Laser radar and mobile device

Abstract

The invention discloses a laser radar and a mobile device. The laser radar comprises a transmit-receive module, a light scanning device, a light turn-back assembly and a mounting plane. The light turn-back assembly is used for deflecting the detection light and the echo light between the receiving and transmitting module and the light scanning device; a light emitting assembly, a light receiving assembly and a light turning-back assembly of the receiving and transmitting module are all arranged on an installation plane, detection light and echo light entering and exiting the receiving and transmitting module are arranged in the first direction parallel to the installation plane, and the working face of the light scanning device and the installation plane are arranged in a spaced mode in the second direction. According to the invention, the transmitting and receiving module is arranged to transmit and receive the light in the first direction, so that the arrangement of the positions of the light scanning device, the light transmitting assembly and the light receiving assembly in the first direction is facilitated, and the size of the laser radar in the second direction and the third direction is reduced. And the shielding on the driving view is small.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar and a movable device. Background Art

[0002] LiDAR is widely used in scenarios such as unmanned driving, vehicle-road collaboration, and unmanned exploration due to its advantages such as active detection, strong anti-interference, long ranging, and real-time feedback of the distance and speed of the detected object. More application scenarios still need to be developed to refine the scope of use.

[0003] The vehicle-mounted forward-facing LiDAR can be installed on the roof and the front bumper. However, if it is installed on the roof, the streamlined shape of the light-transmitting part and the roof will be destroyed, affecting the drag coefficient of the vehicle; if it is installed on the front bumper, the vertical field of view will be limited, and objects high in front will not be scanned. Among them, installing the vehicle-mounted forward-facing LiDAR in the cabin can meet the LiDAR viewing angle requirements and is not easy to affect the external structure of the vehicle, but the vehicle-mounted forward-facing LiDAR will have the problem of blocking part of the cab's field of view. Summary of the invention

[0004] The embodiments of the present application provide a laser radar and a movable device, which can solve the problem that the laser radar is installed in the vehicle cabin and affects the driving field of vision.

[0005] In a first aspect, an embodiment of the present application provides a laser radar, which includes a transceiver module, a light scanning device, a light reflection component and a mounting plane.

[0006] The transceiver module includes an optical transmitting component for transmitting detection light and an optical receiving component for receiving reflected echo light; the optical scanning device has a working surface facing the field of view, the working surface is used to deflect the detection light into the field of view to achieve scanning, and is also used to receive and deflect the echo light; the optical reflection component is used to deflect the detection light and the echo light between the transceiver module and the optical scanning device.

[0007] Among them, the optical transmitting component, the optical receiving component and the optical returning component are all arranged on the installation plane, the detection light and the echo light entering and exiting the transceiver module are arranged along a first direction parallel to the installation plane, the working surface and the installation plane are spaced apart in a second direction, and the second direction is perpendicular to the installation plane.

[0008] In some exemplary embodiments, the light return component is used to deflect the detection light and direct it toward the light scanning device, and is also used to deflect the echo light reflected by the light scanning device and direct it toward the transceiver module;

[0009] A first optical channel for transmitting the detection light and the echo light is provided between the optical return component and the transceiver module, and a second optical channel for transmitting the detection light and the echo light is provided between the optical return component and the optical scanning device.

[0010] In some exemplary embodiments, the light return assembly includes a first return surface, the first return surface is used to deflect the detection light from the transceiver module to the light scanning device, and is also used to deflect the echo light from the light scanning device to the transceiver module;

[0011] The first optical channel between the transceiver module and the first folding surface is arranged along the first direction and is located on one side of the optical scanning device in the second direction.

[0012] In some exemplary embodiments, a fixing plate is further included for mounting the laser radar on a movable device, and the mounting plane is located on the fixing plate.

[0013] In some exemplary embodiments, the light return assembly includes a second return surface and a third return surface; the second return surface is used to deflect the detection light from the transceiver module to the third return surface, and is also used to deflect the echo light from the third return surface to the transceiver module; the third return surface is used to deflect the detection light from the second return surface to the light scanning device, and is also used to deflect the echo light from the light scanning device to the second return surface;

[0014] The first optical channel between the transceiver module and the second folding surface is arranged along the first direction and is located on one side of the optical scanning device in the third direction. The first direction, the second direction and the third direction are perpendicular to each other.

[0015] In some exemplary embodiments, a fixing plate is further included for installing the laser tube radar on a movable device, and the mounting plane and the fixing plate are arranged relative to each other; the transceiver module, the optical scanning device and the optical return component are arranged between the mounting plane and the fixing plate.

[0016] In some exemplary embodiments, the optical transmitting assembly includes an optical transmitter for transmitting the detection light and an emitting mirror set arranged on the emission optical path of the detection light; the optical receiving assembly includes an optical receiver for receiving the echo light and a receiving mirror set arranged on the receiving optical path of the echo light;

[0017] The transceiver module further includes a spectrometer, which is used to separate the transmitting light path from the receiving light path, and both the transmitting light path and the receiving light path are parallel to the installation plane.

