Laser radar system and vehicle

Abstract

The invention discloses a laser radar system and a vehicle. A laser radar system relates to the field of laser radars and comprises a casing, a movement structure and a scanning system, and both the movement structure and the scanning system are arranged in an accommodating cavity formed by the casing; the movement structure comprises two movements; the movement comprises a transmitting unit and a receiving unit, the transmitting unit is used for transmitting a laser beam to a target object, the target object reflects the laser beam to obtain a reflected beam, and the reflected beam is received by the receiving unit through a receiving light path; the scanning system receives the propagated laser beams in the horizontal direction and realizes a horizontal view field in a first preset angle range through rotation; wherein the two machine cores are arranged in a central symmetry mode relative to the central point of the scanning system, the vertical distance between the central points of the two machine cores in the Z-axis direction is 2Z, and the vertical view fields of the two light-emitting devices are spliced to achieve a vertical view field within a second preset angle range. According to the invention, the technical problem that the edge of the visual field of the whole laser radar has unfilled corners is solved.

Description

Technical Field

[0001] The present application relates to the field of laser radar, and more specifically, to a laser radar system and a vehicle. Background Art

[0002] In the related technology, in order to achieve miniaturization in the depth direction of the whole machine and to make the laser radar conform to the preset field of view, the laser radar manufacturer will design the entire movement by tilting it, which will increase the height of the laser radar machine and complicate the structural design and processing of the movement and casing. On the one hand, it increases the difficulty and cost of processing, and on the other hand, it is difficult to ensure the processing accuracy, which leads to differences in point cloud performance between the left and right movements and between the whole machine, as well as large tolerances in the splicing of the left and right movement fields of view. In the field of autonomous driving, the laser radar is required to have a small overall size and a large field of view, resulting in missing corners at the edge of the field of view of the whole machine. The movement is placed at an angle, resulting in low internal space utilization of the whole machine and a less compact structure. The simultaneous design of the movement is not conducive to heat dissipation of the movement.

[0003] In order to take into account both the miniaturization of the overall size and the large field of view, the upper and lower casings are prone to block the effective aperture of the receiving light path, resulting in insufficient field of view ranging at the upper and lower edges of the vertical field of view.

[0004] In related technologies, laser radar also uses a special-shaped light window design. All surfaces of the light window are optical surfaces. The coating of these surfaces requires low reflectivity, high transmittance and color consistency. This is a great challenge to the coating process. As a result, it is difficult to guarantee the coating indicators and consistency, and the cost is high. At the same time, special-shaped light windows require injection molding, and the long-term reliability of plastic parts coating for drones spraying pesticides is also a major challenge.

[0005] At the same time, the dual-movement solution is prone to the central field of view of the entire machine being closer than the central field of view of the movement due to the lower transmission and receiving efficiency of the edge field of view of the movement than the central field of view.

[0006] Currently, no effective solution has been proposed for the above-mentioned problems existing in the related technologies. Summary of the invention

[0007] The main purpose of the present application is to provide a laser radar system and a vehicle to solve the technical problem of missing corners at the edge of the field of view of the laser radar in the related art.

[0008] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a laser radar system is provided. The laser radar system includes: a housing, a movement structure and a scanning system, wherein the movement structure and the scanning system are both arranged in a containing cavity formed by the housing; the movement structure includes two movements; the movement includes a transmitting unit and a receiving unit, wherein the transmitting unit is used to transmit a laser beam to a target object, the target object reflects the laser beam to obtain a reflected beam, the reflected beam is received by the receiving unit through a receiving optical path, and the scanning system receives the propagated laser beam in the horizontal direction and realizes a horizontal field of view within a first preset angle range by rotation; wherein the two movements are centrally symmetrically arranged relative to the center point of the scanning system, the vertical distance between the center points of the two movements in the Z-axis direction is 2Z, and the vertical field of view of the two light-emitting devices is spliced ​​to realize a vertical field of view within a second preset angle range.

