping area 273 is greater than the frame rate of the non-overlapping area. In the process of obtaining a frame of point cloud, the non-overlapping area 271 is scanned once by the second detection light 202, and the non-overlapping area 272 is scanned once by the first detection light 201; the overlapping area 273 is scanned once by the first detection light 201 and the second detection light 202 respectively, and the overlapping area 273 completes two scans.

[0284] Specifically, the scanning frequency of the first reflector 231 and the second reflector 232 is f, the scanning frequency of the first scanning module is f, the scanning frame rate of the non-overlapping area 271 and the non-overlapping area 272 is the same as the scanning frequency of the first reflector 231 and the second reflector 232, which is f, and the scanning frame rate of the overlapping area 273 is 2f.

[0285] In some specific embodiments, the emitted first detection light 201 and the emitted second detection light 202 are distributed axially spaced apart from each other along the first axis; and the angular resolution of the overlapping area 273 is smaller than the angular resolution of the non-overlapping area 271 and the non-overlapping area 272 .

[0286] In the process of obtaining a frame of point cloud, when the first reflecting surface 231 moves from the first posture to the second posture and the second reflecting surface 232 moves from the third posture to the fourth posture, the axial emission directions of the multiple beams of the first detection light 201 along the first axis and the axial emission directions of the multiple beams of the second detection light 202 along the first axis are staggered with each other; when the first axis is perpendicular to the horizontal plane, the vertical azimuth angles of the multiple first detection lights 201 and the vertical azimuth angles of the multiple beams of the second detection light 202 are different.

[0287] Figure 6 and Fig. 9In some of the embodiments shown, the difference in the emission angles in the axial direction of the first axis between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1. When the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1.

[0288] like Fig. 9 As shown, in the non-overlapping area 271 and the non-overlapping area 272, the difference in the emission angles in the axial direction of the first axis between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1; when the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights 201 and between adjacent second detection lights 202 is Δφ1.

[0289] Figures 6 to 9 In some of the embodiments shown, the difference in the axial emission angles along the first axis between adjacent first detection lights 201 and second detection lights 202 is Δφ2 or Δφ3, and when the first axis is perpendicular to the horizontal plane, the difference in the vertical azimuth angles between adjacent first detection lights 201 and second detection lights 202 is Δφ2 or Δφ3, wherein Δφ1>Δφ2, Δφ1>Δφ3.

[0290] like Fig. 9 As shown, in the overlapping area 273, the angular resolution between the adjacent first detection lights 201 and the second detection lights 202 in the axial emission direction along the first axis is Δφ2 or Δφ3; when the first axis is perpendicular to the horizontal plane, the angular resolution of the vertical azimuth angle between the adjacent first detection lights 201 and the second detection lights 202 is Δφ2 or Δφ3, and the vertical angular resolution of the detection field of view is Δφ2 or Δφ3.

[0291] Fig.10 In some embodiments shown, the emitted first detection light and the emitted second detection light are evenly spaced along the axial direction of the first axis. Along the axial direction of the first axis, the second detection light at a non-edge position is located in the middle of the adjacent first detection light; and the first detection light at a non-edge position is located in the middle of the adjacent second detection light.

[0292] In the non-overlapping area 371 and the non-overlapping area 372, the angular resolution between the axial emission directions of adjacent first detection lights and adjacent second detection lights along the first axis is Δφ; when the first axis is perpendicular to the horizontal plane, the difference in vertical azimuth angles between adjacent first detection lights and adjacent second detection lights is Δφ.

[0293] In the overlapping area 273, the angular resolution between the axial emission directions of the adjacent first detection lights and the second detection lights along the first axis is Δφ / 2; when the first axis is perpendicular to the horizontal plane, the angular resolution of the vertical azimuth angle between the adjacent first detection lights and the second detection lights is Δφ / 2.

[0294] Combined with reference Fig.11 In another embodiment of the laser radar scanning method, it also includes: making the first detection light uniformly formed into a linear spot and then emitted; making the second detection light uniformly formed into a linear spot and then emitted, so as to further improve the angular resolution.

[0295] Combined with reference Fig.12 and Fig.13 In some embodiments of the present invention, in step S140, in the step of making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, the first detection light and the second detection light are respectively made to reciprocate to obtain a frame of point cloud.

[0296] Specifically, execute step S140, in the step of making the first reflecting surface 131 and the second reflecting surface 132 move in the same direction around the first axis, make the first reflecting surface 131 move from the first posture to the second posture and then return to the first posture, and make the second reflecting surface 132 move from the third posture to the fourth posture and then return to the third posture, so that the laser radar obtains a frame of point cloud.

