Light scanning system of laser radar and laser radar

Abstract

The invention provides an optical scanning system of a laser radar and the laser radar, in the optical scanning system, an optical transmitter is configured to transmit a detection light beam, and an optical receiver is configured to receive an echo generated after the detection light beam is reflected by an object and convert the echo into an electric signal. The light emitter and the light receiver are both in communication with the controller, and the light emitter and / or the light receiver and the controller are arranged on a circuit board. The scanners are configured to reciprocate on both sides of the equilibrium position, scan the probe beams to the outside of the lidar, and return echoes to the inside of the lidar. The light emitter and / or the light receiver and the controller are integrated on the same circuit board, so that the integration level of internal devices of the laser radar can be improved, the number of circuit boards is reduced, the cost is reduced, batch production is facilitated, and the size of the laser radar can be reduced; and the time utilization rate of the laser radar in the movement period of the scanner can be improved, and the capability of detecting long-distance objects by the laser radar can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of lidar, and in particular to an optical scanning system of a lidar and a lidar. Background Art

[0002] A lidar is a highly integrated sensor used to detect objects around the lidar and has wide applications in fields such as autonomous driving. With the development of technology and the improvement of application requirements, higher requirements are put forward for the miniaturization and cost control of lidars.

[0003] For existing lidars, especially the main lidar responsible for detection functions, the cost is very high. The complex optical, electronic, and mechanical structure designs inside the lidar, as well as the requirements for miniaturization and light weight of the lidar, make it difficult to reduce the processing cost and assembly cost of the lidar. The various optical devices and electronic devices provided inside the lidar need to meet the optical path design conditions and reduce signal interference, and it is difficult to balance low cost and miniaturization at the same time.

[0004] The content of the background art section is only the technology known to the inventor and does not of course represent the prior art in this field. Summary of the Invention

[0005] In view of one or more defects in the prior art, the present disclosure provides an optical scanning system of a lidar, including:

[0006] An optical transmitter configured to emit a detection beam;

[0007] An optical receiver configured to receive an echo generated after the detection beam is reflected by an object and convert it into an electrical signal;

[0008] A controller, where both the optical transmitter and the optical receiver communicate with the controller, and the optical transmitter and / or the optical receiver and the controller are arranged on a circuit board; and

[0009] A scanner configured to reciprocate on both sides of a balanced position, scan the detection beam outside the lidar, and return the echo back into the lidar.

[0010] Optionally, the optical scanning system further includes:

[0011] A beam splitter disposed in the optical path between the scanner and the optical transmitter and in the optical path between the scanner and the optical receiver, configured to receive the detection beam, transmit the detection beam and then transmit it to the scanner, and receive the echo from the scanner, reflect the echo and then transmit it to the optical receiver.

[0012] Optionally, the optical scanning system further includes:

[0013] A beam splitter disposed in the optical path between the scanner and the light emitter and in the optical path between the scanner and the light receiver, configured to receive the detection beam, transmit the detection beam after reflection to the scanner, and receive the echo from the scanner and transmit the echo after transmission to the light receiver.

[0014] Optionally, the optical scanning system further includes:

[0015] An emission lens disposed in the optical path between the light emitter and the beam splitter, configured to receive the detection beam and collimate the detection beam; and

[0016] A receiving lens disposed in the optical path between the light receiver and the beam splitter, configured to receive the echo and converge the echo onto the light receiver.

[0017] Optionally, the optical scanning system further includes:

[0018] At least one mirror disposed in the optical path between the light emitter and the beam splitter and / or in the optical path between the beam splitter and the light receiver, configured to change the optical path direction of the detection beam and / or the echo.

[0019] Optionally, the optical axis of the emission lens and the optical axis of the receiving lens are both parallel to the circuit board; the mirror is disposed in the optical path between the light emitter and the emission lens and / or in the optical path between the receiving lens and the light receiver.

[0020] Optionally, the light emitter and the controller are disposed on the circuit board, the optical axis of the emission lens is parallel to the circuit board, and the mirror is disposed in the optical path between the light emitter and the emission lens to reflect the detection beam to the emission lens; or

[0021] The light receiver and the controller are disposed on the circuit board, the optical axis of the receiving lens is parallel to the circuit board, and the mirror is disposed in the optical path between the light receiver and the receiving lens to reflect the echo to the light receiver.

[0022] Optionally, the optical transmitter, the optical receiver, and the controller are all disposed on the circuit board. The optical scanning system includes two mirrors, which are respectively disposed in the optical path between the optical transmitter and the transmitting lens, and in the optical path between the optical receiver and the receiving lens, to reflect the detection beam to the transmitting lens and reflect the echo to the optical receiver.

[0023] Optionally, the optical transmitter, the optical receiver, and the controller are all disposed on the circuit board.

[0024] The optical axis of the receiving lens is perpendicular to the circuit board, the optical axis of the transmitting lens is parallel to the circuit board, and the detection beam emitted by the optical transmitter is incident on the transmitting lens after changing direction through the mirror; or, the optical axis of the transmitting lens is perpendicular to the circuit board, the optical axis of the receiving lens is parallel to the circuit board, and after the echo passes through the receiving lens, it is reflected by the mirror to the optical receiver.

[0025] Optionally, the optical splitter includes a reflective portion and a transmissive portion. The reflective portion is configured to reflect the beam incident on the reflective portion, and the transmissive portion is configured to transmit the beam incident on the transmissive portion.

[0026] Optionally, the optical scanning system further includes:

[0027] A common lens, which is disposed in the optical path between the optical splitter and the scanner, and is configured to receive the detection beam and collimate the detection beam, and receive the echo and converge the echo.

[0028] Optionally, the optical scanning system further includes:

[0029] A support member, which is fixedly connected to the circuit board. The transmitting lens, the receiving lens, the optical splitter, the mirror, and the common lens are all fixedly mounted on the support member.

[0030] Optionally, the support member is integrally formed of a metal or an organic polymer material, and the deformation amount of the support member within the temperature range of -40°C to 120°C is less than a preset threshold.

[0031] Optionally, the support member includes a hollow portion and a strengthening portion. The hollow portion is configured to reduce the weight of the support member; the strengthening portion is configured to improve the structural strength of the support member.

[0032] Optionally, the scanner includes a scanning mirror and a driver. The scanning mirror is connected to the driver, and the driver drives the scanning mirror to reciprocate on both sides of the equilibrium position around a rotation axis.

[0033] Optionally, when the scanning mirror is in the balanced position, the included angle between the detection beam and the scanning mirror is 30°-40°.

[0034] Optionally, the movement stroke range of the scanning mirror on one side of the balanced position is 15°-30°.

[0035] Optionally, the driver includes a stator and a rotor, the scanning mirror is arranged on the rotor, and the rotor drives the scanning mirror to reciprocate on both sides of the balanced position around the rotation axis.

[0036] Optionally, the driver further includes:

[0037] A fixed magnet, which is fixedly arranged;

[0038] A moving magnet, which is arranged on the rotor and moves with the rotor;

[0039] The fixed magnet and the moving magnet are configured such that when the scanning mirror deviates from the balanced position, the magnetic force between the fixed magnet and the moving magnet causes the scanning mirror to return to the balanced position.

[0040] Optionally, the frequency of the reciprocating motion of the scanning mirror is the frequency corresponding to the peak of the frequency response of the scanner.

[0041] Optionally, both the light emitter and the controller are arranged on the circuit board. The light emitter includes a plurality of lasers arranged in an array on the circuit board. The reflector is configured to reflect the detection beams emitted by the plurality of lasers to the scanning mirror, and the detection beams emitted by the plurality of lasers exit from the lidar through the scanning mirror to form the vertical field of view of the lidar.