[0009] Furthermore, the emitting unit includes an array laser, an emitting lens group and an emitting reflector, wherein the array laser is used to emit the laser beam, the emitting lens group is used to collimate the laser beam, and the emitting reflector is used to reflect the collimated laser beam in both horizontal and vertical directions to change the propagation direction of the laser beam.

[0010] Furthermore, the receiving unit includes a detector, a receiving lens group, a receiving reflector, a slit diaphragm and a filter. The reflected light beam reflected back by the target object is reflected by the receiving reflector to the receiving lens group for convergence, and the converged reflected light beam then reaches the detector through the filter and the slit diaphragm, wherein the filter is used to filter the non-effective band light in the reflected light beam and the ambient light, and the slit diaphragm is used to block the stray light corresponding to the non-effective aperture in the reflected light beam and the ambient light corresponding to the non-effective aperture.

[0011] Furthermore, the emitting lens group and the array laser are arranged on the same axis, and the emitting lens group includes a plurality of emitting lenses, wherein the lens arranged away from the array laser among the plurality of emitting lenses is a convex lens, and the overall surface shape of the convex lens close to the array laser is convex, or the edge portion of the side close to the array laser is a convex surface.

[0012] Furthermore, the transmitting unit also includes a wedge mirror, which has a trapezoidal structure and is arranged between the array laser and the transmitting lens group. The wedge mirror is used to deflect the laser light beam of the edge field of view corresponding to the laser radar system toward the optical axis.

[0013] Furthermore, the wedge angle of the wedge mirror is determined according to the deflection angle required by a single laser disposed at the edge of the array laser.

[0014] Further, the emitting reflective mirror is tilted at a target angle in the vertical direction, and the array laser is tilted at a target angle in the vertical direction.

[0015] Further, the receiving reflector is arranged to be tilted at a target angle in the vertical direction, and the detector is arranged to be tilted at a target angle in the vertical direction.

[0016] Furthermore, the scanning system is a rotating mirror system, which includes a plurality of rotating mirrors distributed on a mirror frame, arranged at the same height, and rotating around a motor shaft during operation, and the plurality of rotating mirrors are arranged at different angles to the vertical Z axis.

[0017] Furthermore, a ridge light window is installed on the light emitting side of the casing.

[0018] In order to achieve the above object, according to another aspect of the present application, a vehicle is provided, wherein the vehicle is provided with the above laser radar system.

[0019] Through the present application, a laser radar system is provided, which includes: a housing, a core structure and a scanning system, wherein the core structure and the scanning system are both arranged in a containing cavity formed by the housing; the core structure includes two cores; the core includes a transmitting unit and a receiving unit, wherein the transmitting unit is used to transmit a laser beam to a target object, the target object reflects the laser beam to obtain a reflected beam, the reflected beam is received by the receiving unit through a receiving optical path, and the scanning system receives the transmitted laser beam in the horizontal direction and realizes a horizontal field of view within a first preset angle range by rotation; wherein the two cores are centrally symmetrically arranged relative to the center point of the scanning system, the vertical distance between the center points of the two cores in the Z-axis direction is 2Z, and the vertical field of view of the two light-emitting devices is spliced ​​to realize a vertical field of view within a second preset angle range, thereby solving the technical problem of missing corners at the edge of the field of view of the laser radar whole machine in the related art. Thus, the transmitting and receiving efficiency of the laser radar whole machine is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 is a schematic diagram of a dual-core design solution for a laser radar system provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a single core in a laser radar system provided for this application;

[0023] Figure 3 A schematic diagram of a scheme of arranging a wedge mirror in front of an array laser in a transmitting unit provided in the present application;

[0024] Figure 4 A schematic diagram of an array laser and an emission reflector arranged in a vertically inclined manner in an embodiment provided in the present application;

[0025] Figure 5 A schematic diagram of the detector and the receiving reflector in the embodiment provided in the present application being tilted in the vertical direction;

[0026] Figure 6 This is a schematic diagram of a ridge light window installed on the light-emitting side of a housing in an embodiment provided in the present application.