[0018] In some exemplary embodiments, the optical receiving assembly further includes a first reflector, which is disposed on an optical path between the optical splitter and the optical receiver;

[0019] The echo light passing through the beam splitter is deflected by the first reflector and then transmitted to the optical receiver along the second direction.

[0020] In some exemplary embodiments, the light receiving assembly further includes a second reflector, which is disposed on an optical path between the beam splitter and the first reflector;

[0021] The echo light from the beam splitter is deflected by the second reflector and then transmitted to the first reflector along the first direction, and the first reflector deflects the echo light and then transmits it to the optical receiver along the second direction.

[0022] In some exemplary embodiments, the laser radar includes two groups of transceiver modules and two groups of light reflection components arranged in one-to-one correspondence with the two groups of transceiver modules, the light reflection components deflect the optical paths of the corresponding transceiver modules, and the two groups of transceiver modules and their corresponding light reflection components are symmetrically arranged relative to the central optical axis of the optical scanning device.

[0023] In a second aspect, an embodiment of the present application provides a movable device, which includes a movable body and a laser radar as described above, wherein the laser radar is installed on the movable body.

[0024] In some exemplary embodiments, the movable body has a light-transmitting portion, the light-transmitting portion forms an angle with the horizontal plane, the laser radar is installed on the light-transmitting portion, and the working surface faces the light-transmitting portion, and the installation plane is parallel to the plane where the light-transmitting portion is located.

[0025] Based on the laser radar and movable device of the embodiment of the present application, by setting the transceiver module to receive and receive light along the first direction, it is convenient to realize the arrangement of the light scanning device, the light emitting component and the light receiving component in the first direction, which helps to simultaneously reduce the volume of the laser radar in the second direction and the third direction perpendicular to the first direction and the second direction, and cooperate with the light return component to deflect the light. When the transceiver module receives and receives light along the first direction, the laser radar still has a smooth light path channel inside, and the laser radar has a simple structure. When the laser radar is used as a forward laser radar of a movable device, the embodiment of the present application can reduce the volume of the laser radar in multiple directions, and the obstruction to the driving field of view is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of a three-dimensional structure in which a laser radar according to an embodiment of the present application is installed on a light-transmitting portion;

[0028] Figure 2 This is a schematic diagram of an exploded structure of a laser radar in which the first optical channel is located on one side of the working surface in the second direction according to an embodiment of the present application;

[0029] Figure 3 This is a schematic diagram of a three-dimensional structure in which a transceiver module according to an embodiment of the present application is installed on a mounting plane;

[0030] Figure 4 This is a schematic side view of the structure of a first folding surface deflecting light in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of an exploded structure of a laser radar in which the first optical channel of an embodiment of the present application is located on one side of a working surface in a third direction;

[0032] Figure 6 This is a side view structural schematic diagram of the second reflecting surface and the third reflecting surface deflecting light in one embodiment of the present application.

[0033] Reference numerals:

[0034] 1. movable device; 10. laser radar; 20. light-transmitting part; 30. movable body;

[0035] 100, housing; 110, top cover; 111, light opening; 112, light-transmitting protective plate; 120, first bracket; 1211, mounting plane; 130, bottom cover; 140, fixing plate;

[0036] 200, transceiver module; 230, optical splitter; 201, first optical channel; 202, second optical channel; 203, third optical channel

[0037] 210. light emitting component; 211. light emitter;

[0038] 220, light receiving component; 221, light receiver; 223, first reflector; 224, second reflector;

[0039] 300, optical scanning device; 310, working surface;

[0040] 400, light return component; 401, first return surface; 402, second return surface; 403, third return surface;

[0041] 500, control circuit board;

[0042] A. First direction; B. Second direction; C. Third direction. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The inventors have discovered that installing a vehicle-mounted forward-facing laser radar in the cabin of a vehicle can meet the laser radar's viewing angle requirements and is not likely to affect the vehicle's external structure. However, if the structure of the laser radar is not properly designed, the vehicle-mounted forward-facing laser radar installed in the cabin will partially block the cab's field of view. Based on this, an embodiment of the present application provides a laser radar and a movable device.

[0045] like Figure 1 and Figure 2 , which is a schematic diagram of the structure of a laser radar 10 provided in an embodiment of the present application, the laser radar 10 includes a transceiver module 200, a light scanning device 300 and a light return assembly 400. The laser radar 10 also includes a housing 100, and the transceiver module 200, the light scanning device 300 and the light return assembly 400 are all arranged in the internal space of the housing 100 and installed on the housing 100.

[0046] The transceiver module 200 includes an optical transmitting component 210 and an optical receiving component 220 . The optical transmitting component 210 is used to transmit detection light, and the optical receiving component 220 is used to receive reflected echo light.