[0042] Optionally, the rotation axis of the rotor is arranged in the vertical direction, and the scanning mirror is driven to scan the detection beam in the horizontal direction to form the horizontal field of view of the lidar.

[0043] Optionally, the light emitter is configured to emit detection beams within the stroke range of the reciprocating motion of the scanning mirror.

[0044] Optionally, the light emitter includes a plurality of lasers arranged in an array, the light receiver includes a plurality of detectors arranged in an array, and the plurality of lasers and the plurality of detectors correspond one by one; or

[0045] The light emitter includes a plurality of lasers arranged in an array or a two-dimensional array laser that can be activated in sub-regions. The light receiver includes a two-dimensional array detector configured to selectively activate a detection region. Each laser or an activated region of the two-dimensional array laser corresponds to an activated region of the two-dimensional array detector.

[0046] Optionally, the controller is configured to obtain information about an object based on the electrical signal.

[0047] Optionally, the present disclosure further includes a lidar, which includes:

[0048] A housing provided with a window thereon;

[0049] The optical scanning system as described above, which is disposed inside the housing, and both the detection beam and the echo can be transmitted through the window.

[0050] Optionally, the lidar further includes a base, and the housing is fixedly connected to the base to form a receiving cavity, and the optical scanning system is disposed in the receiving cavity.

[0051] Optionally, the window is disposed on a side of the housing close to the scanner.

[0052] Optionally, the window is obliquely intersected with the principal optical axis of the detection beam.

[0053] Some embodiments of the present disclosure provide an optical scanning system of a lidar. In the optical scanning system, a light emitter and a light receiver respectively emit a detection beam and receive an echo. Integrating the light emitter and / or the light receiver with a controller on the same circuit board can improve the integration of internal components of the lidar, reduce the number of circuit boards, lower costs, facilitate mass production, and enable the circuit board in the lidar to extend in one direction, reducing the space occupied by the circuit board and being beneficial to reducing the size of the lidar. For example, the light emitter, the light receiver, and the controller are jointly disposed on a circuit board in the horizontal direction, which can reduce the size of the lidar in the vertical direction. The scanner reciprocates on both sides of the equilibrium position, which can improve the time utilization rate of the lidar during the movement cycle of the scanner, reduce the time when detection data cannot be obtained during the movement cycle of the scanner, and is beneficial to improving the ability of the lidar to detect distant objects.

[0054] Some embodiments of the present disclosure further include a lidar that applies the aforementioned optical scanning system. The integration degree of the internal components of the lidar is higher, reducing the number of circuit boards in the lidar, lowering costs, facilitating mass production, and being able to reduce the size of the lidar. At the same time, it can also improve the time utilization rate of the lidar during the movement cycle of the scanner, reduce the time when detection data cannot be obtained during the movement cycle of the scanner, and is beneficial to improving the ability of the lidar to detect distant objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings:

[0056] Figure 1 An exploded schematic diagram of the optical scanning system in some embodiments of the present disclosure is shown;

[0057] Figure 2 A top view of the optical scanning system in some embodiments of the present disclosure is shown;

[0058] Figure 3A and Figure 3B Schematic diagrams of beam splitters in different embodiments of the present disclosure are shown;

[0059] Figures 4A - 4C Optical path schematic diagrams of the optical scanning system in different embodiments of the present disclosure are shown;

[0060] Figures 5A - 5C Schematic diagrams of support members in different embodiments of the present disclosure are shown;

[0061] Figure 6 A structural schematic diagram of the scanner in some embodiments of the present disclosure is shown;

[0062] Figure 7 A frequency response curve of the scanner in some embodiments of the present disclosure is shown;

[0063] Figure 8 A corresponding schematic diagram of the irradiation position of the optical emitter on the scanning mirror in some embodiments of the present disclosure is shown;

[0064] Figures 9A - 9C Corresponding schematic diagrams of the optical emitter and the optical receiver in different embodiments of the present disclosure are shown;

[0065] Figure 10 An exploded schematic diagram of the lidar in some embodiments of the present disclosure is shown;

[0066] Figure 11 A structural schematic diagram of the lidar in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0067] In the following text, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the accompanying drawings and the description are considered to be exemplary in nature rather than restrictive.

[0068] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless otherwise specifically and clearly defined.

[0069] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection: it may be a mechanical connection, an electrical connection or may communicate with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0070] In the present disclosure, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0071] The following disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. To simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0072] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for the purpose of illustrating and explaining the present disclosure and are not intended to limit the present disclosure.

[0073] The present disclosure provides an optical scanning system for a lidar, wherein the optical scanning system includes an optical transmitter, an optical receiver, a controller, and a scanner. The optical transmitter is configured to emit a detection beam; the optical receiver is configured to receive the echo generated after the detection beam is reflected by an object and convert it into an electrical signal; both the optical transmitter and the optical receiver communicate with the controller, and the optical transmitter and / or the optical receiver and the controller are disposed on a circuit board; the scanner is configured to reciprocate on both sides of a balanced position, scan the detection beam outside the lidar, and return the echo back into the lidar.

[0074] In some embodiments of the present disclosure, the optical transmitter and / or the optical receiver can be integrated with the controller on the same circuit board, which can improve the integration of components inside the lidar, reduce the number of circuit boards, and lower the cost. And it can also optimize the setting position of the circuit board, reduce the space occupied by the circuit board, and reduce the size of the lidar. The scanner reciprocates on both sides of the balanced position, which can improve the time utilization rate of the lidar during the movement cycle of the scanner, reduce the time when detection data cannot be obtained during the movement cycle of the scanner, and is beneficial to improving the ability of the lidar to detect distant objects.

[0075] Figure 1 and Figure 2 shows the specific structure of the optical scanning system 110 in some embodiments of the present disclosure. The following will be described in conjunction with Figure 1 and Figure 2 to illustrate the optical scanning system 100.

[0076] As Figure 1As shown, the optical scanning system 100 includes an optical transmitter 110, an optical receiver 120, a controller C, and a scanner 130. The optical transmitter 110 is capable of emitting a detection beam. For example, the optical transmitter 110 includes one or more lasers, and the lasers are capable of emitting laser beams, which serve as the detection beams of the lidar. The optical receiver 120 is capable of receiving the echo generated after the detection beam is reflected by an object and converting the echo into an electrical signal. For example, the optical receiver 120 includes one or more photodetectors. After the echo irradiates on the photodetectors, the optical signal is converted into an electrical signal.

[0077] Both the optical transmitter 110 and the optical receiver 120 communicate with the controller C. As Figure 1 shown, the optical transmitter 110 and the controller C are disposed on a circuit board 140. The controller C can be a chip integrated on the circuit board 140. For example, the controller can control the optical transmitter 110 to emit a detection beam and control the optical receiver 120 to receive the echo, etc. For another example, the controller C can also be configured to receive the electrical signal converted from the optical signal by the optical receiver 120 and process the electrical signal to obtain the three-dimensional spatial position information and surface reflectivity information of the object reflecting the detection beam, etc.

[0078] As Figure 1 shown, in some embodiments, the optical transmitter 110 and the controller C are disposed on the circuit board 140. By adjusting the optical path directions of the detection beam and the echo, the optical transmitter 110 and the controller C share the same board, reducing the number of circuit boards in the lidar and shrinking the space occupied by the circuit boards, which can reduce the size of the lidar, such as reducing the height of the lidar. When the lidar is applied in the field of autonomous driving, shrinking the size of the lidar can also reduce the wind resistance of the vehicle during driving.

