Laser radar system, working method thereof and electronic equipment

Abstract

The invention relates to the technical field of laser radars, and discloses a laser radar system and a working method thereof, and electronic equipment, and the method comprises the steps: transmitting a detection signal to a galvanometer through a transmitting system; the galvanometer reflects a detection signal to the multi-surface rotating mirror to complete one-dimensional scanning in a first direction; the multi-surface rotating mirror reflects the signal reflected by the galvanometer to the target object to complete one-dimensional scanning in a second direction perpendicular to the first direction; the scanning frequency of the multi-surface rotating mirror is smaller than that of the galvanometer; the acquisition system acquires echo signals scattered back by the target object; and the signal processing system receives motion position information fed back by the galvanometer and the multi-surface rotating mirror and generates a point cloud image in combination with the echo signal. Therefore, the high-frequency scanning galvanometer is matched with the multi-surface rotating mirror to perform one-dimensional scanning on the target object in different directions, point cloud data can be acquired, a point cloud image with high resolution can be generated, the rotating speed of the rotating mirror is not too high, the stability is high, the reliability is high, and the overall cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of lidar, and particularly to a lidar system, its working method, and an electronic device. Background Art

[0002] A lidar emits laser beams to objects in the surrounding environment using a laser, and receives and processes the optical signals reflected by the objects through a photoelectric sensor to obtain information on the characteristic quantities of the objects. A point cloud is a representation of the data acquired by a lidar, which is a three-dimensional coordinate set composed of a large number of discrete points.

[0003] Currently, most lidars use a rotating mirror to scan the surrounding environment to obtain a point cloud image of an object. To achieve high resolution and high point frequency for each frame of the point cloud, there are usually two methods: The first method is to use a rotating mirror with a high rotation speed. However, if the motor rotates continuously at too high a speed, it will affect the lifespan, stability, and reliability. The second method is to use a rotating mirror with a low rotation speed in combination with multiple groups of lasers. However, a large number of lasers will result in high costs. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a lidar system, its working method, and an electronic device, which can improve stability and reliability, have high point cloud resolution, and low overall cost.

[0005] To solve the above technical problems, the present invention provides a lidar system, including: a transmitting system, a scanning system, a collecting system, and a signal processing system electrically connected to the transmitting system, the scanning system, and the collecting system respectively; the scanning system includes a galvanometer and a multi-faceted rotating mirror;

[0006] The transmitting system is configured to emit a detection signal to the galvanometer;

[0007] The galvanometer is configured to reflect the detection signal to the multi-faceted rotating mirror to complete one-dimensional scanning in a first direction;

[0008] The multi-faceted rotating mirror is configured to reflect the signal reflected by the galvanometer to a target object to complete one-dimensional scanning in a second direction perpendicular to the first direction; the scanning frequency of the multi-faceted rotating mirror is less than the scanning frequency of the galvanometer;

[0009] The collecting system is configured to collect the echo signal scattered back by the target object and transmit it to the signal processing system;

[0010] The signal processing system is configured to receive the motion position information fed back by the galvanometer and the multi-faceted rotating mirror, and generate a point cloud image in combination with the echo signal.

[0011] In a first aspect, in the above lidar system provided by an embodiment of the present invention, the signal processing system includes a driving circuit electrically connected to the transmitting system and the scanning system respectively;

[0012] The driving circuit is configured to issue a driving signal to synchronously control the transmitting system to emit detection signals and the galvanometer and the multi-faceted rotating mirror to cooperate in scanning.

[0013] In another aspect, in the above lidar system provided by an embodiment of the present invention, the signal processing system further includes a processing chip electrically connected to the transmitting system, the scanning system, and the acquisition system respectively;

[0014] The processing chip is configured to obtain depth information at different scanning angles based on the echo signal, the motion position signal, and the emission time of the transmitting system, so as to generate a point cloud image.

[0015] In another aspect, in the above lidar system provided by an embodiment of the present invention, the galvanometer is a MEMS micromirror.

[0016] In another aspect, in the above lidar system provided by an embodiment of the present invention, the scanning frequency of the galvanometer is not less than 30 Hz.

[0017] In another aspect, in the above lidar system provided by an embodiment of the present invention, the multi-faceted rotating mirror has two mutually parallel bottom surfaces, and between the two bottom surfaces, there are at least three mirror reflecting surfaces connected;

[0018] All of the plurality of mirror reflecting surfaces are perpendicular to the bottom surface; or, the inclination angles of the plurality of mirror reflecting surfaces with respect to the bottom surface are different.