[0047] The optical scanning device 300 has a working surface 310 for facing the field of view, and light enters and exits the optical scanning device 300 through the working surface 310. Specifically, the optical scanning device 300 is used to deflect the detection light to the target object in the field of view to achieve scanning. The optical scanning device 300 is also used to receive and deflect the echo light reflected back by the target object. Among them, the working surface 310 can be formed by the surface of the light reflection structure of the optical scanning device 300. For example, the optical scanning device 300 includes a micro-electro mechanical system (MEMS) galvanometer, and the micro-electro mechanical system includes a galvanometer for deflecting light. The working surface 310 can be formed by the reflective surface of the galvanometer. The housing 100 of the laser radar 10 has a light-through opening 111 corresponding to the working surface 310 of the optical scanning device 300, and light enters and exits the laser radar 10 through the light-through opening 111. The housing 100 of the laser radar 10 further includes a light-transmitting protective plate 112 , which is packaged at the light-transmitting opening 111 to protect the optical scanning device 300 and components installed in the internal space of the housing 100 .

[0048] The light reflection component 400 is used to deflect the detection light and the echo light between the transceiver module 200 and the optical scanning device 300, so that there is at least one deflection in the optical path of the detection light and the optical path of the echo light. On the premise of meeting the requirements of the optical path design such as the optical path and the angle, it is convenient to arrange the relative positions of the light reflection component 400, the transceiver module 200 and the optical scanning device 300, thereby facilitating the reduction of the volume of the laser radar 10.

[0049] When the laser radar 10 is installed on the light-transmitting part 20 of the vehicle, the light scanning device 300 is located above or below the light reflection component 400 in the vertical direction, which is convenient for designing the position of the light scanning device 300, making it easy to align and assemble the light scanning device 300 with the light reflection component 400, and preventing the field of view of the light scanning device 300 from being blocked by structural parts of the laser radar 10 such as the light reflection component 400.

[0050] In the embodiment of the present application, the working process of the laser radar 10 includes: the detection light emitted by the transceiver module 200 is projected to the light return component 400, the light return component 400 deflects the detection light and projects it to the light scanning device 300, the light scanning device 300 deflects the detection light and projects it into the field of view through the working surface 310 to scan the external target; the echo light reflected by the target reaches the working surface 310 of the light scanning device 300, the light scanning device 300 deflects the echo light and projects it to the light return component 400, the light return component 400 deflects the echo light and projects it to the transceiver module 200. When the laser radar 10 is installed on a vehicle, the light scanning device 300 can be used to deflect the detection light or the echo light in at least one of the horizontal direction and the vertical direction to form a scanning field of view of the laser radar 10.

[0051] Combination Figure 2 and Figure 3 The laser radar 10 also includes a mounting plane 1211, and the optical emitting component 210, the optical receiving component 220 and the optical refraction component 400 are all arranged on the mounting plane 1211. The detection light and the echo light entering and exiting the transceiver module 200 are arranged along a first direction A parallel to the mounting plane 1211. The working surface 310 and the mounting plane 1211 are spaced apart in a second direction B, and the second direction B is perpendicular to the mounting plane 1211. In this way, by arranging the transceiver module 200 to receive and receive light along the first direction A, it is convenient to arrange the positions of the optical scanning device 300, the optical emitting component 210 and the optical receiving component 220 in the first direction A, which helps to reduce the volume of the laser radar 10 in the second direction B and the third direction C (the first direction A, the second direction B and the third direction C are perpendicular to each other), and cooperate with the optical refraction component 400 to deflect the light. When the transceiver module 200 receives and receives light along the first direction A, the laser radar 10 still has a smooth optical path channel inside, and the laser radar 10 has a simple structure.

[0052] When the laser radar 10 is installed on a movable device, the laser radar 10 of the embodiment of the present application is small in size and does not block the driving field of vision. Figure 1 and Figure 2 When the laser radar 10 is installed at the tilted light-transmitting part 20 of the movable device, the installation plane 1211 is parallel to the tilted light-transmitting part 20, the second direction B is a direction perpendicular to the light-transmitting part 20, the laser radar 10 is small in the second direction B, and the vertical driving field of view is less blocked, and the third direction C is a direction parallel to the horizontal plane. The laser radar 10 is small in the third direction C, and the horizontal driving field of view is less blocked. Therefore, the embodiment of the present application can reduce the volume of the laser radar 10 in multiple directions, and the driver's field of view is less blocked, which is very suitable for the in-cabin laser radar as a movable device. For example, the in-cabin laser radar includes a forward laser radar, a rearward laser radar, etc.

[0053] In the embodiment of the present application, the light return component 400 is used to deflect the detection light and direct it toward the light scanning device 300. The light return component 400 is also used to deflect the echo light reflected by the light scanning device 300 and direct it toward the transceiver module 200. Figure 2 and Figure 3, a first optical channel 201 for transmitting the detection light and the echo light is provided between the optical return component 400 and the transceiver module 200, and a second optical channel 202 for transmitting the detection light and the echo light is provided between the optical return component 400 and the optical scanning device 300. Specifically, the detection light emitted by the transceiver module 200 is projected to the optical return component 400 through the first optical channel 201, and is deflected by the optical return component 400 and then projected to the optical scanning device 300 through the second optical channel 202, the optical scanning device 300 deflects the echo light and then projects it to the optical return component 400 along the second optical channel 202, and the optical return component 400 deflects the echo light and then projects it to the transceiver module 200 through the first optical channel 201. Optionally, in an embodiment of the present application, the first optical channel 201 between the optical reflection component 400 and the transceiver module 200 is arranged along the first direction A so as to arrange the positions of the optical scanning device 300, the optical transmitting component 210 and the optical receiving component 220 in the first direction A, thereby reducing the volume of the laser radar 10.