[0079] The optical receiver 120 can be disposed on another circuit board 141. The other circuit board 141 is different from the circuit board 140, and the circuit board 141 provided with the optical receiver 120 can have a certain angle with the circuit board 140 provided with the optical transmitter 110 and the controller C. For example Figure 1 it is approximately 90° in

[0080] order to cooperate with the optical path direction of the echo so that the echo can irradiate on the optical receiver 120.

[0081] In some embodiments of the present disclosure, the optical transmitter 110, the optical receiver 120, and the controller C are all disposed on the same circuit board 140. The optical path directions of the detection beam and the echo can be changed by setting optical devices, and the optical paths of the detection beam and the echo will be described in subsequent embodiments.

[0082] As Figure 1 and Figure 2 shown, in some embodiments of the present disclosure, the optical scanning system 100 further includes a scanner 130. The scanner 130 can scan the detection beam outside the lidar and return the echo to the inside of the lidar. The scanner 130 can reciprocate on both sides of the equilibrium position. The equilibrium position is, for example, the middle position of the movement stroke range of the scanner 130. Taking the movement stroke range of the scanner 130 as 60 degrees as an example, the scanner 130 has a movement stroke range of 30 degrees on both sides of the equilibrium position. For example Figure 2 the position of the scanner 130 in Figure 2 is the equilibrium position. In the plane shown in

[0083] the scanner 130 is arranged to swing reciprocally on both sides of the equilibrium position, changing the optical path directions of the detection beam and the echo on the scanner 130. For example, when the detection beam irradiates on the scanner 130, the outgoing direction of the detection beam is changed as the scanner 130 moves, forming the scanning field of view of the lidar. The echo can be received by the scanner 130 and reflected into the lidar, and received by the optical receiver 120.

[0084] In some embodiments of the present disclosure, the scanner 130 is used to scan the detection beam and the echo, which can reduce the number of components in the lidar, reduce the cost of the lidar, and reduce the size of the lidar.

[0085] In some embodiments of the present disclosure, both the detection beam and the echo are scanned by the scanner 130, and the detection beam and the echo can be shaped by the same optical lens, which can reduce the number of optical devices in the lidar, reduce the cost of the lidar, and is beneficial to mass production.

[0086] In some embodiments of the present disclosure, the optical scanning system 100 further includes a beam splitter 150, which is configured to reflect and transmit incident light. The beam splitter 150 is disposed in the optical path between the scanner 130 and the light emitter 110, and in the optical path between the scanner 130 and the light receiver 120. For example, the beam splitter 150 is disposed in the optical path of the detection beam and in the optical path of the echo. The beam splitter 150 can split the detection beam and the echo. Accordingly, the positions of the light emitter 110 and the light receiver 120 can be adjusted such that the detection beam can be transmitted toward the scanner 130 and the echo can be transmitted toward the light receiver 120. In some embodiments, the beam splitter 150 can be one of a partial reflection beam splitter, a partial transmission beam splitter, and a polarization beam splitter.

[0087] In some embodiments of the present disclosure, the beam splitter 150 includes a reflective portion and a transmissive portion, wherein the reflective portion and the transmissive portion are disposed in different regions of the beam splitter. The reflective portion can reflect the beam incident on the reflective portion. For example, the reflective portion includes a high-reflectivity film, which can change the optical path direction of the beam. The echo is incident on the reflective portion, and the reflective portion disposed at an appropriate angle can reflect the echo onto the light receiver 120. The transmissive portion can transmit the beam incident on the transmissive portion. For example, the transmissive portion includes a low-reflectivity film, which can not change the optical path direction of the beam. The detection beam is incident on the transmissive portion and is transmitted.

[0088] In some embodiments of the present disclosure, as Figure 3A and Figure 3B shown, the beam splitter 150 can be arranged in a sheet structure, wherein the reflective portion and the transmissive portion are respectively located in different regions of the sheet structure. The following will be described in detail with reference to Figure 3A and 3B for details.

[0089] In some embodiments of the present disclosure, as Figure 3A shown, the center of the sheet-structured beam splitter 150 has a through hole, forming a transmissive portion 152. The beam incident on the transmissive portion 152 can directly pass through. The portion around the through hole forms a reflective portion 151. A film made of a high-reflectivity material is formed on the surface of the reflective portion 151, and the beam incident on the reflective portion 151 will be reflected. In some embodiments, the transmissive portion 152 is solid, and a film made of a low-reflectivity material can be formed on the surface of the transmissive portion 152 to transmit the beam incident on the transmissive portion 152.

[0090] In some other embodiments of the present disclosure, as Figure 3B shown, the central portion of the sheet-structured beam splitter 150 is solid. For example, a high-reflectivity film is formed on its surface to form a reflective portion 151. The portion around the reflective portion 151 forms a transmissive portion 152. For example, a film made of a low-reflectivity material can be formed on the surface of the transmissive portion 152 to transmit the beam incident on the transmissive portion 152.

[0091] In some embodiments of the present disclosure, as in Figure 3A the embodiment shown, the light-transmitting portion 152 in the beam splitter 150 can be configured to receive the detection beam, so that the detection beam is transmitted through the beam splitter 150 and transmitted to the scanner 130, and the light-reflecting portion 151 can also receive the echo from the scanner 130, so that the echo is reflected at the beam splitter 150 and transmitted to the optical receiver 120. In some other embodiments of the present disclosure, as in Figure 3B the embodiment shown, the light-reflecting portion 151 in the beam splitter 150 is configured to receive the detection beam, so that the detection beam is reflected and transmitted to the scanner 130, and the light-transmitting portion 152 can also receive the echo from the scanner 130, so that the echo is transmitted and transmitted to the optical receiver 120.

[0092] The beam splitter 150 transmits and reflects the detection beam and the echo respectively, which can provide greater freedom for the optical path design of the detection beam and the echo, and avoid conflicts in the arrangement positions of the light emitter 110 and the optical receiver 120, and form a coaxial optical path for the detection beam and the echo, and can share a set of optical lenses for shaping.

[0093] As Figures 4A - 4C shown, in some embodiments of the present disclosure, the optical scanning system 100 further includes a transmitting lens 161 and a receiving lens 162. The transmitting lens 161 is disposed in the optical path between the light emitter 110 and the beam splitter 150. For example, the transmitting lens 161 is disposed in the optical path of the detection beam. The transmitting lens 161 is configured to be able to receive the detection beam emitted by the light emitter 110 and collimate the detection beam. The detection beam emitted by the light emitter 110 is collimated and then emitted, which can reduce the divergence angle of the laser beam, improve the optical power of the detection beam per unit area, and is beneficial to improving the ability of the lidar to detect distant objects. The transmitting lens 161 is not limited to Figures 4A - 4C a single lens as shown in, and can also be a lens group including multiple lenses, which is set according to the actual use requirements of the lidar and the parameters of other components. For example, according to parameters such as the divergence angle of the detection beam emitted by the light emitter 110 and the distance between the light emitter 110 and the transmitting lens 161, the lens or lens group is set to collimate the detection beam.

[0094] The receiving lens 162 is disposed in the optical path between the optical receiver 120 and the beam splitter 150. The receiving lens 162 can receive the echo reflected or transmitted by the beam splitter 150 and converge the echo onto the optical receiver 120. For example, the receiving lens 162 can be a single lens or a lens group including multiple lenses. The receiving lens 162 converges the echo so that the convergence position of the echo corresponds to the optical receiver 120. For example, the receiving lens 162 is arranged such that the focal point is on the surface of the optical receiver 120, which can reduce the area of the optical receiver 120.