[0019] In another aspect, in the above lidar system provided by an embodiment of the present invention, the rotation speed of the multi-faceted rotating mirror is not greater than 1800 RPM.

[0020] To solve the above technical problems, the present invention also provides a working method for the above lidar system provided by an embodiment of the present invention, including:

[0021] The transmitting system emits detection signals to the galvanometer;

[0022] The galvanometer reflects the detection signals to the multi-faceted rotating mirror to complete one-dimensional scanning in a first direction;

[0023] The multi-faceted rotating mirror reflects the signals reflected by the galvanometer to the target object to complete one-dimensional scanning in a second direction perpendicular to the first direction; the scanning frequency of the multi-faceted rotating mirror is less than the scanning frequency of the galvanometer;

[0024] The acquisition system acquires the echo signal scattered back by the target object and transmits it to the signal processing system;

[0025] The signal processing system receives the motion position information fed back by the galvanometer and the polygon mirror, and combines the echo signal to generate a point cloud image.

[0026] To solve the above technical problems, the present invention also provides an electronic device, including the above lidar system provided by the embodiments of the present invention.

[0027] As can be seen from the above technical solutions, a lidar system provided by the present invention includes: a transmitting system, a scanning system, an acquisition system, and a signal processing system electrically connected to the transmitting system, the scanning system, and the acquisition system respectively; the scanning system includes a galvanometer and a polygon mirror; the transmitting system is used to transmit a detection signal to the galvanometer; the galvanometer is used to reflect the detection signal to the polygon mirror to complete one-dimensional scanning in the first direction; the polygon mirror is used to reflect the signal reflected by the galvanometer to the target object to complete one-dimensional scanning in the second direction perpendicular to the first direction; the scanning frequency of the polygon mirror is less than the scanning frequency of the galvanometer; the acquisition system is used to acquire the echo signal scattered back by the target object and transmit it to the signal processing system; the signal processing system is used to receive the motion position information fed back by the galvanometer and the polygon mirror, and combine the echo signal to generate a point cloud image.

[0028] The beneficial effect of the present invention is that in the lidar system provided by the present invention, the transmitting system sends a detection signal to the scanning system, the detection signal hits the galvanometer with high-frequency scanning, is reflected by the galvanometer and then shoots towards the polygon mirror, one-dimensional scanning in the first direction is performed by the galvanometer, another one-dimensional scanning in the second direction is performed by the polygon mirror, the polygon mirror reflects the light beam to illuminate the target object, the acquisition system acquires the echo signal scattered back by the target object, and finally the signal processing system generates a point cloud image according to the motion position information fed back by the galvanometer and the polygon mirror and the echo signal. In this way, the galvanometer with high-frequency scanning is used in cooperation with the polygon mirror to perform one-dimensional scanning of the surrounding environmental target objects in different directions, point cloud data can be obtained, a point cloud image with high resolution can be generated, and the rotation speed of the rotating mirror does not need to be too high, with high stability, strong reliability, and low overall cost.

[0029] In addition, the present invention also provides a corresponding working method and electronic device for the lidar system, which have the same or corresponding technical features as the above-mentioned lidar system, further making the above lidar system more practical, and the working method and the electronic device have corresponding advantages. Description of the Drawings

[0030] To more clearly illustrate the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description 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.

[0031] Figure 1 Schematic structural diagram of the lidar system provided by the embodiment of the present invention;

[0032] Figure 2 Schematic structural diagram of the emission system and the scanning system provided by the embodiment of the present invention;

[0033] Figure 3 Schematic distribution diagram of multiple laser beams cooperating to scan the corresponding scanning area of each surface when multiple mirror reflection surfaces of the multi-faceted mirror are perpendicular to the bottom surface provided by the embodiment of the present invention;

[0034] Figure 4 Schematic diagram of the scanning pattern corresponding to a laser beam provided by the embodiment of the present invention;

[0035] Figure 5 Schematic structural diagram corresponding to the case where the inclination angles of multiple mirror reflection surfaces in the multi-faceted mirror with respect to the bottom surface are different provided by the embodiment of the present invention;

[0036] Figure 6 Schematic diagram of the second surface and the bottom surface of the multi-faceted mirror provided by the embodiment of the present invention;

[0037] Figure 7 Schematic diagram of the fourth surface and the bottom surface of the multi-faceted mirror provided by the embodiment of the present invention;

[0038] Figure 8 Schematic distribution diagram of the scanning area corresponding to each mirror reflection surface when the inclination angles of multiple mirror reflection surfaces with respect to the bottom surface are different provided by the embodiment of the present invention;

[0039] Figure 9 Schematic distribution diagram of multiple laser beams cooperating to scan the corresponding scanning area of each surface when the inclination angles of multiple mirror reflection surfaces with respect to the bottom surface are different provided by the embodiment of the present invention;

[0040] Figure 10 Flowchart of the working method of the lidar system provided by the embodiment of the present invention;

[0041] Among them, 10 is the emission system, 20 is the scanning system, 30 is the acquisition system, 40 is the signal processing system, 21 is the galvanometer, and 22 is the multi-faceted mirror. Specific embodiments

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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 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 belong to the protection scope of the present invention.