[0054] like Figure 3 As shown, the light return component 400 includes a first return surface 401, and the first return surface 401 is used to deflect the detection light from the transceiver module 200 to the optical scanning device 300, and is also used to deflect the echo light from the optical scanning device 300 to the transceiver module 200, so as to achieve the deflection of the detection light and the echo light propagating along the first direction A to propagate along the direction forming an angle with the first direction A, reduce the optical path of the detection light and the echo light propagating in the first direction A, and further reduce the size of the laser radar 10 in the second direction B. The light return component 400 may include a reflector, and the reflective surface of the reflector constitutes the first return surface 401; or, the light return component 400 may include a return prism, and the return prism has a reflective surface, and the reflective surface of the return prism constitutes the first return surface 401.

[0055] It should be noted that the optical path forms a lot of unexpected scattered light and reflected light on the first return surface 401, and the unexpected scattered light and reflected light propagate inside the laser radar 10 to become interference light, which will affect the normal operation of the optical receiving component 220. When the angle at which the detection light and the echo light enter and exit the working surface 310 of the optical scanning device 300 is small, the optical path forms less unexpected scattered light and reflected light on the first return surface 401, and this part of unexpected light also interferes less with the optical receiving component 220. Therefore, based on the requirements of the optical path and the light propagation angle, when the detection light and the echo light propagate in the second optical channel 202, the optical return component 400 may not deflect the detection light and the echo light, or the optical return component 400 may deflect the detection light and the echo light at least once respectively. The embodiment of the present application does not limit the number of deflections, and it is selected according to actual needs.

[0056] Alternatively, if Figure 3 and 4As shown, the first optical channel 201 between the transceiver module 200 and the first folding surface 401 is arranged along the first direction A, and the first optical channel 201 is located on one side of the optical scanning device 300 in the second direction B, and the second optical channel 202 between the optical scanning device 300 and the first folding surface 401 is arranged along a direction that forms an angle with the mounting plane 1211. In this case, the optical scanning device 300 may be arranged to include only the first folding surface 401, and the detection light emitted by the transceiver module 200 is deflected once by the first folding surface 401 and then projected to the working surface 310 of the optical scanning device 300, and the echo light projected by the working surface 310 of the optical scanning device 300 is deflected once by the first folding surface 401 and then projected to the transceiver module 200, and the optical path is simple. When the laser radar 10 is installed on a movable device, the detection light and the echo light can pass through the first optical channel 201 from above or below the optical scanning device 300. The angle between the working surface 310 of the optical scanning device 300 and the first optical channel 201 is adjusted according to the field of view requirement of the optical scanning device 300, so that the detection light and the echo light can enter and exit the working surface 310 of the optical scanning device 300 at a smaller angle, for example, Figure 4 As shown, considering that the laser radar 10 is installed on a movable device, the central optical axis H of the optical scanning device 300 needs to be set in the horizontal direction to meet the group field of view requirements. When the detection light and the echo light pass through the top of the optical scanning device 300 through the first optical channel 201, correspondingly, the first angle α between the working surface 310 of the optical scanning device 300 and the first optical channel 201 is set to be an acute angle, and the detection light and the echo light are deflected once through the first returning surface 401, and can be deflected at a smaller angle at the working surface 310 of the optical scanning device 300.

[0057] The laser radar 10 further includes a fixing plate 140, which is used to install the laser radar 10 on a movable device. Part of the housing 100 of the laser radar 10 can form the fixing plate 140, for example, the housing 100 of the laser radar 10 includes a top cover 110 and a bottom cover 130, the top cover 110 and the bottom cover 130 are combined along the second direction B to define a housing cavity, the light scanning device 300, the light return assembly 400 and the transceiver module 200 are arranged in the housing cavity, and the bottom cover 130 or the top cover 110 can form the fixing plate 140.

[0058] Optionally, a portion of the surface of the bottom cover 130 forms a mounting plane 1211, the housing 100 further comprises a first bracket 120 disposed on the mounting plane 1211 of the bottom cover 130, and the first folding surface 401 of the light folding assembly 400, the light scanning device 300 and the transceiver module 200 are fixedly mounted on the first bracket 120. Figure 2As shown, a portion of the bottom cover 130 forms the fixing plate 140, and the mounting plane 1211 is located on the fixing plate 140, that is, the fixing plate 140, the mounting plane 1211 and the first optical channel 201 are all placed on the same side of the working surface 310 of the optical scanning device 300 in the second direction B. When the fixing plate 140 is installed on a movable device, the first optical channel 201 passes through the optical scanning device 300 at the upper side. Alternatively, a portion of the top cover 110 forms the fixing plate 140, and the mounting plane 1211 is located on the bottom cover 130. In this case, the fixing plate 140 and the mounting plane 1211 are placed on opposite sides of the working surface 310 of the optical scanning device 300 in the second direction B, and the mounting plane 1211 and the first optical channel 201 are placed on the same side of the working surface 310 of the optical scanning device 300 in the second direction B. When the fixing plate 140 is installed on a movable device, the first optical channel 201 passes through the optical scanning device 300 at the lower side. Among them, after the detection light and the echo light are deflected by the first reflecting surface 401, by setting the installation angle of the light scanning device 300, the detection light and the echo light between the first reflecting surface 401 and the light scanning device 300 will no longer be deflected, that is, the light reflecting component 400 deflects the detection light and the echo light between the light scanning device 300 and the transceiver module 200 once.