[0095] In some embodiments of the present disclosure, the optical scanning system 100 further includes at least one mirror 170. The mirror 170 can reflect the light beam to change the optical path direction of the light beam. The mirror 170 is disposed in the optical path between the light emitter 110 and the beam splitter 150 (as Figure 1 and Figure 4A shown), and / or disposed in the optical path between the beam splitter 150 and the optical receiver 120 (as Figure 4B shown). For example, the mirror 170 can be disposed in the optical path of the detection beam, or in the optical path of the echo, or mirrors 170 can be disposed in both the optical path of the detection beam and the optical path of the echo. The mirror 170 changes the optical path direction of the detection beam and / or the echo, enabling a higher degree of freedom in the arrangement positions of the light emitter 110 and the optical receiver 120. For example, it can make the light emitter 110 and / or the optical receiver 120 coplanar with the controller C and disposed on the same circuit board 140.

[0096] The position of the mirror 170 is not restricted by the positions of the transmitting lens 161 and the receiving lens 162. In some embodiments, in the optical path of the detection beam, the mirror 170 can be disposed in the optical path between the light emitter 110 and the transmitting lens 161. In some embodiments, in the optical path of the echo, the mirror 170 can be disposed in the optical path between the receiving lens 162 and the optical receiver 120. The position of the mirror 170 can be adjusted according to the structure of the lidar to reduce the size of the lidar and the assembly difficulty of the lidar.

[0097] Some embodiments of the present disclosure provide various optical systems in which the light emitter 110 and / or the optical receiver 120 are integrated with the controller C on the same circuit board 140. Details are described below.

[0098] Figures 4A - 4C The optical paths of the optical scanning system 100 in different embodiments of the present disclosure are shown. Below, in combination with Figures 4A - 4C the different optical paths will be described.

[0099] As Figure 4AAs shown, in some embodiments of the present disclosure, the light emitter 110 and the controller C are disposed on the circuit board 140. The optical axis of the emission lens 161 is parallel to the circuit board 140. The mirror 170 is disposed in the optical path between the light emitter 110 and the emission lens 161 to reflect the detection beam to the emission lens 161. The receiving lens 162 is disposed in the optical path between the optical receiver 120 and the beam splitter 150. The optical axis of the receiving lens 162 is perpendicular to the circuit board 141, and the angle between the circuit board 141 and the circuit board 140 can be adjusted according to the structure of the lidar.

[0100] In some embodiments of the present disclosure, the optical axes of both the emission lens 161 and the receiving lens 162 are parallel to the circuit board 140. For example, Figure 4A as shown. The mirror 170 is disposed in the optical path between the light emitter 110 and the emission lens 161, where Figure 4A the arrows therein indicate the optical path directions of the detection beam and the echo.

[0101] The light emitter 110 and the controller C are integrated on the circuit board 140, and the optical receiver 120 is disposed on the circuit board 141. The detection beam emitted by the light emitter 110 is transmitted toward the emission lens 161 after being reflected by the mirror 170. For example, the main optical axis of the detection beam emitted by the light emitter 110 is perpendicular to the circuit board 140, the incident angle of the detection beam on the mirror 170 is 45°, and after being reflected by the mirror 170, the detection beam is transmitted along the optical axis direction of the emission lens 161 and collimated by the emission lens 161. The echo is reflected by the beam splitter 150, converged by the receiving lens 162, and incident on the optical receiver 120. The circuit board 141 where the optical receiver 120 is located can be set to be substantially perpendicular to the circuit board 140.

[0102] In some other embodiments of the present disclosure, in the optical scanning system 100, the optical receiver 120 and the controller C are disposed on the circuit board 140. The optical axis of the receiving lens 162 is parallel to the circuit board 140. The mirror 170 is disposed in the optical path between the optical receiver 120 and the receiving lens 162 to change the optical path direction of the echo and reflect the echo onto the optical receiver 120. The emission lens 161 is disposed in the optical path between the light emitter 110 and the beam splitter 150. The optical axis of the emission lens 161 is perpendicular to the circuit board 141.

[0103] The mirror 170 can also be disposed in the optical path between the receiving lens 162 and the optical receiver 120. The detection beam emitted by the light emitter 110 is parallel to the optical axis of the emission lens 161, and the optical receiver 120 and the controller C are disposed on the circuit board 140. As Figure 4A shown, the positions of the light emitter 110 and the optical receiver 120 are interchanged, and the positions of the emission lens 161 and the receiving lens 162 are interchanged.

[0104] As Figure 4B shown, in some other embodiments of the present disclosure, the optical scanning system 100 includes two mirrors 170. The optical transmitter 110, the optical receiver 120, and the controller C are all disposed on the circuit board 140. The optical axes of the transmitting lens 161 and the receiving lens 162 are both parallel to the circuit board 140. The two mirrors 170 are respectively disposed in the optical path between the optical transmitter 110 and the transmitting lens 161, and in the optical path between the optical receiver 120 and the receiving lens 162, for changing the optical path directions of the detection beam and the echo.

[0105] The detection beam emitted by the optical transmitter 110 is reflected by the mirror 170 and then incident on the transmitting lens 161. After being collimated, it is incident on the beam splitter 150. The echo reflected by the beam splitter 150 is converged by the receiving lens 162, then reflected by another mirror 170, and received by the optical receiver 120. Both mirrors 170 are disposed at an angle of 45° with respect to the circuit board 140. The main optical axis of the detection beam reflected by the mirror 170 is parallel to the optical axis of the transmitting lens 161, and the main optical axis of the echo reflected by the mirror 170 is perpendicularly incident on the surface of the optical receiver 120.

[0106] As Figure 4C shown, in some other embodiments of the present disclosure, the optical transmitter 110, the optical receiver 120, and the controller C are all disposed on the circuit board 140, and the optical axis of the receiving lens 162 is perpendicular to the circuit board 140, and the optical axis of the transmitting lens 161 is parallel to the circuit board 140. The mirror 170 is disposed in the optical path between the optical transmitter 110 and the transmitting lens 161. The detection beam emitted by the optical transmitter 110 is reflected by the mirror 170 and then incident on the transmitting lens 161 for collimation. The echo is reflected by the beam splitter 150, then converged by the receiving lens 162, and incident on the optical receiver 120.

[0107] In some other embodiments of the present disclosure, the transmitting lens 161 can also be disposed such that its optical axis is perpendicular to the circuit board 140, the optical axis of the receiving lens 162 is parallel to the circuit board 140, and after the echo is converged by the receiving lens 162, it is reflected by the mirror 170 to the optical receiver 120. For example Figure 4C shown, the positions of the optical transmitter 110 and the optical receiver 120 can be interchanged, and the transmitting lens 161 and the receiving lens 162 are also correspondingly interchanged. In some other embodiments of the present disclosure, the optical axes of the transmitting lens 161 and the receiving lens 162 can also be disposed such that both optical axes are perpendicular to the circuit board 140 and correspond to the optical transmitter 110 and the optical receiver 120 respectively. The mirror 170 is disposed in the optical path between the transmitting lens 161 and the beam splitter 150, and / or in the optical path between the receiving lens 162 and the beam splitter 150.

