Laser radar

Abstract

The invention relates to the technical field of laser, in particular to a laser radar, which comprises at least one transceiving module used for emitting scanning laser and receiving detection light formed by reflecting part of the scanning laser through a to-be-detected target; the galvanometer scanning module is used for reflecting the scanning laser emitted by the at least one receiving and transmitting module to a to-be-detected target in a multi-angle manner and reflecting the detection light reflected by the to-be-detected target to the corresponding receiving and transmitting module; the reflection assemblies are arranged on one sides of the receiving and transmitting modules, the reflection assemblies and the receiving and transmitting modules are arranged in a one-to-one correspondence mode, and the reflection assemblies are used for reflecting light beams of the scanning laser emitted by the receiving and transmitting modules corresponding to the reflection assemblies to the galvanometer scanning module; the emergent optical axis of the transceiver module, the reflection light path of the reflection assembly and the center of the scanning surface of the galvanometer scanning module are located in the same plane, thereby reducing the height of the whole radar, reducing the size of the radar, and facilitating the miniaturization and integration of the laser radar.

Description

Technical Field

[0001] This application relates to the field of laser technology, and particularly to a lidar. Background Art

[0002] A lidar mainly includes a transmitting device and a receiving device. It is a system that emits a laser beam from the lidar to a target to be detected, and the target reflects part of the laser energy to the receiving device, thereby detecting characteristic quantities such as the position and speed of the target, and is widely used in the field of laser detection.

[0003] However, the existing lidars are all relatively high, generally reaching a height of 60 mm - 100 mm, which is not conducive to the miniaturization development of the lidar, nor is it conducive to installation and use in fields with limited space such as automobiles and sweeping robots.

[0004] Therefore, an improved lidar is needed to solve at least one of the above-mentioned problems in the prior art. Summary of the Invention

[0005] This application provides a lidar, including at least one transceiver module for emitting scanning laser and receiving detection light formed by reflection of part of the scanning laser by a target to be detected;

[0006] A galvanometer scanning module for reflecting the scanning laser emitted by at least one of the transceiver modules at multiple angles onto the target to be detected, and for reflecting the detection light reflected by the target to be detected to the corresponding transceiver module;

[0007] At least one set of reflection components, the reflection components are arranged on one side of the transceiver module, the reflection components are arranged in one-to-one correspondence with the transceiver module, and the reflection components are used for reflecting the light beam of the scanning laser emitted by the corresponding transceiver module to the galvanometer scanning module;

[0008] The emission optical axis of the transceiver module, the reflection optical path of the reflection component, and the center of the scanning plane of the galvanometer scanning module are located in the same plane.

[0009] Further, the transceiver module includes a light source, a detector, a beam splitting element, and a reflection element; the beam splitting element is arranged corresponding to the reflection element; the scanning laser emitted by the light source is transmitted to the galvanometer scanning module through the beam splitting element; the detection light is partially transmitted to the detector through the beam splitting element and the reflection element.

[0010] Further, the transceiver module further includes a collimating element; the collimating element is arranged between the light source and the beam splitting element; the scanning laser emitted by the light source is collimated by the collimating element and then transmitted to the beam splitting element.

[0011] Further, the transceiver module further includes a focusing element; the focusing element is disposed between the detector and the reflecting element; a part of the detection light is transmitted to the detector through the beam splitting element, the reflecting element and the focusing element.

[0012] Further, the transceiver module includes a light source, a first optical element, a second optical element and a detector; the first optical element is disposed on one side of the light source for emitting scanning laser, and the scanning laser is transmitted to the galvanometer scanning module through the first optical element; the detector is collinearly disposed with the optical axis of the light source, the second optical element is sleeved on the light source emission module, and the detection light can be transmitted to the detector through the second optical element.

[0013] Further, an extinction structure is provided in the reflection assembly, and the extinction structure is disposed along the reflection optical path of the reflection assembly.

[0014] Further, the extinction structure is a light blocking plate, the light blocking plates are sequentially arranged in an array on both sides of the reflection optical path of the reflection assembly, and in the direction from the transceiver module to the galvanometer scanning module, the light blocking length of the light blocking plates is gradually decreased.