[0059] The light return component 400 may also deflect the detection light and the echo light between the light scanning device 300 and the transceiver module 200 twice. Figure 5 As shown, the light return component 400 includes a second return surface 402 and a third return surface 403, the second return surface 402 is used to deflect the detection light from the transceiver module 200 to the third return surface 403, and the third return surface 403 is used to deflect the detection light from the second return surface 402 to the light scanning device 300; the third return surface 403 is also used to deflect the echo light from the light scanning device 300 to the second return surface 402, and the second return surface 402 is also used to deflect the echo light from the third return surface 403 to the transceiver module 200. The light return component 400 may include two reflectors, wherein the reflective surface of one reflector constitutes the second return surface 402, and the reflective surface of the other reflector constitutes the third return surface 403. The embodiment of the present application does not limit the structure of the light return component 400, and the structure with a reflective surface that can form the second return surface 402 and the third return surface 403 is applicable to the present application.

[0060] When the light return component 400 includes the second return surface 402 and the third return surface 403, optionally, as Figure 5As shown, the first optical channel 201 between the transceiver module 200 and the second returning surface 402 is arranged along the first direction A, and the first optical channel 201 is located on one side of the optical scanning device 300 in the third direction C, and the second optical channel 202 between the optical scanning device 300 and the third returning surface 403 is arranged along a direction that is at an angle to the installation plane 1211. When the laser radar 10 is installed on a movable device, the first optical channel 201 is placed on the left or right side of the optical scanning device 300, and the detection light and the echo light propagate along the second optical channel 202 between the optical scanning device 300 and the third returning surface 403 in an obliquely upward or obliquely downward direction. In the third direction C, the distance from the third returning surface 403 to the central optical axis H of the optical scanning device 300 is smaller than the distance from the second returning surface 402 to the central optical axis H of the optical scanning device 300. This makes it easier for the detection light and the echo light to enter and exit the working surface 310 of the optical scanning device 300 at a smaller angle, thereby preventing more unexpected scattered light and reflected light from being generated at the second returning surface 402 and the third returning surface 403 to cause interference, thereby improving detection accuracy.

[0061] Optionally, the third optical channel 203 between the second return surface 402 and the third return surface 403 is arranged along a direction parallel to the mounting plane 1211, or the third optical channel 203 between the second return surface 402 and the third return surface 403 is arranged along a direction at an angle to the mounting plane 1211. The embodiment of the present application does not limit the extension direction of the third optical channel 203 between the second return surface 402 and the third return surface 403, and the specific selection can be made according to actual needs.

[0062] The second return surface 402 and the third return surface 403 of the light return assembly 400, as well as the light scanning device 300 and the transceiver module 200 are fixedly mounted on the first bracket 120, and the first bracket 120 of the housing 100 is arranged on the mounting plane 1211 of the bottom cover 130. The fixing plate 140 is used to install the laser radar 10 on the movable device. Optionally, a portion of the top cover 110 forms the fixing plate 140, and the mounting plane 1211 is located on the bottom cover 130. In this case, Figure 5 As shown, the fixing plate 140 and the mounting plane 1211 are arranged on opposite sides of the working surface 310 of the optical scanning device 300 in the second direction B, the mounting plane 1211 and the fixing plate 140 are spaced apart in the second direction B, and the transceiver module 200, the optical scanning device 300 and the optical return assembly 400 are arranged between the mounting plane 1211 and the fixing plate 140 in the second direction B; or, a portion of the bottom cover 130 forms the fixing plate 140, and the surface of the bottom cover 130 facing the working surface 310 forms the mounting plane 1211, at this time, the fixing plate 140 and the mounting plane 1211 are arranged on the same side of the working surface 310 of the optical scanning device 300 in the second direction B.

[0063] Among them, in the second direction B, the first optical channel 201 is arranged adjacent to the mounting plane 1211, and the working surface 310 of the optical scanning device 300 is farther from the mounting plane 1211 than the first optical channel 201, and the optical return component 400 deflects the detection light and the echo light, so that the detection light and the echo light propagate between the optical scanning device 300 and the optical return component 400 in an oblique upward or oblique downward direction, thereby preventing the optical return component 400 from blocking the field of view of the optical scanning device 300. The embodiment of the present application does not limit the distance from the first optical channel 201 to the mounting plane 1211, nor does it limit the angle between the working surface 310 of the optical scanning device 300 and the mounting plane 1211. The specific selection can be made according to actual needs. When the optical return component 400 includes the second return surface 402 and the third return surface 403, as Figure 6 As shown, the second angle β between the working surface 310 of the optical scanning device 300 and the first optical channel 201 is an obtuse angle, which can meet the viewing angle requirement that the central optical axis H of the optical scanning device 300 is parallel to the horizontal direction.