[0108] In some other embodiments of the present disclosure, the optical axes of the transmitting lens 161 and the receiving lens 162 are both perpendicular to the circuit board 140, and the mirror 170 is disposed in the optical path between the transmitting lens 161 and the beam splitter 150, and / or in the optical path between the receiving lens 162 and the beam splitter 150. The angle between the mirror 170 and the circuit board 140 is set to 45°. After being collimated by the transmitting lens 161, the detection beam is reflected by the mirror 170 to the beam splitter 150. After being reflected by the mirror 170, the echo is converged by the receiving lens 162 onto the optical receiver 120.

[0109] As Figure 1 and Figure 2 shown, in some embodiments of the present disclosure, the optical scanning system 100 further includes a common lens 180, and the common lens 180 is disposed in the optical path between the beam splitter 150 and the scanner 130. Both the detection beam and the echo pass through the common lens 180. The common lens 180 can receive the detection beam passing through the beam splitter 150, collimate the detection beam, and can also receive the echo reflected by the scanner 130, converge the echo, and then emit it to the beam splitter 150. The common lens 180 can be a single lens or a lens group including multiple lenses, and this is not limited.

[0110] In some embodiments of the present disclosure, as Figures 5A - 5C shown, the optical scanning system 100 further includes a support member 190, wherein the support member 190 is fixedly connected to the circuit board 140. For example, there are through holes on the circuit board 140, and corresponding through holes or counterbores on the support member 190, and the circuit board 140 and the support member 190 are fixedly connected by bolts. In some embodiments of the present disclosure, the support member 190 and the circuit board 140 can also be connected by means of buckles, adhesives, etc. The provision of the support member 190 can fix and protect the optical devices and the circuit board 140 to improve the structural stability of the lidar.

[0111] In some embodiments of the present disclosure, the support member 190 can fixedly mount the transmitting lens 161, the receiving lens 162, the beam splitter 150, the mirror 170, and the common lens 180, and hold the above optical devices at preset positions in the support member 190, which can maintain the stability of the optical path.

[0112] The support member 190 may have a mounting portion 191. According to the preset optical path, the mounting portion 191 can fixedly mount optical devices such as the transmitting lens 161, the receiving lens 162, the beam splitter 150, the mirror 170, and the common lens 180. The mounting portion 191 can be processed into different structures such as slots, inclined surfaces, etc.

[0113] Figures 5A - 5C in which the structures of the support member 190 are respectively the same as Figures 4A - 4Ccorresponds to the optical path shown in the figure, where the emission lens 161, the reception lens 162, and the common lens 180 can be embedded in the mounting portion 191 having a slot shape in the support member 190. The beam splitter 150 and the mirror 170 can be mounted on the mounting portion 191 having an inclined surface shape with a preset angle in the support member 190. The optical path distance between the optical devices is also controlled by the support member 190. For example, the optical path distance between the emission lens 161 and the light emitter 110, the optical path distance between the common lens 180 and the emission lens 161 and the reception lens 162, etc.

[0114] In some embodiments of the present disclosure, the support member 190 is integrally formed of a metal material or an organic polymer material. For example, the support member 190 is made of an organic polymer material, which can reduce the weight of the lidar. The support member 190 can fix various optical devices in the optical scanning system 100, preventing the displacement of the optical devices caused by the deformation of the support member 190 and affecting the normal operation of the lidar. In some embodiments of the present disclosure, the support member 190 is configured such that the deformation amount within the temperature range of -40°C to 120°C is less than a preset threshold, and the preset threshold is set according to the specific application scenario of the lidar. For example, the preset threshold is 0.1 mm.

[0115] In some embodiments of the present disclosure, the support member 190 further includes a reinforcing portion 192. The reinforcing portion 192 can be structures such as reinforcing ribs and rib plates. For example, it is provided at the circumferential position of the support member 190, which can improve the structural strength of the support member 190 and can also be used as a positioning member or a fixing member to connect with other structures in the lidar.

[0116] In some embodiments of the present disclosure, as Figure 5C shown, the support member 190 may further include a hollowed-out portion 193. The hollowed-out portion 193 can reduce the weight of the support member 190. At the position in the support member 190 that does not block the optical path of the detection beam and the echo, a part of the structure in the support member 190 can be removed to reduce the overall weight of the lidar on the premise of ensuring the structural strength.

[0117] Figure 6 shows the structure of the scanner 130 in some embodiments of the present disclosure. The scanner 130 will be described below in conjunction with Figure 6 this.

[0118] In some embodiments of the present disclosure, the scanner 130 includes a scanning mirror 131 and a driver 132. The scanning mirror 131 is disposed on the driver 132, and the driver 132 is configured to drive the scanning mirror 131 to reciprocate on both sides of the balance position around the rotation axis.

[0119] The scanning mirror 131 can be a reflector that reflects the light beam incident thereon. After the detection light beam is reflected by the scanning mirror 131, it exits the lidar to the outside, and the echo can also be reflected by the scanning mirror 131 into the interior of the optical scanning system 100. For example, after the echo is reflected by the scanning mirror 131, it passes through the shared lens 180, the beam splitter 150, and the receiving lens 162 in sequence and is received by the optical receiver 120.

[0120] In some embodiments of the present disclosure, the scanning mirror 131 is arranged to be driven by the driver 132 to reciprocate on both sides of the equilibrium position. Compared with a unidirectional rotating scanner having four or more reflectors, the scanner 130 in this embodiment is provided with only one reflector, and the cost is greatly reduced. The driver 132 can be arranged side by side with the scanning mirror 131 and extends laterally in the plane shown in Figure 2 The overall structural size of the scanner 130 is smaller, for example, the height in the axis direction is smaller, which is beneficial to reducing the size of the lidar.

[0121] In some embodiments of the present disclosure, the scanner 130 has a higher time utilization rate. When a reflector of a unidirectional rotating scanner with multiple reflectors rotates to a position where the detection light beam irradiates and is in the edge area of the reflector, the outgoing direction of the reflected light of the detection light beam on the reflector surface has exceeded the field of view of the lidar, and the detection light beam reflected in the edge area of the reflector cannot detect an object. Taking a unidirectional rotating scanner with four reflectors as an example, the angular range (e.g., 60°) of the central area on each reflector corresponds to the field of view of the lidar (e.g., 120°), and the angular ranges (e.g., 15° on each side) of the edge areas on both sides of the reflector exceed the field of view of the lidar, and the detection light beam reflected in the edge area cannot detect an object. There is a certain angular range (e.g., 120°) within one motion cycle (e.g., rotating 360°) of the unidirectional rotating scanner that cannot detect an object. In some embodiments of the present disclosure, the stroke range of the reciprocating motion of the scanner 130 on both sides of the equilibrium position can be set to correspond to the field of view of the lidar. For example, the stroke range of the driver 132 driving the scanning mirror 131 to reciprocate is 60°, and the corresponding horizontal field of view of the lidar is 120°. During the entire motion cycle of the scanner, the reflected detection light beam can detect the objects within the field of view of the lidar. The light emitter 110 can be arranged to emit detection light beams within the stroke range of the reciprocating motion of the scanning mirror 131 to detect the objects within the field of view of the lidar.

[0122] In some embodiments of the present disclosure, the scanning mirror 131 is arranged to reciprocate within a stroke range of 15° - 30° on one side of the equilibrium position. For example, the movement stroke range of the scanning mirror 131 on one side of the equilibrium position is 30°. The movement stroke ranges of the scanning mirror 131 on both sides of the equilibrium position are symmetric with respect to the equilibrium position. The reciprocating stroke range of the scanning mirror 131 is 60°. The detection beam is scanned by the reciprocating scanning mirror 131, and the horizontal field of view of the lidar formed is 120°.