[0015] Further, the lidar includes a plurality of the transceiver modules and a plurality of the reflection assemblies; the plurality of transceiver modules are longitudinally equidistantly arranged, and the plurality of transceiver modules and the plurality of reflection assemblies are arranged in one-to-one correspondence and matching.

[0016] Further, the plurality of reflection assemblies include a first reflection assembly and a second reflection assembly; the plurality of transceiver modules include a first transceiver module and a second transceiver module; the first transceiver module is correspondingly disposed with the first reflection assembly, and the second transceiver module is correspondingly disposed with the second reflection assembly; the first reflection assembly includes a first reflector and a second reflector; the optical axis of the outgoing light of the first transceiver module coincides with the mirror center of the first reflector, and the mirror center of the first reflector, the mirror center of the second reflector and the center of the scanning surface of the scanning module are coplanar; the scanning laser emitted by the first transceiver module is reflected to the galvanometer scanning module through the optical axis of the outgoing light, the first reflector and the second reflector.

[0017] Further, the second reflection assembly includes a third reflector and a fourth reflector; the optical axis of the outgoing light of the second transceiver module coincides with the mirror center of the third reflector, and the mirror center of the third reflector, the mirror center of the fourth reflector and the center of the scanning surface of the scanning module are coplanar; the scanning laser emitted by the second transceiver module is reflected to the galvanometer scanning module through the optical axis of the outgoing light, the third reflector and the fourth reflector.

[0018] A lidar provided by the present application has at least the following technical effects:

[0019] The lidar in the present application includes: at least one transceiver module for emitting scanning laser and receiving detection light formed by reflection of part of the scanning laser by a target to be measured; a galvanometer scanning module for reflecting the scanning laser emitted by at least one transceiver module at multiple angles onto the target to be measured and for reflecting the detection light reflected by the target to be measured to the corresponding transceiver module; at least one set of reflection components, with the reflection components arranged on one side of the transceiver module and corresponding to the transceiver module one by one, and the reflection components being used to reflect the light beam of the scanning laser emitted by the corresponding transceiver module to the galvanometer scanning module; the emission optical axis of the transceiver module, the reflection optical path of the reflection component, and the center of the scanning plane of the galvanometer scanning module are located in the same plane, thereby being able to reduce the height of the entire radar and reduce the radar volume, facilitating the miniaturization and integration of the lidar. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 : Schematic diagram of the overall structure of the lidar provided by the embodiment of the present invention;

[0022] Figure 2 : Schematic diagram of the overall structure of another lidar provided by the embodiment of the present invention;

[0023] Figure 3 : Schematic diagram of the structure of the transceiver module provided by the embodiment of the present invention;

[0024] Figure 4 : Schematic diagram of the structure of another transceiver module provided by the embodiment of the present invention;

[0025] Among them, the corresponding reference numerals in the drawings are:

[0026] 1 - transceiver module, 2 - galvanometer scanning module, 3 - reflection component, 11 - light source, 12 - collimating element, 13 - beam splitting element, 14 - reflecting element, 15 - focusing element, 16 - detector, 17 - first optical element, 18 - second optical element, 31 - first mirror, 32 - second mirror, 33 - third mirror, 34 - fourth mirror, 35 - light baffle. Detailed Embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0029] The following describes the embodiments with reference to the accompanying drawings, and the accompanying drawings do not limit the content of the invention recorded in the claims in any way.

[0030] Please refer to Figures 1-4 , an embodiment of the present application provides a lidar, including: at least one transceiver module 1, configured to emit scanning laser and receive detection light formed by reflection of part of the scanning laser by a target to be measured; a galvanometer scanning module 2, configured to reflect the scanning laser emitted by at least one transceiver module 1 at multiple angles onto the target to be measured, and configured to reflect the detection light reflected by the target to be measured to the corresponding transceiver module 1; at least one group of reflection components 3, the reflection components 3 are arranged on one side of the transceiver module 1, the reflection components 3 are arranged in one-to-one correspondence with the transceiver module 1, and the reflection components 3 are configured to reflect the light beam of the scanning laser emitted by the corresponding transceiver module 1 to the galvanometer scanning module 2; the emission optical axis of the transceiver module 1, the reflection optical path of the reflection component 3, and the center of the scanning plane of the galvanometer scanning module 2 are located in the same plane.