[0043] Figure 1 It is a schematic structural diagram of the lidar system provided by the embodiment of the present invention. Figure 2 It is a schematic structural diagram of the transmitting system and the scanning system provided by the embodiment of the present invention. As Figure 1 and Figure 2 shown, the system includes: a transmitting system 10, a scanning system 20, a collecting system 30, and a signal processing system 40 electrically connected to the transmitting system 10, the scanning system 20, and the collecting system 30 respectively; the scanning system 20 includes a galvanometer 21 and a multi-faceted rotating mirror 22;

[0044] The transmitting system 10 is used to transmit a detection signal to the galvanometer 21;

[0045] The galvanometer 21 is used to reflect the detection signal to the multi-faceted rotating mirror 22 to complete one-dimensional scanning in the first direction;

[0046] The multi-faceted rotating mirror 22 is used to reflect the signal reflected by the galvanometer 21 to the target object to complete one-dimensional scanning in the second direction perpendicular to the first direction; the scanning frequency of the multi-faceted rotating mirror 22 is less than the scanning frequency of the galvanometer 21;

[0047] The collecting system 30 is used to collect the echo signal scattered by the target object and transmit it to the signal processing system 40;

[0048] The signal processing system 40 is used to receive the motion position information fed back by the galvanometer 21 and the multi-faceted rotating mirror 22, and generate a point cloud image in combination with the echo signal.

[0049] In the lidar system provided by the embodiments of the present invention, the transmitting system 10 sends a detection signal to the scanning system 20. The detection signal hits the galvanometer 21 that scans at a high frequency. After being reflected by the galvanometer 21, the signal is directed towards the multi-faceted rotating mirror 22. The galvanometer 21 performs one-dimensional scanning in the first direction, and the multi-faceted rotating mirror 22 performs another one-dimensional scanning in the second direction. After the multi-faceted rotating mirror 22 reflects the light beam, it illuminates the target object. The acquisition system 30 acquires the echo signal scattered back by the target object. Finally, the signal processing system 40 generates a point cloud image based on the motion position information and the echo signal fed back by the galvanometer 21 and the multi-faceted rotating mirror 22. In this way, by using the galvanometer 21 that scans at a high frequency in cooperation with the multi-faceted rotating mirror 22 to perform one-dimensional scanning of the surrounding environmental target objects in different directions, point cloud data can be obtained, a point cloud image with high resolution can be generated, and the rotation speed of the rotating mirror does not need to be too high, with high stability, strong reliability, and low overall cost.

[0050] It should be noted that in the existing lidar systems, the scanning method using a high-speed rotating mirror will affect the service life, stability, and reliability of the motor; while the lidar system of the present invention uses the galvanometer 21 that scans at a high frequency in cooperation with the multi-faceted rotating mirror 22 for scanning. The rotation speed of the multi-faceted rotating mirror 22 does not need to be too high, and only a low-speed multi-faceted rotating mirror 22 is required for one-dimensional scanning, which improves the service life, stability, and reliability.

[0051] Preferably, in specific implementation, in the lidar system provided by the embodiments of the present invention, the galvanometer 21 can be a micro-electro-mechanical system (MEMS) micro-galvanometer. The MEMS micro-galvanometer performs resonant scanning, with high scanning speed, small volume, light weight, easy integration, low cost, and high stability.

[0052] In practical applications, the transmitting system 10 is a laser, and the detection signal is a laser beam. The number of laser beams can be 1, 2,..., n. The specific number of laser beams needs to be determined according to the actual situation and is not limited here.

[0053] In the prior art, when a low-speed rotating mirror is used in combination with multiple groups of lasers in a lidar system, the number of lasers needs to be determined according to the number of lines of the lidar system. Generally, the number of lines is the same as the number of lasers. For example, when implementing 100 lines, 100 lasers are required, resulting in too high a cost.