[0123] In some embodiments of the present disclosure, when the scanning mirror 131 is located at the equilibrium position, the angle between the detection beam and the scanning mirror 131 is between 30° and 40°, for example, 35°. As Figure 6 shown, the driver 132 is arranged on one side of the scanning mirror 131 to reduce the height of the scanner 130 in the axial direction of the rotation axis. By adjusting the angle between the scanning mirror 131 and the detection beam at the equilibrium position, the lateral dimension of the optical scanning system 100 (the lateral dimension shown in Figure 2 ) can be reduced, as well as the size of the lidar.

[0124] As Figure 6 shown, in some embodiments of the present disclosure, the driver 132 includes a stator 1321 and a rotor 1322. The scanning mirror 131 is arranged on the rotor 1322, and the rotor 1322 drives the scanning mirror 131 to reciprocate on both sides of the equilibrium position around the rotation axis.

[0125] The stator 1321 is provided with a coil. The rotor 1322 further includes a permanent magnet. After the coil is energized, a magnetic field can be generated. By changing the magnitude and direction of the current in the coil, a changing magnetic field can be generated. The permanent magnet in the rotor 1322 is driven to move in the changing magnetic field, driving the rotor to move relative to the stator from the equilibrium position. By changing the direction of the current in the coil, the direction of the magnetic field can be changed, and the direction of the torque driving the rotor 1322 to rotate can be changed, causing the rotor 1322 to decelerate or move in the reverse direction.

[0126] In some embodiments of the present disclosure, the driver 132 further includes a fixed magnet 1323 and a moving magnet 1324. The fixed magnet 1323 is arranged at a fixed position, and the moving magnet 1324 is arranged on the rotor 1322 and can move along with the movement of the rotor 1322. The fixed magnet 1323 and the moving magnet 1324 are jointly arranged such that when the scanning mirror 131 deviates from the equilibrium position, the magnetic force between the fixed magnet 1323 and the moving magnet 1324 causes the scanning mirror 131 to return to the equilibrium position.

[0127] As Figure 6As shown, when the rotor 1322 drives the scanning mirror 131 to move from the equilibrium position, the position of the fixed magnet 1323 remains fixed, and the moving magnet 1324 moves with the rotor 1322. When the distance between the fixed magnet 1323 and the moving magnet 1324 approaches each other, the kinetic energy of the rotor 1322 is absorbed by the magnetic field between the fixed magnet 1323 and the moving magnet 1324 and converted into magnetic potential energy, forming a mechanical model similar to a spring, which can be regarded as a spring device (hereinafter simply referred to as a magnetic spring) within a certain range. When the rotor 1322 moves to the farthest end relative to the equilibrium position, the potential energy of the magnetic spring reaches the maximum. Releasing the magnetic potential energy can cause the rotor 1322 to change its motion direction and return to the equilibrium position. By adjusting the magnitude of the magnetic force between the fixed magnet 1323 and the moving magnet 1324, the distance between them, etc., the motion stroke range of the rotor 1322 can be adjusted.

[0128] The driver 132 includes a set of motion systems composed of a stator 1321 and a rotor 1322, and also includes the interaction between a fixed magnet 1323 and a moving magnet 1324. The mechanical model of the driver 132 can be simplified to a second-order resonant system. The gain of the magnetic spring structure (for example, the rotation angle of the rotor 1322 relative to the stator 1321) has a peak, as Figure 7 shown. The dashed line represents the frequency response curve of a conventional motor, and the solid line represents the frequency response curve of the driver 132 with the magnetic spring structure in this embodiment. In a conventional motor, as the frequency increases, the gain response decreases linearly. The driver 132 in some embodiments of the present disclosure has a resonant frequency point, and the frequency point corresponding to the maximum gain is located at the resonant frequency point. At the resonant frequency point, the corresponding gain has a peak, for example, the rotation angle of the rotor 1322 relative to the stator 1321 is the largest. In some embodiments of the present disclosure, the rotor 1322 can have a larger motion stroke range with a smaller driving power, and the scanning mirror 131 can move at a large angle without significantly increasing the power of the driver.

[0129] The resonant frequency point can be adjusted according to the structural parameters of the driver 132. Set the resonant frequency point as the operating frequency, for example, 10 Hz. According to the operating frequency f 0 and the moment of inertia J of the load, where the moment of inertia J depends on the scanning mirror 131, the required stiffness coefficient K = J(2πf 0 ) 2 is calculated, where the stiffness coefficient K represents the stiffness of the spring (equivalent to the magnetic spring in this embodiment) in the second-order resonant system, and the actual stiffness coefficient k of the magnetic spring is designed to be the required stiffness coefficient K.

[0130] In some embodiments of the present disclosure, the actual stiffness coefficient K of the magnetic spring can be calculated according to the following formula:

[0131] K = n * k

[0132] In the formula, n represents the number of pairs of magnetic springs, and k represents the stiffness coefficient of a single magnetic spring. For example Figure 6 in the scanner 130 shown in Figure 6 , one fixed magnet 1323 and one moving magnet 1324 form a magnetic spring. In each magnetic spring, the gap between the fixed magnet 1323 and the moving magnet 1324, as well as the geometric parameters of the fixed magnet 1323 and the moving magnet 1324, determine the stiffness coefficient k of the magnetic spring. For example, the smaller the gap, the larger the stiffness coefficient k of a single magnetic spring.

[0133] According to some embodiments of the present disclosure, both the fixed magnet 1323 and the moving magnet 1324 can be configured to include multiple magnets, and the fixed magnet 1323 and the moving magnet 1324 are paired and cooperate. As Figure 6 shown in Figure 6 , two fixed magnets 1323 and two moving magnets 1324 are provided. The fixed magnets 1323 and the moving magnets 1324 correspond one by one to form two magnetic springs.

[0134] As Figure 4A and Figure 4B shown in Figure 4A and Figure 4B , in some embodiments of the present disclosure, both the optical transmitter 110 and the controller C are provided on the circuit board 140. The optical transmitter 110 includes a plurality of lasers 111 arranged in an array on the circuit board 140, for example, it can be a one-dimensional array or a two-dimensional array. In some embodiments, as Figure 2 shown in Figure 2 , the circuit board 140 is perpendicular to the rotation axis of the scanning mirror 131. A plurality of lasers 111 are provided on the circuit board 140 and are arranged along the extension direction of the circuit board 140 (for example, the horizontal direction). The arrangement direction of the lasers 111 (for example, the horizontal direction) is the same as the scanning direction of the scanning mirror 131 (for example, the horizontal direction). In some embodiments, the reflecting mirror 170 is configured to reflect the detection beams emitted by the plurality of lasers 111 onto the scanning mirror 131, and after being reflected by the scanning mirror 131, the detection beams exit from the lidar to form the vertical field of view of the lidar.

[0135] The rotation axis of the rotor 1322 is arranged in the vertical direction, and the scanning mirror 131 is driven to scan the detection beam in the horizontal direction to form the horizontal field of view of the lidar. For example, as the scanning mirror 131 rotates, after the detection beam is reflected by the scanning mirror 131, the exit direction of the detection beam also rotates in the horizontal direction to form the horizontal field of view of the lidar.

[0136] The circuit board 140 is arranged horizontally, and the lasers 111 are arranged and extended in the horizontal direction. As Figure 8 shown in Figure 8 , after the detection beams emitted by the lasers 111 arranged in the horizontal direction are reflected by the reflecting mirror 170, the optical path direction of the detection beams is changed to form an array of detection beams arranged in the vertical direction, which irradiates on the scanning mirror 131. After being reflected by the scanning mirror 131, the vertical field of view of the lidar is formed.