[0031] In this way, in the lidar of this embodiment, by making the emission optical axis of the transceiver module 1, the reflection optical path of the reflection component 3, and the center of the scanning plane of the galvanometer scanning module 2 located in the same plane, the height of the entire radar can be reduced, the radar volume can be reduced, and it is convenient for the miniaturization and integration of the lidar.

[0032] In some embodiments, the galvanometer scanning module 2 may be a two-dimensional MEMS galvanometer, that is, it can drive the lens to vibrate simultaneously in two directions, that is, it can deflect around the horizontal axis and the vertical axis, and is used to deflect the scanning laser emitted by the transceiver module 1 into a three-dimensional point cloud to achieve three-dimensional scanning, thereby improving the detection efficiency and detection accuracy of the lidar.

[0033] In some other embodiments, the galvanometer scanning module 2 may be a one-dimensional MEMS galvanometer, which is used to deflect the scanning laser emitted by the transceiver module 1 into a linear point cloud within a two-dimensional plane to achieve linear scanning. This application does not make any limitations in this regard.

[0034] In the embodiments of this application, the transceiver module 1 includes a light source 11, a detector 16, a beam splitting element 13, and a reflection element 14; the beam splitting element 13 and the reflection element 14 are correspondingly arranged; the scanning laser emitted by the light source 11 is transmitted to the galvanometer scanning module 2 through the beam splitting element 13; the detection light is partially transmitted to the detector 16 through the beam splitting element 13 and the reflection element 14.

[0035] Specifically, the light source 11 is used to emit scanning laser. A beam splitting element 13 is arranged on the optical path where the scanning laser is emitted. The beam splitting element 13 may be a beam splitter. The beam splitter can separate the projected scanning laser into reflected light and transmitted light. Then the transmitted light can be projected into the reflection assembly 3 and then reflected onto the galvanometer scanning module 2.

[0036] In some embodiments, the beam splitting element 13 may be a beam splitting prism or a mirror with a hole in the middle, etc.

[0037] Specifically, the reflection element 14 is a mirror, which can be arranged above the beam splitter and is used to reflect the light reflected by the beam splitter onto the detector 16.

[0038] Furthermore, the transceiver module 1 includes a transmitting module composed of the light source 11 and the beam splitting element 13, where the light source 11 and the beam splitting element 13 are arranged in sequence along the emission optical path of the transmitting module, and a receiving module composed of the reflection element 14 and the detector 16, where the reflection element 14 and the detector 16 are arranged in sequence along the receiving optical path of the receiving module. The emission optical path and the receiving optical path are arranged in parallel.

[0039] In some embodiments, the detector 16 may be a photodetector.

[0040] In the embodiments of this application, the transceiver module 1 further includes a collimating element 12; the collimating element 12 is arranged between the light source 11 and the beam splitting element 13; the scanning laser emitted by the light source 11 is collimated by the collimating element 12 and then transmitted to the beam splitting element 13.

[0041] In some embodiments, the collimating element 12 may be a collimating mirror, which is arranged between the light source 11 and the beam splitter.

[0042] In the embodiments of this application, by arranging the collimating element 12 between the light source 11 and the beam splitting element 13, the propagation direction of the scanning laser emitted by the light source 11 can be adjusted so that it is projected onto the beam splitter in parallel.

[0043] In the embodiment of the present application, the transceiver module 1 further includes a focusing element 15; the focusing element 15 is arranged between the detector 16 and the reflecting element 14; part of the detection light is transmitted to the detector 16 through the beam splitting element 13, the reflecting element 14 and the focusing element 15.

[0044] Specifically, the focusing element 15 can be a focusing mirror and is arranged between the detector 16 and the reflecting mirror.

[0045] In the embodiment of the present application, by arranging the focusing element 15 between the detector 16 and the reflecting mirror, part of the detection light reflected by the beam splitting element 13 and the reflecting element 14 can be focused and projected onto the detector 16, thereby improving the ability of part of the detection light to enter the detector 16, and thus improving the detection accuracy of the detector 16 for the target to be measured.