[0297] Among them, moving the first reflecting surface 531 from the first posture to the second posture and then returning to the first posture is to make the first reflecting surface 531 do a reciprocating motion, and moving the second reflecting surface 532 from the third posture to the fourth posture and then returning to the third posture is to make the second reflecting surface 532 do a reciprocating motion.

[0298] like Fig.13 As shown, in the process of moving the first reflection surface 531 from the first posture to the second posture, the first detection light 501 reflected by the first reflection surface 531 forms a scanning track 501a in the first sub-field of view; in the process of moving the second reflection surface 532 from the third posture to the fourth posture, the second detection light 502 reflected by the second reflection surface 532 forms a scanning track 502a in the second sub-field of view. Specifically, the synchronous movement of the first reflection surface 531 and the second reflection surface 532 is controlled by controlling the support member 533 of the first scanning module.

[0299] In addition, if Fig.12In some of the embodiments shown, the laser radar also has the third reflector 541 and the fourth reflector 542; the third reflective surface 541 can move around the third axis, and the fourth reflective surface 542 can move around the fourth axis, wherein the third axis and the fourth axis are parallel to each other, and the third axis is perpendicular to the first axis.

[0300] Execute step S141 to make the third reflecting surface 141 and the fourth reflecting surface 142 move in the same direction around the second axis, make the third reflecting surface 541 reciprocate between the fifth posture and the sixth posture, and make the fourth reflecting surface 542 reciprocate between the seventh posture and the eighth posture.

[0301] Fig.13 In some of the embodiments shown, the first reflector 531, the second reflector 532, the third reflector 541, and the fourth reflector 542 cooperate with each other, with appropriate angles and angular velocities of movement. When the first reflecting surface 531 moves from the first posture to the second posture, and the second reflecting surface 532 moves from the third posture to the fourth posture, the emitted first detection light 501 and the emitted second detection light 502 are distributed at axial intervals along the first axis; when the first reflecting surface 531 returns to the first posture from the second posture, and the second reflecting surface 532 returns to the third posture from the fourth posture, the emitted first detection light 501 and the emitted second detection light 502 are distributed at axial intervals along the first axis.

[0302] Moreover, the first detection light 501 emitted when the first reflecting surface 531 moves from the first posture to the second posture and the first detection light 501 emitted when the first reflecting surface 531 returns to the first posture from the second posture are distributed at intervals along the axial direction of the first axis. The scanning trajectory 501a formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 moves from the first posture to the second posture is located between two adjacent scanning trajectories 501b formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 returns to the first posture from the second posture; similarly, the scanning trajectory 501b formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 returns to the first posture from the second posture is located between two adjacent scanning trajectories 501a formed by the multiple beams of first detection light 501 emitted through the first reflecting surface 531 when the first reflecting surface 531 moves from the first posture to the second posture.

[0303] The second detection light 502 emitted when the second reflecting surface 532 moves from the third position to the fourth position and the second detection light 502 emitted when the second reflecting surface 532 returns to the third position from the fourth position are also distributed at intervals along the axial direction of the first axis. The scanning trajectory 502a formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 moves from the third position to the fourth position is located between two adjacent scanning trajectories 502b formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 returns to the third position from the fourth position; similarly, the scanning trajectory 502b formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 returns to the third position from the fourth position is located between two adjacent scanning trajectories 502a formed by the multiple beams of second detection light 502 emitted through the second reflecting surface 532 when the second reflecting surface 532 moves from the third position to the fourth position.

[0304] In some embodiments of the present invention, in the laser radar, the first transceiver module and the second transceiver module are both optical transceiver array modules, that is, the first transceiver module includes: a plurality of the first transmitting units, each of the first transmitting units transmits a beam of first detection light, and at least a part of the first transmitting units are arranged axially along the first axis; the second transceiver module includes: a plurality of the second transmitting units, each of the second transmitting units transmits a beam of second detection light, and at least a part of the second transmitting units are arranged axially along the first axis.

[0305] Specifically, when the first reflecting surface 531 moves from the first position to the second position, and the second reflecting surface 532 moves from the third position to the fourth position, the third reflecting surface 541 is maintained in the fifth position and the fourth reflecting surface 542 is maintained in the seventh position; when the first reflecting surface 531 returns to the first position from the second position, and the second reflecting surface 532 returns to the third position from the fourth position, the third reflecting surface 541 is maintained in the sixth position and the fourth reflecting surface 542 is maintained in the eighth position.