[0027] The above drawings include the following reference numerals:

[0028] 01, scanning system; 02, left movement; 03, right movement; 04, transmitting unit; 05, receiving unit; 211, array laser; 212, transmitting lens one; 213, transmitting lens two; 214, transmitting lens three; 215, transmitting reflector; 221, detector; 222, receiving lens one; 223, receiving lens two; 224, receiving lens three; 225, receiving reflector; 226, slit aperture; 227, filter; 228, wedge mirror; 229, roof light window. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] The present invention is described below in conjunction with a preferred embodiment. The laser radar system includes the following parts:

[0033] The housing, the core structure and the scanning system 01 are all placed in a containing cavity formed by the housing. A light window is installed on one side of the housing for emitting a laser beam to a target object.

[0034] The movement structure includes two movements; the movement includes a transmitting unit 04 and a receiving unit 05, the transmitting unit 04 is used to transmit a laser beam to a target object, the target object reflects the laser beam to obtain a reflected beam, and the reflected beam is received by the receiving unit 05 through a receiving optical path; the two movements are symmetrically arranged relative to the center point of the scanning system 01, and the vertical distance between the center points of the two movements in the Z-axis direction is 2Z, and the vertical field of view of the two movements is spliced ​​to achieve a vertical field of view within a second preset angle range.

[0035] Figure 1 is a schematic diagram of a dual-core design solution for a laser radar system according to an embodiment of the present application, such as Figure 1 As shown, the left movement 02 and the right movement 03 are symmetrically arranged relative to the center point of the scanning system 01, wherein the left and right movements are exactly the same and are not distinguished, that is, the right movement 03 rotates 180 degrees around the optical axis and overlaps with the left movement 02. Since the left and right movements are exactly the same in structure, this design is conducive to cost reduction and efficiency improvement. Figure 1 It can be seen that the vertical distance between the center points of the left and right movements in the Z-axis direction is 2Z.

[0036] Among them, the left and right movements are symmetrically arranged horizontally on both sides of the scanning system 01, with the upper field of view movement placed at the bottom and the lower field of view movement placed at the top. The reasonable height difference between the left and right movements is conducive to reducing the height of the whole machine, and at the same time is conducive to reducing the light blocking of the upper and lower casings, thereby reducing the difference between the upper and lower edge field of view ranging and the limit ranging of the vertical field of view angle. Therefore, a simple plane light window can be used, which reduces the difficulty of coating, has lower cost, and better coating indicators, which is conducive to reducing the internal stray light caused by the light window. Due to the horizontal arrangement of the left and right movements, on the one hand, the difficulty and cost of structural parts processing are reduced, making it easy to ensure the processing and assembly accuracy. On the other hand, it improves the space utilization rate and is conducive to the heat dissipation of the movement. At the same time, the problem of missing corners at the edge of the field of view of the laser radar system is solved by setting the double movements horizontally with high and low offsets.

[0037] Scanning system 01, scanning system 01 receives the propagated laser beam in the horizontal direction and realizes a horizontal field of view within a first preset angle range by rotation; in an optional embodiment, the transmitting unit 04 processes the laser beam to be reflected in the horizontal and vertical directions, changes the propagation direction of the beam, and realizes a horizontal field of view of 150 degrees in the horizontal direction through the scanning system 01.

[0038] In an optional embodiment, the left movement is relatively arranged at the top, and the right movement is arranged at the bottom. The vertical field of view of the light emitted by the left movement is 0-35°, and the right movement is arranged at the bottom, and the vertical field of view is 0-+35°. Therefore, the splicing field of view angle range of the whole machine is 70°, which meets the large field of view angle of 70° in the vertical direction and the horizontal field of view angle of 150° in the horizontal direction, and the limit ranging capability remains unchanged. In this embodiment, a flat glass light window can be used, and the light blocking of the upper and lower edges of the whole machine can be further reduced, while the size of the whole machine is reduced, and the ranging of the center field of view of the whole machine is improved.