[0046] In the embodiment of the present application, the transceiver module 1 includes a light source 11, a first optical element 17, a second optical element 18 and a detector 16; the first optical element 17 is arranged on one side of the light source 11 that emits the scanning laser, and the scanning laser is transmitted to the galvanometer scanning module 2 through the first optical element 17; the detector 16 is arranged collinearly with the optical axis of the light source 11, the second optical element 18 is sleeved on the light source emission module, and the detection light can be transmitted to the detector 16 through the second optical element 18.

[0047] In some embodiments, the first optical element 17 can be a collimating mirror, and the light source 11 and the collimating mirror form an emission module, and the light source 11 and the collimating mirror are arranged in sequence along the emission optical path of the emission module.

[0048] Further, the second optical element 18 can be a focusing mirror, and a through hole is opened in the middle of the focusing mirror and is sleeved on the outer diameter of the emission module. The detector 16 and the focusing mirror form a receiving module, and the focusing mirror and the detector 16 are arranged in sequence along the receiving optical path of the receiving module, and the detector 16 is arranged collinearly with the optical axis of the light source 11.

[0049] In the embodiment of the present application, an extinction structure is arranged in the reflection component 3, and the extinction structure is arranged along the reflection optical path of the reflection component 3.

[0050] In the embodiment of the present application, the reflection component 3 further includes a reflection channel, and the extinction structure can be arranged on the side wall of the reflection channel. The extinction structure can be an extinction thread, specifically, it can be a fine-pitch internal thread for extinction to reduce or eliminate the reflection phenomenon on the surface of the optical element.

[0051] In the embodiment of the present application, the extinction structure is a light blocking plate 35, and the light blocking plates 35 are arranged in an array on both sides of the reflection optical path of the reflection component 3 in sequence. And in the direction from the transceiver module 1 to the galvanometer scanning module 2, the light blocking length of the light blocking plate 35 is gradually reduced.

[0052] In the embodiment of the present application, one end of the light shield 35 close to the galvanometer scanning module 2 has a shorter length, which is used to block sunlight incident at a large angle or crosstalk light between modules; one end of the light shield 35 close to the transceiver module 1 has a longer length, which is used to block sunlight incident at a small angle or crosstalk light between modules. Such a layout can achieve hierarchical interception of sunlight or crosstalk light at different angles and improve the interception efficiency.

[0053] In the embodiment of the present application, there are multiple transceiver modules 1 and multiple reflection components 3; the multiple transceiver modules 1 are arranged longitudinally at equal intervals, and the multiple transceiver modules 1 and the multiple reflection components 3 are arranged in one-to-one correspondence and matching.

[0054] In the embodiment of the present application, by setting multiple transceiver modules 1 and multiple reflection components 3 and arranging the multiple transceiver modules 1 and the multiple reflection components 3 in one-to-one correspondence and matching, the detection accuracy of the lidar for the target to be measured can be improved. In the present application, the number of settings of the transceiver module 1 and the reflection component 3 is not limited.

[0055] In the embodiment of the present application, the multiple reflection components 3 include a first reflection component and a second reflection component; the multiple transceiver modules 1 include a first transceiver module and a second transceiver module; the first transceiver module is correspondingly arranged with the first reflection component, and the second transceiver module is correspondingly arranged with the second reflection component; the first reflection component includes a first reflector 31 and a second reflector 32; the outgoing optical axis of the first transceiver module coincides with the mirror center of the first reflector 31, and the mirror centers of the first reflector 31 and the second reflector 32 and the center of the scanning surface of the scanning module 2 are coplanar; the scanning laser emitted by the first transceiver module is reflected to the galvanometer scanning module 2 through the outgoing optical axis, the first reflector 31 and the second reflector 32.

[0056] Specifically, the connection line between the mirror centers of the first reflector 31 and the second reflector 32 is perpendicular to the outgoing optical axis of the first transceiver module.

[0057] In the embodiment of the present application, by making the outgoing optical axis of the first transceiver module coincide with the mirror center of the first reflector 31 and the mirror center of the second reflector 32 coplanar with the center of the scanning surface of the scanning module 2, the height of the entire radar can be reduced, and the radar volume can be reduced, facilitating the miniaturization and integration of the lidar.