[0306] like Fig.13 As shown in the figure, the scanning trajectory 501a and the scanning trajectory 502a are respectively the scanning trajectories of the first detection light 501 and the second detection light 502 emitted when the first reflecting surface 531 moves from the first posture to the second posture, and the second reflecting surface 532 moves from the third posture to the fourth posture; the scanning trajectory 501b and the scanning trajectory 502b are respectively the scanning trajectories of the first detection light 501 and the second detection light 502 emitted when the first reflecting surface 531 returns from the second posture to the first posture, and the second reflecting surface 532 returns from the fourth posture to the third posture.

[0307] It should be noted that, in other embodiments of the present invention, the third reflecting surface can also make multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface can also make multiple reciprocating motions between the seventh posture and the eighth posture.

[0308] In some specific embodiments, when the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the third reflecting surface completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface completes multiple reciprocating motions between the seventh posture and the eighth posture.

[0309] When the first reflecting surface returns to the first posture from the second posture, and the second reflecting surface returns to the third posture from the fourth posture, the third reflecting surface completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface completes multiple reciprocating motions between the seventh posture and the eighth posture.

[0310] like Fig.14 As shown, when the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the scanning trajectory 601a of the emitted first detection light 601 and the scanning trajectory 602a of the emitted second detection light 602 are obtained; when the first reflecting surface returns from the second posture to the first posture, and the second reflecting surface returns from the fourth posture to the third posture, the scanning trajectory 602b of the emitted first detection light 601 and the scanning trajectory 602b of the emitted second detection light 602 are obtained.

[0311] In summary, by reflecting the detection light generated by different transceiver modules through different reflectors, and by making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, a larger field of view can be obtained and a higher frame rate can be achieved in the middle area of ​​the field of view without reducing the ranging capability of the laser radar, which is beneficial to improving the detection performance of the laser radar.

[0312] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A laser radar, characterized in that: include: A first transceiver module, the first transceiver module is configured to generate a first detection light and receive a first echo light formed by the first detection light being reflected by a target; A second transceiver module, the second transceiver module is configured to generate a second detection light and receive a second echo light formed by the second detection light being reflected by the target; a first reflecting surface, the first reflecting surface being configured to reflect the first detection light to be emitted from the laser radar; a second reflecting surface, the second reflecting surface being configured to reflect the second detection light to be emitted from the laser radar; A control module, wherein the control module is configured to make the first reflecting surface and the second reflecting surface move in the same direction around a first axis, so that the first detection light and the second detection light form a first sub-field of view and a second sub-field of view respectively, and the first sub-field of view and the second sub-field of view form a detection field of view of the laser radar.

2. The laser radar according to claim 1, characterized in that The control module is also configured to enable the first reflective surface and the second reflective surface to move synchronously around a first axis.

3. The laser radar according to claim 1 or 2, characterized in that: include: The first scanning module has two reflecting surfaces, and the two reflecting surfaces are the first reflecting surface and the second reflecting surface respectively.

4. The laser radar according to claim 3, characterized in that: The first scanning module also has a supporting member, and the supporting member is fixedly connected to both the first reflecting surface and the second reflecting surface.

5. The laser radar according to claim 2, characterized in that: The control module is configured to reciprocate the first reflecting surface between a first posture and a second posture, and reciprocate the second reflecting surface between a third posture and a fourth posture.

6. The laser radar according to claim 5, characterized in that The control module is configured to move the first reflecting surface from a first posture to a second posture, and to move the second reflecting surface from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

7. The laser radar according to claim 5, characterized in that The control module is configured to move the first reflecting surface from a first posture to a second posture and then return to the first posture, and to move the second reflecting surface from a third posture to a fourth posture and then return to the third posture, so that the laser radar obtains a frame of point cloud.

8. The laser radar according to claim 1, characterized in that: The control module is further configured to make the first sub-field of view partially overlap with the second sub-field of view.

9. The laser radar according to claim 8, characterized in that The detection field of view of the laser radar includes an overlapping area and a non-overlapping area, the overlapping area includes an area where the first sub-field of view overlaps with the second sub-field of view, and the non-overlapping area includes at least one of an area in the first sub-field of view excluding the overlapping area and an area in the second sub-field of view excluding the overlapping area.

10. The laser radar according to claim 9, characterized in that: The frame rate of the overlapping area is greater than the frame rate of the non-overlapping area.

11. The laser radar according to claim 9, characterized in that: The angular resolution of the overlapping area is greater than the angular resolution of the non-overlapping area.