[0039] In an optional embodiment, the transmitting unit 04 includes an array laser 211, a transmitting lens group and a transmitting reflector 215, wherein the array laser 211 is used to transmit a laser beam, the transmitting lens group is used to collimate the laser beam, and the transmitting reflector 215 is used to reflect the collimated laser beam in both horizontal and vertical directions to change the propagation direction of the laser beam. Figure 2 As shown, Figure 2 This is a schematic diagram of a single movement in the laser radar system provided in the present application. The movement includes a transmitting unit 04 on the left and a receiving unit 05 on the right. The array laser 211 is used to transmit the array laser beam. The transmitting lens one 212, the transmitting lens two 213 and the transmitting lens three 214 constitute a transmitting lens group.

[0040] The laser radar transceiver system needs to have a high energy utilization rate, that is, high transmission efficiency and high receiving efficiency. The transmission efficiency is affected by the transmittance and reflectivity of the lens on the one hand, and by the light receiving ability of the lens design on the other hand. When the transmitting system meets the designed field of view angle, the divergence angle of the laser is also an important indicator that affects the light output efficiency. For lenses with large field of view and small size, in order to ensure the light output efficiency, it is beneficial to select a laser with a small divergence angle. When the laser divergence angle cannot be further reduced, microlenses and other solutions are usually used to reduce the laser divergence angle. According to the conservation of Gaussian beam parameter product, reducing the divergence angle will lead to an increase in the waist size, thereby increasing the spot size after collimation. This is unfavorable. At the same time, the microlens solution will increase costs, and will bring about problems such as complex assembly process and reduced precision. Based on this technical problem in the related technology, this application proposes the following two embodiments to solve this problem, as follows:

[0041] In an optional embodiment 1, as Figure 2 As shown, the emitting lens group and the array laser 211 are arranged on the same axis, and the emitting lens group includes a plurality of emitting lenses, wherein the lens arranged away from the array laser 211 among the plurality of emitting lenses is a convex lens, and the overall surface shape of the convex lens close to the array laser 211 is convex, or the edge portion of the side close to the array laser 211 is a convex surface. Figure 21 shows an embodiment in which the emitting lens group includes three emitting lenses. In this embodiment, the size and surface shape of the emitting lens three 214 are optimized. In this optional embodiment, by increasing the height size of the emitting lens one 212 and the emitting lens two 213, and optimizing the surface shape of the emitting lens three 214, as shown in FIG. Figure 2 In the figure shown, the entire surface of the transmitting lens 3 214 close to the laser is convex or the edge area of ​​the surface is convex, which is conducive to light collection. In a specific setting scheme, the transmitting lens 3 214 can be set closer to the laser to reduce the back focal length and also facilitate light collection. After the surface shape of the transmitting lens 3 214 is optimized, the ranging capability of the edge field of view of the laser radar system is increased from 60% to 90%.