[0058] In the embodiment of the present application, the second reflection component includes a third reflector 33 and a fourth reflector 34; the outgoing optical axis of the second transceiver module coincides with the mirror center of the third reflector 33, and the mirror centers of the third reflector 33 and the fourth reflector 34 and the center of the scanning surface of the scanning module 2 are coplanar; the scanning laser emitted by the second transceiver module is reflected to the galvanometer scanning module 2 through the outgoing optical axis, the third reflector 33 and the fourth reflector 34.

[0059] Specifically, the line connecting the mirror centers of the third mirror 33 and the fourth mirror 34 is perpendicular to the outgoing optical axis of the second transceiver module.

[0060] In the embodiment of the present application, by providing the second reflection component on the basis of the first reflection component, the height of the entire radar can be reduced while further improving the detection accuracy and detection efficiency of the lidar for the target to be measured.

[0061] Embodiment 1

[0062] Please refer to Figures 1-4 , the embodiment of the present application provides a lidar, including: a transceiver module for emitting scanning laser and receiving the detection light formed by the reflection of part of the scanning laser by the target to be measured; a galvanometer scanning module 2 for reflecting the scanning laser emitted from the transceiver module at multiple angles onto the target to be measured and for reflecting the detection light reflected by the target to be measured to the corresponding transceiver module; a reflection component provided on one side of the transceiver module, the reflection component is correspondingly provided with the transceiver module, and the reflection component is used to reflect the light beam of the scanning laser emitted from the corresponding transceiver module to the galvanometer scanning module 2; the outgoing optical axis of the transceiver module, the reflection optical path of the reflection component, and the center of the scanning plane of the galvanometer scanning module 2 are located in the same plane.

[0063] The transceiver module includes a light source 11, a collimating mirror, and a beam splitter sequentially arranged along the outgoing optical path; it also includes a reflecting mirror, a focusing mirror, and a photodetector sequentially arranged along the receiving optical path, and the reflecting mirror is correspondingly arranged above the beam splitter.

[0064] The reflection component includes a first mirror 31 and a second mirror 32. The outgoing optical axis of the first transceiver module coincides with the mirror center of the first mirror 31, and the line connecting the mirror centers of the first mirror 31 and the second mirror 32 is perpendicular to the outgoing optical axis of the first transceiver module.

[0065] The reflection component further includes a reflection channel, and at least one threaded light extinction hole is provided on the side wall of the reflection channel for reducing or eliminating the reflection phenomenon on the surface of the reflection channel.

[0066] The center of the mirror surface of the two-dimensional MEMS galvanometer, the outgoing optical axis of the transceiver module, and the mirror centers of the first mirror 31 and the second mirror 32 are located in the same plane.

[0067] The scanning laser emitted by the light source 11 is projected onto the mirror surface of the first mirror 31 through the collimating mirror and the beam splitter, then reflected by the second mirror 32 to the mirror surface of the two-dimensional MEMS galvanometer, and finally the scanning laser is projected onto the target to be measured through the two-dimensional MEMS galvanometer, realizing three-dimensional scanning of the target to be measured.

[0068] The detection light reflected by the target to be measured is reflected onto the mirror surface of the two-dimensional MEMS galvanometer, and then the detection light is reflected to the beam splitter through a general reflection component. The beam splitter splits part of the detection light to the reflector, and then the focusing lens focuses part of the detection light and projects it into the photodetector. Then, the photodetector analyzes the detection light, and finally the detection information of the target to be measured is obtained.

[0069] Embodiment 2

[0070] The difference between the embodiment of the present application and Embodiment 2 lies in the different numbers of the transceiver module 1 and the reflection component 3 set, and the different extinction structures of the reflection channels of the reflection component 3. The same parts as those in Embodiment 1 will not be described herein again. Now, the differences between Embodiment 2 and Embodiment 1 are described as follows:

[0071] Please refer to Figures 1-4 , the embodiment of the present application provides a lidar, including: a plurality of transceiver modules 1 and a plurality of reflection components 3; the plurality of transceiver modules 1 are arranged longitudinally at equal intervals, and the plurality of transceiver modules 1 and the plurality of reflection components 3 are arranged in one-to-one correspondence; the transceiver module 1 is used for emitting scanning laser and receiving the detection light formed by the reflection of part of the scanning laser by the target to be measured; the galvanometer scanning module 2 is used for reflecting the scanning laser emitted by the transceiver module 1 to the target to be measured at multiple angles, and for reflecting the detection light reflected by the target to be measured to the corresponding transceiver module 1; the reflection component 3 is used for reflecting the light beam of the scanning laser emitted by the corresponding transceiver module 1 to the galvanometer scanning module 2; the emission optical axis of the transceiver module 1, the reflection optical path of the reflection component 3, and the center of the scanning plane of the galvanometer scanning module 2 are located in the same plane.