12. The laser radar according to claim 1, characterized in that: Also includes: a third reflecting surface, located on an optical path between the first transceiver module and the first reflecting surface, the third reflecting surface being configured to reflect the first detection light toward the first reflecting surface; a fourth reflecting surface, located on an optical path between the second transceiver module and the second reflecting surface, the fourth reflecting surface being configured to reflect the second detection light toward the second reflecting surface; The control module is further configured to make the third reflecting surface and the fourth reflecting surface move in the same direction around a second axis, where the second axis is perpendicular to the first axis.

13. The laser radar according to claim 12, characterized in that: The control module is further configured to enable the third reflecting surface and the fourth reflecting surface to move synchronously around a second axis.

14. The laser radar according to claim 12, characterized in that: Also includes: The second scanning module has two reflecting surfaces, and the two reflecting surfaces are the third reflecting surface and the fourth reflecting surface respectively.

15. The laser radar according to claim 12, characterized in that: The control module is configured to reciprocate the third reflecting surface between a fifth posture and a sixth posture, and to reciprocate the fourth reflecting surface between a seventh posture and an eighth posture.

16. The laser radar according to claim 15, characterized in that: When the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the control module is configured to make the third reflecting surface complete multiple reciprocating motions between the fifth posture and the sixth posture, and to make the fourth reflecting surface complete multiple reciprocating motions between the seventh posture and the eighth posture.

17. The laser radar according to claim 16, characterized in that: When the first reflecting surface returns to the first posture from the second posture, and the second reflecting surface returns to the third posture from the fourth posture, the control module is configured to make the third reflecting surface complete multiple reciprocating motions between the fifth posture and the sixth posture, and to make the fourth reflecting surface complete multiple reciprocating motions between the seventh posture and the eighth posture.

18. The laser radar according to claim 12, characterized in that: The control module is configured to make the angular velocity of the third reflecting surface and the fourth reflecting surface moving around the second axis be n times the angular velocity of the first reflecting surface and the second reflecting surface moving around the first axis; Here, n is an integer greater than 1.

19. The laser radar according to claim 12, characterized in that: Also includes: a first fixed reflector, the first fixed reflector being located in the optical path between the third reflective surface and the first reflective surface, the first fixed reflector being configured to reflect the first detection light reflected by the third reflective surface to the first reflective surface; A second fixed reflector is located in the optical path between the fourth reflective surface and the second reflective surface, and the second fixed reflector is configured to reflect the second detection light reflected by the fourth reflective surface to the second reflective surface.

20. The laser radar according to claim 1, characterized in that: Also includes: a first lens group, the first lens group being located most upstream of an optical path of the first detection light; A second lens group, wherein the second lens group is located at the most upstream of the optical path of the second detection light.

21. The laser radar according to claim 1, characterized in that: The first transceiver module comprises: a plurality of first transmitting units, at least part of which are arranged along the axial direction of a first axis; The second transceiver module includes: a plurality of second transmitting units, at least part of which are arranged along the axial direction of the first axis.

22. The laser radar according to claim 21, characterized in that The multiple first detection lights emitted and the multiple second detection lights emitted are distributed at intervals along the axial direction of the first axis.

23. The laser radar according to claim 21, characterized in that: The plurality of first emitting units arranged along the axial direction of the first axis and the plurality of second emitting units arranged along the axial direction of the first axis are arranged in a preset manner so that the plurality of first detection lights and the plurality of second detection lights are distributed at intervals along the axial direction of the first axis; Alternatively, the first fixed reflector and the second fixed reflector are respectively arranged at a first preset angle and a second preset angle so that the plurality of first detection lights and the plurality of second detection lights are distributed at intervals along the axial direction of the first axis.

24. The laser radar according to claim 1 or 21, characterized in that: Also includes: a first light homogenizer, the first light homogenizer being located in the optical path of the first detection light, and the first light homogenizer being configured to form a linear light spot of the first detection light; A second light homogenizer is located in the optical path of the second detection light, and the second light homogenizer is configured to make the second detection light form a linear spot.

25. The laser radar according to claim 1, characterized in that: Also includes: A processing module, wherein the processing module is configured to fuse the point cloud corresponding to the first sub-field of view and the point cloud corresponding to the second sub-field of view to form a frame of point cloud in the detection field of view of the laser radar.

26. A laser radar scanning method, characterized in that: include: generating a first detection light and a second detection light; Reflecting the first detection light through a first reflection surface to emit from the laser radar; Reflecting the second detection light through a second reflection surface to emit from the laser radar; The first reflecting surface and the second reflecting surface are both moved in the same direction around the first axis, the emitted first detection light forms a first sub-field of view, the emitted second detection light forms a second sub-field of view, and the first sub-field of view and the second sub-field of view form the detection field of view of the laser radar.