[0042] In an optional second embodiment, a wedge mirror 228 is provided in the transmitting unit 04, and is provided at a position between the array laser 211 and the transmitting lens group. The wedge mirror 228 is used to deflect the laser beam of the edge field of view corresponding to the laser radar system toward the optical axis direction, so that the edge beam can be collimated by the lens as much as possible and then emitted. The shape of the wedge mirror 228 is a trapezoid, and the wedge angles on both sides of the trapezoid are designed according to the actual requirements of the beam deflection angle required. The long side of the wedge covers all lasers, and the short side is the height of the laser corresponding to the laser that can be fully emitted without beam deflection. The height of the wedge can be adjusted according to the actual wedge angle. The lasers corresponding to the wedge surfaces on both sides of the wedge mirror 228 are lasers that require beam deflection. The wedge angle can be given according to the deflection angle required by the most edge laser to ensure that all lasers can be fully emitted as much as possible. It is also possible to set a smaller angle as needed. Because the minimum deflection angle required for each edge laser is different, it can also be set to a wedge angle of different gradients, but this will lead to a complex process, and the increase in edges and angles will affect the imaging of the light spot. There is an edge between the wedge surface and the short side plane of the wedge mirror 228. This edge can be slowly transitioned through processes such as chamfering. Usually, the closer this edge is to the laser, the smaller the impact will be. Therefore, in this solution, the short side of the wedge mirror 228 is closer to the laser than the long side. Figure 3 As shown, Figure 3 This is a schematic diagram of a solution provided by the present application in which a wedge mirror 228 is arranged in front of the array laser 211 in the transmitting unit 04. Figure 3 In the embodiment shown, the wedge angle is 16°. In this embodiment, the six lasers at the upper and lower edges of the laser radar system need to be deflected by 8 degrees to achieve the most complete emission of light. Therefore, a 16-degree H-K9 wedge mirror 228 needs to be placed near the front surface of the six lasers at the edge. Considering the processing feasibility and the overall stray light, the wedge mirrors 228 at the two edges are combined into a trapezoidal structure.

[0043] It should be noted that the transmit and receive efficiency of the LiDAR system can be improved by optimizing the emitting lens, reducing lens vignetting, and collecting the light beam at the edge of the field of view, or by adopting the wedge mirror 228 solution.

[0044] In an optional embodiment, if Figure 2 In the schematic diagram of the movement, the receiving unit 05 includes a detector 221, a receiving lens group, a receiving reflector 225, a slit diaphragm 226 and a filter 227. The reflected light beam reflected by the target object is reflected by the receiving reflector 225 to the receiving lens group for convergence. The converged reflected light beam then passes through the filter 227 and the slit diaphragm 226 to reach the detector 221. The filter 227 is used to filter the non-effective band light in the reflected light beam and the ambient light, and the slit diaphragm 226 is used to block the stray light corresponding to the non-effective aperture in the reflected light beam and the ambient light corresponding to the non-effective aperture. Figure 2 As shown, Figure 2 An optional embodiment is shown. Figure 2 In the illustrated embodiment, the filter 227 is attached to the surface of the array detector 221 , and the slit aperture 226 is buckled onto the filter 227 .

[0045] In an optional embodiment, the transmitting reflector 215 is tilted at a target angle in the vertical direction, and the array laser 211 is also tilted at the target angle in the vertical direction. Similarly, the receiving reflector 225 is also tilted at a target angle in the vertical direction, and the detector 221 is also tilted at the target angle in the vertical direction. In the laser radar system provided by the present application, since the two movements realize the splicing of the upper and lower parts of the field of view through the reflectors tilted in the vertical direction, and from the perspective of the light output and receiving efficiency of the whole machine, the movement is placed horizontally. This will cause the movement to emit a light spot in a tilted state, which is not conducive to the consistency of the horizontal field of view scanning field of view. Therefore, the present application compensates for the tilt of the light spot by tilting the arrangement of the laser and the receiving detector 221, so that the movement full field of view light spot is in a vertical state. The tilt angle and direction of the laser and the receiving detector 221 are determined by the size of the pitch angle of the reflector. In order to save the occupied space of the movement and the PCB board, only the laser and the receiving detection surface can be tilted, while the outer contour of the PCB board still maintains a regular shape such as a rectangle to maximize the use of space. Figure 4 The schematic diagram of the embodiment provided in the present application shows that the array laser 211 and the emission reflector 215 are arranged in a vertically inclined manner, as shown in FIG. Figure 4 As shown, the array laser 211 and the emitting reflector 215 have a consistent tilt angle in the vertical direction. In one embodiment, the array laser 211 and the emitting reflector have a tilt angle of 17.5°. With this arrangement, the emitted light spot is a vertical light spot, compensating for the tilt angle of the light spot.