[0072] The plurality of transceiver modules 1 include: a first transceiver module and a second transceiver module. The first transceiver module and the second transceiver module are arranged vertically at equal intervals. The galvanometer scanning module 2 is used for reflecting the scanning laser emitted by the first transceiver module and the second transceiver module to the target to be measured at multiple angles, and for reflecting the detection light reflected by the target to be measured to the corresponding first transceiver module and second transceiver module; the plurality of reflection components 3 include a first reflection component and a second reflection component. The first transceiver module is correspondingly arranged with the first reflection component, and the second transceiver module is correspondingly arranged with the second reflection component. The first reflection component is used for reflecting the light beam of the scanning laser emitted by the corresponding first transceiver module to the galvanometer scanning module 2; the emission optical axis of the first transceiver module, the reflection optical path of the first reflection component, and the center of the scanning plane of the galvanometer scanning module 2 are located in the same plane; the second reflection component is used for reflecting the light beam of the scanning laser emitted by the corresponding second transceiver module to the galvanometer scanning module 2; the emission optical axis of the second transceiver module, the reflection optical path of the second reflection component, and the center of the scanning plane of the galvanometer scanning module 2 are located in the same plane.

[0073] Light blocking plates 35 are provided on both sides of the reflection channels of the first reflection component and the second reflection component. The light blocking plates 35 are arranged in an array in sequence on both sides of the reflection optical path of the reflection component 3. And in the direction from the transceiver module 1 to the galvanometer scanning module 2 of the light blocking plates 35 arranged in an array, the light blocking length of the light blocking plates 35 is gradually decreased.

[0074] Embodiment 3

[0075] The difference between the embodiment of the present application and Embodiments 2 and 3 lies in the different structure of the transceiver module 1. The same parts as those in Embodiments 1 and 2 will not be described herein again. Now, the differences between Embodiment 3 and Embodiments 1 and 2 are described as follows:

[0076] The transceiver module 1 includes a light source 11, a collimating mirror, a focusing mirror with a through hole in the middle, and a photodetector; the collimating mirror is arranged on one side of the light source 11 for emitting scanning laser, and the scanning laser is transmitted to the galvanometer scanning module 2 through the collimating mirror; the photodetector is arranged collinearly with the optical axis of the light source 11. The focusing mirror is sleeved on the light source emitting module, and the detection light can be transmitted to the photodetector through the focusing mirror. The electric detector is arranged collinearly with the optical axis of the light source 11.

[0077] The scanning laser emitted by the light source 11 is projected onto the reflecting surface of the first reflecting mirror 31 after passing through the collimating mirror, and then reflected to the mirror surface of the two-dimensional MEMS galvanometer through the second reflecting mirror 32. Finally, the scanning laser is projected onto the target to be measured through the two-dimensional MEMS galvanometer, realizing the three-dimensional scanning of the target to be measured.

[0078] The detection light reflected by the target to be measured is reflected to the mirror surface of the two-dimensional MEMS galvanometer, and then the detection light is reflected to the focusing mirror with a through hole through a general reflection component. Then, the detection light is focused by the focusing mirror and projected into the photodetector. Furthermore, the detection light is analyzed by the photodetector, and finally the detection information of the target to be measured is obtained.

[0079] Each embodiment in this specification is described in a progressive manner. The same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0080] It should be noted that all the features recorded in the present application (including the technical features recorded in different embodiments) can be combined arbitrarily under reasonable circumstances, and the new technical solutions formed by the combination are all within the protection scope of the present application.