27. The scanning method according to claim 26, characterized in that: In the step of causing the first reflecting surface and the second reflecting surface to move in the same direction around the first axis, the first reflecting surface and the second reflecting surface are caused to move synchronously around the first axis.

28. The scanning method according to claim 27, characterized in that: In the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface is reciprocated between a first posture and a second posture, and the second reflecting surface is reciprocated between a third posture and a fourth posture.

29. The scanning method according to claim 28, characterized in that: In the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface is moved from a first posture to a second posture, and the second reflecting surface is moved from a third posture to a fourth posture, so that the laser radar obtains a frame of point cloud.

30. The scanning method according to claim 28, characterized in that: In the step of making the first reflecting surface and the second reflecting surface move in the same direction around the first axis, the first reflecting surface is moved from a first posture to a second posture and then returned to the first posture, and the second reflecting surface is moved from a third posture to a fourth posture and then returned to the third posture, so that the laser radar obtains a frame of point cloud.

31. The scanning method according to claim 26, characterized in that: In the step of causing the first reflecting surface and the second reflecting surface to move in the same direction around a first axis, the first sub-field of view and the second sub-field of view are partially overlapped.

32. The scanning method according to claim 31, characterized in that: The detection field of view of the laser radar includes an overlapping area and a non-overlapping area, the overlapping area includes an area where the first sub-field of view overlaps with the second sub-field of view, and the non-overlapping area includes at least one of an area in the first sub-field of view excluding the overlapping area and an area in the second sub-field of view excluding the overlapping area.

33. The scanning method according to claim 32, characterized in that: The frame rate of the overlapping area is greater than the frame rate of the non-overlapping area.

34. The scanning method according to claim 32, characterized in that: The angular resolution of the overlapping area is greater than the angular resolution of the non-overlapping area.

35. The scanning method according to claim 26, characterized in that: Also includes: reflecting the first detection light toward the first reflection surface through a third reflection surface; reflecting the second detection light toward the second reflection surface through a fourth reflection surface; The third reflecting surface and the fourth reflecting surface are both moved in the same direction around a second axis, where the second axis is perpendicular to the first axis.

36. The scanning method according to claim 35, characterized in that: In the step of making the third reflecting surface and the fourth reflecting surface move in the same direction around the second axis, the third reflecting surface and the fourth reflecting surface are made to move synchronously around the second axis.

37. The scanning method according to claim 36, characterized in that: In the step of making the third reflecting surface and the fourth reflecting surface move in the same direction around the second axis, the third reflecting surface is reciprocated between a fifth posture and a sixth posture, and the fourth reflecting surface is reciprocated between a seventh posture and an eighth posture.

38. The scanning method according to claim 37, characterized in that: When the first reflecting surface moves from the first posture to the second posture, and the second reflecting surface moves from the third posture to the fourth posture, the third reflecting surface completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface completes multiple reciprocating motions between the seventh posture and the eighth posture.

39. The scanning method according to claim 38, characterized in that: When the first reflecting surface returns to the first posture from the second posture, and the second reflecting surface returns to the third posture from the fourth posture, the third reflecting surface completes multiple reciprocating motions between the fifth posture and the sixth posture, and the fourth reflecting surface completes multiple reciprocating motions between the seventh posture and the eighth posture.

40. The scanning method according to claim 35, characterized in that: The angular velocity at which the third reflecting surface and the fourth reflecting surface move around the second axis is n times the angular velocity at which the first reflecting surface and the second reflecting surface move around the first axis; Here, n is an integer greater than 1.

41. The scanning method according to claim 26, characterized in that: In the step of generating the first detection light and the second detection light, multiple beams of first detection light and multiple beams of second detection light are generated, at least part of the first detection light is arranged axially along the first axis, and at least part of the second detection light is arranged axially along the first axis.

42. The scanning method according to claim 41, characterized in that: The multiple first detection lights emitted and the multiple second detection lights emitted are distributed at intervals along the axial direction of the first axis.

43. The scanning method according to claim 26 or 42, characterized in that: Also includes: Form the first detection light into a line spot so as to be emitted from the laser radar; The second detection light is formed into a line spot so as to be emitted from the laser radar.

44. The scanning method according to claim 26, characterized in that: Also includes: The point cloud corresponding to the first sub-field of view and the point cloud corresponding to the second sub-field of view are fused to form a frame of point cloud in the detection field of view of the laser radar.

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