[0064] The optical transmitting assembly 210 includes an optical transmitter 211 for transmitting detection light and an emitting mirror group (not shown in the figure) arranged on the emission optical path of the detection light. The optical receiving assembly 220 includes an optical receiver 221 for receiving echo light and a receiving mirror group (not shown in the figure) arranged on the receiving optical path of the echo light. The laser radar 10 also includes a control module, and the control module includes a control circuit board 500. The optical transmitter 211 and the optical receiver 221 are both electrically connected to the control circuit board 500. The control circuit board 500 and the mounting plane 1211 are opposite and spaced apart in the second direction B, so as to reserve space for installing the optical transmitter 211, the optical receiver 221 and other components of the control module, and at the same time facilitate improving the structural integrity of the control circuit board 500. Optionally, the optical transmitter 211, the optical receiver 221 and at least part of the structure of the control module are installed on the same side of the control circuit board 500; or, the optical transmitter 211 and at least part of the structure of the control module are installed on the same side of the control circuit board 500, the control circuit board 500 has a hollow area, and the optical receiver 221 is arranged in the hollow area and installed on the control circuit board 500.

[0065] The transceiver module 200 also includes a beam splitter 230, which is used to separate the transmitting light path from the receiving light path, and the transmitting light path and the receiving light path are both parallel to the mounting plane 1211. For example, the beam splitter 230 is used to separate the transmitting light path from the receiving light path in two directions at right angles or acute angles. Among them, the light return assembly 400, the beam splitter 230, the transmitting mirror group and the receiving mirror group are all arranged on the mounting plane 1211, so that the light path inside the transceiver module 200 and the light path between the transceiver module 200 and the light return assembly 400 can be as much parallel to the mounting plane 1211 as possible, effectively reducing the volume of the laser radar 10.

[0066] The beam splitter 230 is arranged on a side of the emission mirror group away from the light emitter 211 along a direction parallel to the mounting plane 1211. The detection light emitted by the light emitter 211 along a direction parallel to the mounting plane 1211 passes through the emission mirror group to reach the beam splitter 230, and is projected to the light return component 400 after passing through the beam splitter 230. The emission mirror group is used to collimate the divergent detection light emitted by the light emitter 211 and then project it to the beam splitter 230. The emission mirror group includes at least one collimating lens coaxially arranged along a direction parallel to the mounting plane 1211. Optionally, the light emitter 211 emits the detection light along a first direction A, and the emission light path is directly arranged along the first direction A, and no structure is arranged to deflect the detection light emitted by the detection light emitter 211, that is, the detection light emitted by the light emitter 211 passes through the emission mirror group directly along the first direction A and is projected to the beam splitter 230, and enters the first optical channel 201 after passing through the beam splitter 230.

[0067] The receiving lens group includes at least one receiving lens, which is used to converge the echo light to the optical receiver 221, and the optical axis of the receiving lens is parallel to the mounting plane 1211 or perpendicular to the mounting plane 1211. The echo light split by the beam splitter 230 can be directly projected to the optical receiver 221 without being deflected by an optical element, or an optical element can be set to deflect the echo light split by the beam splitter 230 at least once before projecting it to the optical receiver 221, so that the position of the optical receiver 221 is arranged to make the overall structure of the laser radar 10 compact.

[0068] Alternatively, if Figure 5 As shown, the optical receiving assembly 220 further includes a first reflector 223, which is disposed on the optical path between the optical splitter 230 and the optical receiver 221. The echo light passing through the optical splitter 230 is deflected by the first reflector 223 and then transmitted to the optical receiver 221 along the second direction B, so that the optical receiver 221 can be directly mounted on the control circuit board 500, simplifying the circuit routing. At this time, the optical receiver 221 can be disposed adjacent to the optical transmitter 211 (for example, no other functional devices are disposed between the optical receiver 221 and the optical transmitter 211), or the optical receiver 221 can also be disposed away from the optical transmitter 211 (that is, other functional devices are disposed between the optical receiver 221 and the optical transmitter 211).

[0069] Optionally, the first reflector 223 is arranged on the optical path between the spectrometer 230 and the light receiving mirror group. In this case, the optical axis of the receiving lens of the light receiving mirror group is arranged along the second direction B, and the echo light split by the spectrometer 230 is reflected by the first reflector 223 and then passes through the light receiving mirror group and is projected to the light receiver 221 along the second direction B; or, the first reflector 223 is arranged on the optical path between the light receiving mirror group and the light receiving mirror group 221. In this case, the optical axis of the receiving lens of the light receiving mirror group is arranged along a direction parallel to the mounting plane 1211, and the echo light split by the spectrometer 230 passes through the light receiving mirror group and is projected to the first reflector 223, and is projected to the light receiver 221 along the second direction B after only one reflection by the first reflector 223.