[0081] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lidar, characterized in that, Comprising: At least one transceiver module (1) for emitting scanning laser and receiving detection light formed by reflection of a part of the scanning laser by a target to be measured; A galvanometer scanning module (2) for reflecting the scanning laser emitted by at least one of the transceiver modules (1) to the target to be measured at multiple angles, and for reflecting the detection light reflected by the target to be measured to the corresponding transceiver module (1); At least one set of reflection components (3), the reflection components (3) being arranged on one side of the transceiver module (1), the reflection components (3) being arranged in one-to-one correspondence with the transceiver module (1), and the reflection components (3) being used for reflecting the light beam of the scanning laser emitted by the corresponding transceiver module (1) to the galvanometer scanning module (2); The emission optical axis of the transceiver module (1), the reflection optical path of the reflection component (3), and the center of the scanning plane of the galvanometer scanning module (2) are located in the same plane.

2. The lidar according to claim 1, characterized in that, The transceiver module (1) includes a light source (11), a detector (16), a beam splitting element (13), and a reflection element (14); The beam splitting element (13) is arranged corresponding to the reflection element (14); The scanning laser emitted by the light source (11) is transmitted to the galvanometer scanning module (2) through the beam splitting element (13); The detection light is partially transmitted to the detector (16) through the beam splitting element (13) and the reflection element (14).

3. The lidar according to claim 2, characterized in that, The transceiver module (1) further includes a collimating element (12); The collimating element (12) is arranged between the light source (11) and the beam splitting element (13); The scanning laser emitted by the light source (11) is collimated by the collimating element (12) and then transmitted to the beam splitting element (13).

4. The lidar according to claim 3, characterized in that, The transceiver module (1) further includes a focusing element (15); The focusing element (15) is arranged between the detector (16) and the reflection element (14); The detection light is partially transmitted to the detector (16) through the beam splitting element (13), the reflection element (14), and the focusing element (15).

5. The lidar according to claim 1, characterized in that, The transceiver module (1) includes a light source (11), a first optical element (17), a second optical element (18), and a detector (16); The first optical element (17) is arranged on one side of the scanning laser emitted by the light source (11), and the scanning laser is transmitted to the galvanometer scanning module (2) through the first optical element (17); The detector (16) is arranged collinearly with the emission optical axis of the light source (11), the second optical element (18) is sleeved on the light source emission module, and the detection light can be transmitted to the detector (16) through the second optical element (18).

6. The lidar according to any one of claims 1 - 4 or 5, characterized in that, An extinction structure is arranged in the reflection component (3), and the extinction structure is arranged along the reflection optical path of the reflection component (3).

7. The lidar according to claim 6, characterized in that, The light extinction structure is a light baffle (35), and the light baffles (35) are arranged in an array on both sides of the reflection optical path of the reflection component (3) in sequence. Moreover, in the direction from the transceiver module (1) to the galvanometer scanning module (2), the light blocking length of the light baffles (35) arranged in the array gradually decreases.

8. The lidar according to claim 7, characterized in that, It includes a plurality of the transceiver modules (1) and a plurality of the reflection components (3); The plurality of transceiver modules (1) are arranged longitudinally at equal intervals, and the plurality of transceiver modules (1) are arranged in one-to-one correspondence with the plurality of reflection components (3).

9. The lidar according to claim 6, characterized in that, The plurality of reflection components (3) include a first reflection component and a second reflection component; the plurality of transceiver modules (1) include a first transceiver module and a second transceiver module; The first transceiver module is arranged corresponding to the first reflection component, and the second transceiver module is arranged corresponding to the second reflection component; The first reflection component includes a first reflector (31) and a second reflector (32); The outgoing optical axis of the first transceiver module coincides with the mirror center of the first reflector (31), and the mirror center of the first reflector (31), the mirror center of the second reflector (32) and the center of the scanning surface of the scanning module (2) are coplanar; The scanning laser emitted by the first transceiver module is reflected to the galvanometer scanning module (2) through the outgoing optical axis, the first reflector (31) and the second reflector (32).

10. The lidar according to claim 9, characterized in that, The second reflection component includes a third reflector (33) and a fourth reflector (34); The outgoing optical axis of the second transceiver module coincides with the mirror center of the third reflector (33), and the mirror center of the third reflector (33), the mirror center of the fourth reflector (34) and the center of the scanning surface of the scanning module (2) are coplanar; The scanning laser emitted by the second transceiver module is reflected to the galvanometer scanning module (2) through the outgoing optical axis, the third reflector (33) and the fourth reflector (34).

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