[0054] However, the lidar system of the present invention uses a galvanometer 21 with high-frequency scanning in cooperation with a multi-faceted rotating mirror 22 for scanning. With two scanning devices cooperating, the requirement for the number of lasers is not too high. For example, when achieving 100 lines, <100 / 2 lasers can be used (which can be understood as the number of lasers corresponding to the order of magnitude of fewer lines), and the specific requirements depend on the situation (higher resolution requires more lasers). For example: 10 lasers can achieve a resolution of 0.1°×0.1° and a field of view of 120°×20°, then 5 rotating mirrors need to rotate at 120 RPM (rotating 10 faces in 1 s corresponding to 1 frame of point cloud), and the resonant frequency of the galvanometer (such as a MEMS micro-galvanometer) being 650 Hz can meet the requirements; 20 lasers can achieve a resolution of 0.05°×0.05° and a field of view of 120°×20°, then 5 rotating mirrors need to rotate at 120 RPM (rotating 10 faces in 1 s corresponding to 1 frame of point cloud), and the resonant frequency of the galvanometer (such as a MEMS micro-galvanometer) being 700 Hz can meet the requirements.

[0055] In addition, it should be noted that the first direction referred to in the present invention can be the vertical direction, and the second direction can be the horizontal direction. Preferably, the present invention can perform one-dimensional high-frequency scanning using the galvanometer 21 in the direction perpendicular to the ground, and perform another-dimensional scanning using the multi-faceted rotating mirror 22 in the direction horizontal to the ground.

[0056] In specific implementation, in the above lidar system provided by the embodiments of the present invention, the rotation speed of the multi-faceted rotating mirror 22 can be set to not greater than 1800 RPM. The scanning frequency of the galvanometer 21 can be not less than 30 Hz. That is, the scanning frequency of the galvanometer 21 can be dozens of Hz, hundreds of Hz, or thousands of Hz. In addition, the scanning frequency of the galvanometer 21 can be the resonant frequency.

[0057] Furthermore, in specific implementation, in the above lidar system provided by the embodiments of the present invention, the signal processing system 40 can include a driving circuit respectively electrically connected to the transmitting system 10 and the scanning system 20;

[0058] The driving circuit is used to issue a driving signal to synchronously control the transmitting system 10 to emit a detection signal, and the galvanometer 21 and the multi-faceted rotating mirror 22 to cooperate in scanning.

[0059] In implementation, the driving circuit in the signal processing system 40 can issue a driving signal, and since the driving circuit is electrically connected to the transmitting system 10 and electrically connected to the scanning system 20, the driving circuit can use the driving signal to synchronously control the operations of the transmitting system 10, the galvanometer 21, and the multi-faceted rotating mirror 22, so that the emission moment of the transmitting system 10 is synchronized with the scanning operation of the scanning system 20, further ensuring the stability and reliability of the system.

[0060] Further, in specific implementation, in the above lidar system provided by the embodiments of the present invention, the signal processing system 40 may further include a processing chip electrically connected to the transmitting system 10, the scanning system 20, and the acquisition system 30 respectively;

[0061] The processing chip is used to obtain depth information at different scanning angles according to the echo signal, the motion position signal, and the emission time of the transmitting system 10, so as to generate a point cloud image.

[0062] In implementation, the present invention scans the surrounding environment through the cooperation of the galvanometer 21 and the multi-faceted rotating mirror 22 in the scanning system 20. According to the motion position information fed back by the galvanometer 21 and the multi-faceted rotating mirror 22, the echo signal scattered by the target object, and the emission time of the transmitting system 10, the depth information at different scanning angles can be calculated, that is, the distance information of the target object obtained by the lidar from different angles during the scanning process. The depth information at different scanning angles can be used to generate three-dimensional point cloud data. The three-dimensional point cloud data is a three-dimensional coordinate set composed of a large number of discrete points, and then a point cloud image is generated.

[0063] Further, in specific implementation, in the above lidar system provided by the embodiments of the present invention, the multi-faceted rotating mirror 22 has two mutually parallel bottom surfaces, and at least three mirror reflecting surfaces are connected between the two bottom surfaces. Preferably, the number of surfaces of the multi-faceted rotating mirror 22 can be 3, 4, 5, or 6.