[0070] like Figure 5 As shown, when the first optical channel 201 is located on one side of the optical scanning device 300 in the third direction C, the first reflector 223 and the third returning surface 403 can be located on the same side of the first optical channel 201 in the second direction B. In this way, the installation space can be fully utilized, the space occupied by the transceiver module 200 in the second direction B can be reduced, and the volume of the entire laser radar 10 can be reduced.

[0071] Optionally, see Figure 2 , the first reflector 223 is arranged on the optical path between the optical receiving lens group and the optical receiver 221, and the optical receiving assembly 220 also includes a second reflector 224, and the second reflector 224 is arranged on the optical path between the beam splitter 230 and the first reflector 223. Specifically, the second reflector 224 is arranged on the optical path between the beam splitter 230 and the optical receiving lens group. Among them, the echo light from the beam splitter 230 is deflected by the second reflector 224 and passes through the optical receiving lens group along the first direction A and is projected to the first reflector 223. The first reflector 223 deflects the echo light and transmits it to the optical receiver 221 along the second direction B. In this way, it is convenient to flexibly arrange the distance between the receiving lens of the optical receiving lens group and the first reflector 223 in the first direction A. Figure 2 As shown, when the first light channel 201 is located at one side of the light scanning device 300 in the second direction B, the first reflector 223 and the second reflector 224 are located at one side of the first light channel 201 in the third direction C.

[0072] like Figure 2 As shown, the laser radar 10 includes two groups of transceiver modules 200 and two groups of light return components 400 arranged one by one corresponding to the two groups of transceiver modules 200. The light return components 400 deflect the optical paths of the corresponding transceiver modules 200, and the two groups of transceiver modules 200 and their corresponding light return components 400 are symmetrically arranged relative to the central optical axis H of the optical scanning device 300.

[0073] The light paths of the two transceiver modules 200 are deflected by the corresponding light return components 400 and aligned with the light scanning device 300 at the same angle, which is helpful for splicing the images of each scanning field of view later and reducing the influence of the different angles of light reaching the light scanning device 300 on the imaging effect. For example, the two transceiver modules 200 and their corresponding light return components 400 are arranged axially symmetrically or centrally symmetrically with a plane passing through the central optical axis H of the light scanning device 300 and perpendicular to the installation plane 1211, which is also convenient for simplifying the structure of the light return component 400, reducing the space occupied by the light return component 400, and further reducing the volume of the laser radar 10.

[0074] The laser radar 10 of the embodiment of the present application includes two transceiver modules 200, and the transceiver modules 200 form two optical channels. When the laser radar 10 is installed on the light-transmitting part 20 of the vehicle, the detection light emitted by the transmitting mirror group is projected to the optical scanning device 300 through the deflection effect of the optical reversing component 400, and then the optical scanning device 300 completes the scanning action, and the detection light is emitted to the outside of the car. The detection light encounters the target object and reflects to form an echo light. The echo light is projected to the optical scanning device 300, deflected to the optical reversing component 400 by the optical scanning device 300, and then projected to the receiving mirror group after being deflected by the optical reversing component 400 and returned to the optical receiver 221. Among them, each transceiver module 200 has a transceiver field of view, and the two transceiver modules 200 share the same optical scanning device 300. The transceiver fields of view of the two transceiver modules 200 are spliced ​​by the optical scanning device 300, so that the laser radar 20 has a larger scanning field of view.

[0075] In the embodiment of the present application, the transceiver module 200 is arranged to receive and emit light along the first direction A. When the laser radar 10 includes two transceiver modules 200, the two transceiver modules 200 both receive and emit light along the first direction A, and the light scanning devices 300, the light emitting components 210 and the light receiving components 220 of the two transceiver modules 200 are all arranged on the installation plane 1211, so that the entire laser radar structure is compact. When the laser radar 10 includes two transceiver modules 200, the volume can still be reduced in the second direction B and the third direction C, which can effectively reduce the laser radar 10 from blocking the driving field of view.

[0076] An embodiment of the present application also provides a movable device, which is a device that can move relative to the ground, and includes a movable body and a laser radar 10 mounted on the movable body. The laser radar 10 is the laser radar 10 in any of the above embodiments.

[0077] The movable body has a light-transmitting portion 20, which is at an angle to the horizontal plane, and the laser radar 10 is installed on the light-transmitting portion 20, and the working surface 310 faces the light-transmitting portion 20, and the installation plane 1211 is parallel to the plane where the light-transmitting portion 20 is located. In the embodiment of the present application, the laser radar 10 as described above is used, and the volume of the laser radar 10 is reduced in multiple directions, so that the laser radar 10 has a small obstruction of the field of view at the light-transmitting portion 20. The light-transmitting portion 20 can be a front windshield, a side windshield, a rear windshield, etc.