[0046] Similarly, the schematic diagram of the detector 221 and the receiving reflector 225 being arranged in a vertical tilt direction is shown in FIG. Figure 5 As shown, the tilt setting angle of the detector and the receiving reflector is consistent with the tilt angle of the array laser, which will not be elaborated here. Similarly, by maintaining the same tilt setting angle, the tilt of the light spot is compensated.

[0047] It should be noted that the emitting reflector is tilted at two angles at the same time, one is the vertical angle, and the other is the horizontal angle. In an optional embodiment of the present application, the horizontal inclination angle is 43°, which is used to deflect the laser beam in the horizontal direction to the rotating mirror. The second is 17.5° in the vertical direction. In order to tilt the laser beam by 17.5° in the vertical direction, the left movement reflector is tilted vertically by -17.5°, and the right movement reflector is tilted vertically by 17.5°. The field of view angle of each movement is 35°, which are spliced ​​into a vertical field of view angle range of 70° for the entire machine.

[0048] The movement is placed horizontally, and the emitting reflector is tilted vertically by 17.5°. If the array laser is vertical, the output light spot array is tilted by 17.5°. In order to make the output light spot array vertical, the array laser follows the tilt of 17.5°, achieving the effect of compensating the light spot tilt angle.

[0049] In an optional embodiment, the scanning system 01 is a rotating mirror system, which includes a multi-faceted rotating mirror, which is distributed on a mirror frame, is set at the same height, and rotates around the motor shaft during operation, and is set at different angles to the vertical Z axis. The multi-faceted mirror can be two, three or four faces. The laser beam is reflected by the rotating mirror system to the target object, and the signal beam reflected by the target object is reflected by the rotating mirror to the receiving reflector 225 and then reflected to the receiving unit 05. By rotating the rotating mirror system, the scanning of the horizontal field of view is realized, that is, the line point cloud is scanned into a surface point cloud.

[0050] It should be noted that there are different vertical angles between the multi-faceted mirrors. Taking three-faceted mirrors as an example, one of the mirrors is placed vertically, and the other two mirrors can be at an angle of ±α with the vertical direction. Other angles are also possible. Through mirrors with different numbers of faces and different angles, the number of lines in the point cloud in the vertical direction is multiplied.

[0051] The optical window of the laser radar system is usually a large plane of 0 degrees. During operation, additional holes are likely to appear. The present application provides an optional embodiment in which a ridge optical window 229 is installed on the light-emitting side of the housing. The schematic diagram of the ridge optical window 229 is as follows: Figure 6 As shown, by installing a roof light window 229 on the casing, the entire field of view can be achieved without holes, and at the same time, local ranging is not affected.

[0052] In the above-mentioned laser radar system provided by the embodiment of the present application, the left and right dual cores are designed with central symmetry, and the horizontal and vertical propagation directions of the core light beams are changed by using a reflector, which not only realizes the miniaturization of the optical system, but also the vertical field of view angle of the dual cores is spliced, so that the vertical field of view angle is doubled. The left and right cores are not distinguished, which reduces the difficulty of the process and is conducive to cost reduction and efficiency improvement. The horizontal setting of the core reduces the difficulty and cost of structural parts processing, making it easy to ensure the processing and assembly accuracy. On the other hand, it improves the space utilization rate and is conducive to the heat dissipation of the core. By optimizing the optical lens design or adding a wedge mirror 228 to the edge field of view of the laser array, the light output efficiency and receiving efficiency of the edge field of view are improved, and the range measurement of the edge field of view of the core is greater than 90% of the center field of view of the core. The solution of optimizing the design of the optical lens is more conducive to cost reduction and assembly process simplification. By the laser and the receiving detector 221 following the reflector to tilt around the optical axis, the problem of the tilt of the emission spot array caused by the horizontal core and the vertical tilt of the reflector can be solved. Thereby, the emission spot of the core maintains a vertical array and the receiving and transmitting imaging is aligned.