[0137] As Figure 8 shown, when the scanning mirror 131 is at a certain angle, the detection beam emitted by the laser 111 passes through the scanning mirror 131 and exits from the lidar. At this scanning angle, the set of the emission fields of all the lasers 111 in the emission unit 110 covers the vertical field of view of the lidar. As the scanning mirror 131 reciprocates on both sides of the equilibrium position, the emission field formed by the detection beam emitted by the laser 111 scans along the horizontal direction with the scanning mirror 131, forming the horizontal field of view of the lidar.

[0138] In some embodiments of the present disclosure, the scanner 130 can perform one-dimensional scanning along the horizontal direction. The light emitter 110 includes a plurality of lasers 111 arranged in an array to form the vertical field of view of the lidar, as Figure 9A shown. The plurality of lasers 111 are arranged in a two-dimensional array, arranged in two columns. The lasers 111 in adjacent columns are staggered along the column direction. In other embodiments of the present disclosure, the arrangement of the plurality of lasers 111 is not limited to two columns. For example, they can be arranged in three columns or more columns, or can be arranged in a one-dimensional array to form one column. The light receiver 120 includes a plurality of detectors 121 arranged in an array, such as Figure 9A the two-dimensional array shown. The plurality of detectors 121 are arranged in two columns. The lasers 111 in adjacent columns are staggered along the column direction. They can also be arranged in more columns, or arranged in a one-dimensional array to form one column. The plurality of lasers 111 in the light emitter 110 and the plurality of detectors 121 in the light receiver 120 correspond one by one. The laser 111 can be a VCSEL (Vertical-Cavity Surface-Emitting Laser), and the detector 121 can be a single SiPM (Silicon Photomultiplier), a SiPM (Silicon Photomultiplier) array, or a SPAD (Single Photon Avalanche Diode) array. For example, each SiPM array includes a plurality of SiPMs arranged along the column direction, each SPAD array includes a two-dimensional array of SPADs, and the plurality of SPADs are uniformly arranged in a two-dimensional array in the row direction and the column direction. Each SiPM, SiPM array, or SPAD array can correspond to a VCSEL, and one VCSEL corresponds to one SiPM or one SiPM array according to the size of the VCSEL.

[0139] In other embodiments of the present disclosure, as Figure 9BAs shown, the optical transmitter 110 includes a plurality of lasers 111 arranged in an array. The plurality of lasers 111 are arranged in a two-dimensional array, forming two columns. The lasers 111 in adjacent columns are staggered in the column direction. In some other embodiments of the present disclosure, the arrangement of the plurality of lasers 111 is not limited to two columns. For example, they can be arranged to form three columns or more columns, or can be arranged in a one-dimensional array to form a single column. The optical receiver 120 includes a two-dimensional array detector. The two-dimensional array detector can activate any area. One laser 111 in the optical transmitter 110 corresponds to one activated area 122 in the two-dimensional array detector. For example, the laser 111 is a VCSEL, and the optical receiver 120 can include a two-dimensional array of SPADs. The plurality of SPADs are uniformly arranged in the row direction and the column direction to form a two-dimensional array of SPADs. The two-dimensional array of SPADs includes a plurality of pixels (such as the activated area 122). Each pixel includes a plurality of SPADs, such as 2*2 or 3*3 SPADs. Each pixel can be individually activated to form the activated area 122. Figure 9B The optical receiver 120 in Figure 9B is only an example. In some embodiments of the present disclosure, the activated area 122 in the two-dimensional array of SPADs can be arbitrarily divided. Each activated area 122 can include one pixel or multiple pixels. One VCSEL corresponds to one activated area 122 in the two-dimensional array of SPADs. One VCSEL can correspond to one pixel or multiple pixels in the two-dimensional array of SPADs.

[0140] In some other embodiments of the present disclosure, as Figure 9C shown, the optical transmitter 110 includes a two-dimensional array of lasers that can be activated in regions. The optical receiver 120 includes a two-dimensional array detector. The two-dimensional array of lasers can be activated in regions. For example, the two-dimensional array of lasers can be a large-size two-dimensional array VCSEL (such as a 3mm*5mm surface light source). The two-dimensional array VCSEL has a plurality of light-emitting points arranged in a two-dimensional array. The large-size VCSEL can be selectively gated to emit light in regions (for example, the rows / columns of the two-dimensional array VCSEL are individually gated to emit light) to form different activated areas 112 and emit detection beams. The optical receiver 120 can include a two-dimensional array of SPADs. The plurality of SPADs are uniformly arranged in the row direction and the column direction to form a two-dimensional array of SPADs. The two-dimensional array of SPADs includes a plurality of pixels (such as the activated area 122). Each pixel includes a plurality of SPADs, such as 2*2 or 3*3 SPADs. Each pixel can be individually activated to form the activated area 122. Each activated area 122 can include one pixel or multiple pixels. One activated area 112 in the two-dimensional array VCSEL corresponds to one activated area 122 in the two-dimensional array of SPADs.

[0141] As Figure 10 and Figure 11As shown, some embodiments of the present disclosure further include a lidar 1, and the lidar 1 includes the optical scanning system 100 as described in the foregoing embodiments. The lidar 1 will be described below in conjunction with Figure 10 and Figure 11 the lidar 1.

[0142] The lidar 1 includes a housing 200 and an optical scanning system 100. A light-transmitting window 210 is provided on the housing 200, and the optical scanning system 100 is disposed inside the housing 200, and both the detection beam and the echo can be transmitted through the window 210. The housing 200 is configured to protect the optical scanning system 100. According to the application scenario of the lidar, the shape of the housing 200 can also be set. For example, the housing in the lidar can be set to match the appearance of the vehicle.

[0143] The lidar 1 further includes a base 300. The base 300 is fixedly connected to the housing 200 to form a receiving cavity, and the optical scanning system 100 is disposed inside the receiving cavity. The base 300 can be set to match the mounting structure of the lidar 1 (such as the mounting structure on a vehicle) to fix the lidar 1 at a preset position. According to the application scenario and mounting position of the lidar 1, the housing 200 can also be matched with the mounting position of the lidar 1.

[0144] As Figure 2 shown, the scanner 130 is disposed on one side of the optical scanning system 100. The position of the window 210 on the housing 200 corresponds to the scanner 130. For example, the height of the window 210 is greater than the height of the scanner 130, and the length of the window 210 matches the scanning range of the scanner 130 to prevent the area outside the window 210 in the housing 200 from blocking the detection beam.

[0145] As Figure 11 shown, in some embodiments of the present disclosure, the window 210 is inclined relative to the vertical direction and is set to intersect obliquely with the main optical axis of the detection beam. The main optical axis of the detection beam represents the main optical axis of the detection beam reflected from the scanning mirror 131 (as Figure 8 shown). The window 210 intersects obliquely with the main optical axis of the detection beam to avoid the detection beam perpendicularly irradiating on the window 210, so as to reduce the detection beam reflected from the surface of the window 210 into the lidar and reduce the interference to the lidar 1.

[0146] Finally, it should be noted that the above are only embodiments of the present disclosure and are not used to limit the present disclosure. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. An optical scanning system for a lidar, comprising: An optical transmitter configured to emit a detection beam; An optical receiver configured to receive the echo generated after the detection beam is reflected by an object and convert it into an electrical signal; A controller, both the optical transmitter and the optical receiver communicate with the controller, and the optical transmitter and / or the optical receiver and the controller are arranged on a circuit board; and A scanner configured to reciprocate on both sides of a balanced position, scan the detection beam outside the lidar, and return the echo back inside the lidar.