[0078] The movable device includes, but is not limited to, a vehicle with six autonomous driving technology levels, L0-L5, as defined by the Society of Automotive Engineers International (SAE International) or the Chinese national standard "Automotive Driving Automation Classification", for example, a vehicle device or a robot device having the following functions:

[0079] (1) Passenger-carrying function, such as family cars and buses;

[0080] (2) Cargo-carrying functions, such as ordinary trucks, van trucks, trailer trucks, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures, etc.;

[0081] (3) Tool functions, such as logistics delivery vehicles, automated guided vehicles (AGVs), patrol cars, cranes, hoists, excavators, bulldozers, forklifts, road rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor scrubbers, water sprinklers, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.;

[0082] (4) Entertainment functions, such as entertainment vehicles, amusement park self-driving devices, balance vehicles, etc.;

[0083] (5) Special rescue functions, such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.

[0084] This application does not strictly limit the types of removable devices, and will not list them all here.

[0085] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing this application 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. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0086] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A laser radar, characterized in that: include: A transceiver module, comprising a light transmitting component for transmitting detection light and a light receiving component for receiving reflected echo light; An optical scanning device, having a working surface facing the field of view, the working surface being used to deflect the detection light into the field of view to achieve scanning, and also being used to receive and deflect the echo light; A light return component, used for deflecting the detection light and the echo light between the transceiver module and the optical scanning device; as well as Installation plane; wherein the optical emitting component, the optical receiving component and the optical return component are all arranged on the installation plane, the detection light and the echo light entering and exiting the transceiver module are arranged along a first direction parallel to the installation plane, the working surface and the installation plane are spaced apart in a second direction, and the second direction is perpendicular to the installation plane.

2. The laser radar according to claim 1, characterized in that: The light return component is used to deflect the detection light and direct it toward the light scanning device, and is also used to deflect the echo light reflected by the light scanning device and direct it toward the transceiver module; A first optical channel for transmitting the detection light and the echo light is provided between the optical return component and the transceiver module, and a second optical channel for transmitting the detection light and the echo light is provided between the optical return component and the optical scanning device.

3. The laser radar according to claim 2, characterized in that: The light return assembly includes a first return surface, the first return surface is used to deflect the detection light from the transceiver module to the light scanning device, and is also used to deflect the echo light from the light scanning device to the transceiver module; The first optical channel between the transceiver module and the first folding surface is arranged along the first direction and is located on one side of the optical scanning device in the second direction.

4. The laser radar according to claim 1 or 3, characterized in that: It also includes a fixing plate for mounting the laser radar on a movable device, and the mounting plane is located on the fixing plate.

5. The laser radar according to claim 2, characterized in that: The light return assembly includes a second return surface and a third return surface; the second return surface is used to deflect the detection light from the transceiver module to the third return surface, and is also used to deflect the echo light from the third return surface to the transceiver module; the third return surface is used to deflect the detection light from the second return surface to the light scanning device, and is also used to deflect the echo light from the light scanning device to the second return surface; The first optical channel between the transceiver module and the second folding surface is arranged along the first direction and is located on one side of the optical scanning device in the third direction. The first direction, the second direction and the third direction are perpendicular to each other.

6. The laser radar according to claim 1 or 5, characterized in that: It also includes a fixing plate for installing the laser tube radar on a movable device, and the mounting plane and the fixing plate are arranged opposite to each other; the transceiver module, the light scanning device and the light return component are arranged between the mounting plane and the fixing plate.

7. The laser radar according to claim 1, characterized in that: The optical transmitting component includes an optical transmitter for transmitting the detection light and an emitting mirror set arranged on the emission optical path of the detection light; the optical receiving component includes an optical receiver for receiving the echo light and a receiving mirror set arranged on the receiving optical path of the echo light; The transceiver module further includes a spectrometer, which is used to separate the transmitting light path from the receiving light path, and both the transmitting light path and the receiving light path are parallel to the installation plane.

8. The laser radar according to claim 7, characterized in that: The optical receiving assembly further comprises a first reflector, which is arranged on the optical path between the optical splitter and the optical receiver; The echo light passing through the beam splitter is deflected by the first reflector and then transmitted to the optical receiver along the second direction.

9. The laser radar according to claim 8, characterized in that: The light receiving assembly further comprises a second reflector, which is arranged on the optical path between the beam splitter and the first reflector; The echo light from the beam splitter is deflected by the second reflector and then transmitted to the first reflector along the first direction, and the first reflector deflects the echo light and then transmits it to the optical receiver along the second direction.

10. The laser radar according to claim 1, characterized in that: The laser radar includes two groups of transceiver modules and two groups of light reflection components arranged in one-to-one correspondence with the two groups of transceiver modules. The light reflection components deflect the optical paths of the corresponding transceiver modules, and the two groups of transceiver modules and their corresponding light reflection components are symmetrically arranged relative to the central optical axis of the optical scanning device.

11. A movable device, characterized in that: include: A movable body; and The laser radar as described in any one of claims 1 to 10 above, wherein the laser radar is installed on the movable body.

12. The movable device according to claim 11, characterized in that: The movable body has a light-transmitting portion, which forms an angle with the horizontal plane. The laser radar is installed on the light-transmitting portion, and the working surface faces the light-transmitting portion. The installation plane is parallel to the plane where the light-transmitting portion is located.

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