[0053] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0054] An embodiment of the present application also provides a vehicle, which includes a laser radar system provided by the present application above, and the laser radar system meets the size and performance requirements of the laser radar system in the field of autonomous driving.

[0055] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0056] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0057] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0059] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0060] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0061] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0062] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0063] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0064] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A laser radar system, characterized in that: include: A housing, a core structure and a scanning system, wherein the core structure and the scanning system are both arranged in a receiving cavity formed by the housing; The movement structure includes two movements; the movement includes a transmitting unit and a receiving unit, the transmitting unit is used to transmit a laser beam to a target object, the target object reflects the laser beam to obtain a reflected beam, the reflected beam is received by the receiving unit through a receiving optical path, the scanning system receives the propagated laser beam in the horizontal direction and realizes a horizontal field of view within a first preset angle range by rotation; wherein, The two movements are symmetrically arranged relative to the center point of the scanning system, the vertical distance between the center points of the two movements in the Z-axis direction is 2Z, and the vertical field of view of the two light-emitting devices is spliced ​​to achieve a vertical field of view within a second preset angle range.

2. The laser radar system according to claim 1, characterized in that: The emitting unit includes an array laser, an emitting lens group and an emitting reflector, wherein the array laser is used to emit the laser beam, the emitting lens group is used to collimate the laser beam, and the emitting reflector is used to reflect the collimated laser beam in both horizontal and vertical directions to change the propagation direction of the laser beam.

3. The laser radar system according to claim 1, characterized in that: The receiving unit includes a detector, a receiving lens group, a receiving reflector, a slit diaphragm and a filter. The reflected light beam reflected back by the target object is reflected by the receiving reflector to the receiving lens group for convergence. The converged reflected light beam then passes through the filter and the slit diaphragm to reach the detector, wherein the filter is used to filter the non-effective band light in the reflected light beam and the ambient light, and the slit diaphragm is used to block the stray light corresponding to the non-effective aperture in the reflected light beam and the ambient light corresponding to the non-effective aperture.

4. The laser radar system according to claim 2, characterized in that: The emitting lens group and the array laser are arranged on the same axis, and the emitting lens group includes a plurality of emitting lenses, wherein the lens arranged away from the array laser among the plurality of emitting lenses is a convex lens, and the overall surface shape of the side of the convex lens close to the array laser is convex, or the edge portion of the side close to the array laser is convex.

5. The laser radar system according to claim 2, characterized in that: The transmitting unit also includes a wedge mirror, which has a trapezoidal structure and is arranged between the array laser and the transmitting lens group. The wedge mirror is used to deflect the laser light beam of the edge field of view corresponding to the laser radar system toward the optical axis.

6. The laser radar system according to claim 5, characterized in that: The wedge angle of the wedge mirror is determined according to the deflection angle required by the single laser disposed at the edge of the array laser.

7. The laser radar system according to claim 2, characterized in that: The emitting reflective mirror is tilted at a target angle in a vertical direction, and the array laser is tilted at the target angle in the vertical direction.

8. The laser radar system according to claim 3, characterized in that: The receiving reflector is tilted at a target angle in a vertical direction, and the detector is tilted at the target angle in the vertical direction.

9. The laser radar system according to claim 1, characterized in that: The scanning system is a rotating mirror system, which includes a plurality of rotating mirrors, which are distributed on a mirror frame, are arranged at the same height, and rotate around a motor shaft during operation, and are arranged at different angles to the vertical Z axis.

10. The laser radar system according to claim 1, characterized in that: A ridge light window is installed on the light-emitting side of the housing shown.

11. A vehicle, characterized in that: The vehicle is provided with a laser radar system as claimed in any one of claims 1 to 10.

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