2. The optical scanning system according to claim 1, further comprising: A beam splitter disposed in the optical path between the scanner and the optical transmitter and in the optical path between the scanner and the optical receiver, configured to receive the detection beam, transmit the detection beam and then transmit it to the scanner, and receive the echo from the scanner, reflect the echo and then transmit it to the optical receiver.

3. The optical scanning system according to claim 1, further comprising: A beam splitter disposed in the optical path between the scanner and the optical transmitter and in the optical path between the scanner and the optical receiver, configured to receive the detection beam, reflect the detection beam and then transmit it to the scanner, and receive the echo from the scanner, transmit the echo and then transmit it to the optical receiver.

4. The optical scanning system according to claim 2 or 3, further comprising: A transmitting lens disposed in the optical path between the optical transmitter and the beam splitter, configured to receive the detection beam and collimate the detection beam; and A receiving lens disposed in the optical path between the optical receiver and the beam splitter, configured to receive the echo and focus the echo onto the optical receiver.

5. The optical scanning system according to claim 4, further comprising: At least one mirror disposed in the optical path between the optical transmitter and the beam splitter, and / or disposed in the optical path between the beam splitter and the optical receiver, configured to change the optical path direction of the detection beam and / or the echo.

6. The optical scanning system according to claim 5, wherein the optical axes of both the transmitting lens and the receiving lens are parallel to the circuit board; the mirror is disposed in the optical path between the optical transmitter and the transmitting lens, and / or disposed in the optical path between the receiving lens and the optical receiver.

7. The optical scanning system according to claim 5, wherein the optical transmitter and the controller are disposed on the circuit board, the optical axis of the transmitting lens is parallel to the circuit board, and the mirror is disposed in the optical path between the optical transmitter and the transmitting lens to reflect the detection beam to the transmitting lens; or The optical receiver and the controller are disposed on the circuit board. The optical axis of the receiving lens is parallel to the circuit board. The mirror is disposed in the optical path between the optical receiver and the receiving lens to reflect the echo to the optical receiver.

8. The optical scanning system according to claim 5, wherein the optical transmitter, the optical receiver, and the controller are all disposed on the circuit board. The optical scanning system includes two mirrors, which are respectively disposed in the optical path between the optical transmitter and the transmitting lens, and in the optical path between the optical receiver and the receiving lens, to reflect the detection beam to the transmitting lens and reflect the echo to the optical receiver.

9. The optical scanning system according to claim 5, wherein the optical transmitter, the optical receiver, and the controller are all disposed on the circuit board. Wherein the optical axis of the receiving lens is perpendicular to the circuit board, the optical axis of the transmitting lens is parallel to the circuit board, and the detection beam emitted by the optical transmitter is incident on the transmitting lens after changing direction through the mirror; or, the optical axis of the transmitting lens is perpendicular to the circuit board, the optical axis of the receiving lens is parallel to the circuit board, and after the echo passes through the receiving lens, it is reflected by the mirror to the optical receiver.

10. The optical scanning system according to claim 4, wherein the beam splitter includes a reflective portion and a transmissive portion. The reflective portion is configured to reflect the beam incident thereon, and the transmissive portion is configured to transmit the beam incident thereon.

11. The optical scanning system according to claim 5, further comprising: A common lens, which is disposed in the optical path between the beam splitter and the scanner, and is configured to receive the detection beam and collimate the detection beam, and receive the echo and converge the echo.

12. The optical scanning system according to claim 11, further comprising: A support member, which is fixedly connected to the circuit board. The transmitting lens, the receiving lens, the beam splitter, the mirror, and the common lens are all fixedly installed on the support member.

13. The optical scanning system according to claim 12, wherein the support member is integrally formed of metal or organic polymer material, and the deformation amount of the support member within the temperature range of -40°C to 120°C is less than a preset threshold.

14. The optical scanning system according to claim 12, wherein the support member includes a hollow portion and a strengthening portion. The hollow portion is configured to reduce the weight of the support member; the strengthening portion is configured to improve the structural strength of the support member.

15. The optical scanning system according to any one of claims 5-14, wherein the scanner includes a scanning mirror and a driver. The scanning mirror is connected to the driver, and the driver drives the scanning mirror to reciprocate on both sides of the equilibrium position around the rotation axis.

16. The optical scanning system according to claim 15, wherein when the scanning mirror is in the equilibrium position, the included angle between the detection beam and the scanning mirror is 30°-40°.

17. The optical scanning system according to claim 15, wherein the movement stroke range of the scanning mirror on one side of the equilibrium position is 15°-30°.

18. The optical scanning system according to claim 15, wherein the driver includes a stator and a rotor, the scanning mirror is disposed on the rotor, and the rotor drives the scanning mirror to reciprocate on both sides of the equilibrium position around a rotation axis.

19. The optical scanning system according to claim 18, wherein the driver further comprises: a fixed magnet, which is fixedly disposed; a moving magnet, which is disposed on the rotor and moves with the rotor; the fixed magnet and the moving magnet are configured such that when the scanning mirror deviates from the equilibrium position, the magnetic force between the fixed magnet and the moving magnet causes the scanning mirror to return to the equilibrium position.

20. The optical scanning system according to claim 19, wherein the frequency of the reciprocating movement of the scanning mirror is the frequency corresponding to the peak value of the frequency response of the scanner.

21. The optical scanning system according to claim 18, wherein the optical transmitter and the controller are both disposed on the circuit board, the optical transmitter includes a plurality of lasers arranged in an array on the circuit board, the reflector is configured to reflect the detection beams emitted by the plurality of lasers to the scanning mirror, and the detection beams emitted by the plurality of lasers are emitted from the lidar through the scanning mirror to form a vertical field of view of the lidar.

22. The optical scanning system according to claim 21, wherein the rotation axis of the rotor is arranged in the vertical direction, and the scanning mirror is driven to scan the detection beam in the horizontal direction to form a horizontal field of view of the lidar.

23. The optical scanning system according to claim 15 or 17, wherein the optical transmitter is configured to emit detection beams within the movement stroke range of the reciprocating movement of the scanning mirror.

24. The optical scanning system according to any one of claims 1-3, wherein the optical transmitter includes a plurality of lasers arranged in an array, the optical receiver includes a plurality of detectors arranged in an array, and the plurality of lasers and the plurality of detectors correspond one by one; or the optical transmitter includes a plurality of lasers arranged in an array or a two-dimensional array laser that can be activated in regions, the optical receiver includes a two-dimensional array detector, the two-dimensional array detector is configured to selectively activate regions for detection, and one activation region of each laser or the two-dimensional array laser corresponds to one activation region of the two-dimensional array detector.

25. The optical scanning system according to any one of claims 1-3, wherein the controller is configured to obtain information about an object based on the electrical signal.

26. A lidar, comprising: a housing, on which a window is provided; the optical scanning system according to any one of claims 1-25, the optical scanning system is disposed within the housing, and both the detection beam and the echo can be transmitted through the window.

27. The lidar according to claim 26, further comprising a base, the housing is fixedly connected to the base to form a receiving cavity, and the optical scanning system is disposed within the receiving cavity.

28. The lidar according to claim 26, wherein the window is disposed on a side of the housing close to the scanner.

29. The lidar according to claim 26, wherein the window is obliquely intersected with a principal optical axis of the detection beam.

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