[0064] In specific implementation, there are the following two implementation manners for the positional relationship between the mirror reflecting surface and the bottom surface in the multi-faceted rotating mirror 22:

[0065] The first implementation manner is that multiple mirror reflecting surfaces are all perpendicular to the bottom surface. Figure 3 This is a schematic distribution diagram of multiple laser beams cooperating to scan the scanning area corresponding to each surface in the case where multiple mirror reflecting surfaces provided by the embodiments of the present invention are all perpendicular to the bottom surface. As Figure 3 shown, the outer frame represents the same scanning area corresponding to each surface, and this same scanning area is divided into multiple sub-scanning areas according to the number of laser beams. When the number of simultaneously reflected laser beams is n, in the Figure 3 shown scanning area, n laser beams can cooperate to scan the scanning area corresponding to one surface. There can be a certain overlapping area between two adjacent sub-scanning areas.

[0066] Figure 4 This is a schematic diagram of the scanning pattern corresponding to one laser beam provided by the embodiments of the present invention. As Figure 4 shown, the vertical scanning is the scanning of the galvanometer 21, and as the rotating mirror operates, the scanning line moves to the right accordingly.

[0067] The second implementation manner is that the inclination angles of multiple mirror reflecting surfaces with respect to the bottom surface are different.Figure 5 This is a schematic structural diagram corresponding to different tilting angles of multiple mirror reflecting surfaces in the multi-faceted rotating mirror provided by the embodiment of the present invention. As Figure 5 shown, there are 5 mirror reflecting surfaces on the rotating mirror, including the first surface, the second surface, the third surface, the fourth surface, and the fifth surface. The angles between these 5 surfaces and the bottom surface are 90° + 2θ, 90° + θ, 90°, 90° - θ, and 90° - 2θ respectively.

[0068] Figure 6 This is a schematic diagram of the second surface and the bottom surface in the multi-faceted rotating mirror provided by the embodiment of the present invention; Figure 7 This is a schematic diagram of the fourth surface and the bottom surface in the multi-faceted rotating mirror provided by the embodiment of the present invention. As Figure 6 shown, for the light incident horizontally on the second surface from the bottom surface, the angle between the light reflected by the second surface and the bottom surface is -2θ. As Figure 7 shown, for the light incident horizontally on the fourth surface from the bottom surface, the angle between the light reflected by the fourth surface and the bottom surface is 2θ. Based on this, it can be known that for the light incident horizontally on the mirror reflecting surface of the rotating mirror from the bottom surface, the angles between the lights reflected by the 5 mirror reflecting surfaces and the bottom surface are -4θ, -2θ, 0, 2θ, and 4θ respectively. When combined with vertical scanning, the mechanical swing angle of the galvanometer for high-frequency scanning is ±α, then the optical full angle of the vertical scanning field of view that can be achieved is 2(α + 4θ).

[0069] Figure 8 This is a schematic distribution diagram of the scanning areas corresponding to each mirror reflecting surface in the case where the tilting angles of multiple mirror reflecting surfaces with respect to the bottom surface are different in the embodiment of the present invention. As Figure 8 shown, the multi-faceted rotating mirror has m mirror reflecting surfaces, and each mirror reflecting surface has a certain tilting angle with respect to the bottom surface. After scanning each surface, it corresponds to Figure 8 the scanning area shown. Figure 9 This is a schematic distribution diagram of the scanning areas corresponding to each surface scanned by multiple laser beams in the case where the tilting angles of multiple mirror reflecting surfaces with respect to the bottom surface are different in the embodiment of the present invention. As Figure 9 shown, according to the number of laser beams, Figure 8 the scanning area shown is divided into multiple sub-scanning areas. When the number of simultaneously reflected laser beams is n, in the Figure 9 scanning area shown, n laser beams can cooperate to scan the scanning area corresponding to each surface.

[0070] In the above embodiments, the lidar system has been described in detail. Based on the same inventive concept, the embodiments of the present invention also provide a working method of the lidar system and corresponding embodiments of electronic devices.

[0071] Figure 4Flowchart of the working method of the lidar system provided by an embodiment of the present invention. The working method of the lidar system provided by this embodiment is as follows Figure 10 shown, and specifically includes the following steps:

[0072] S1001. The emission system emits a detection signal to the galvanometer.

[0073] In implementation, the emission system can be a laser, and the detection signal is a laser beam. The number of laser beams can be 1, 2,..., n. The specific number of laser beams needs to be determined according to the actual situation and is not limited here.

[0074] In the prior art, when a low-speed rotating mirror is used in combination with multiple groups of lasers in a lidar system, the number of lasers needs to be determined according to the number of lines of the lidar system. Generally, the number of lines is the same as the number of lasers. For example, when implementing 100 lines, 100 lasers are required, resulting in high costs.

[0075] However, the lidar system of the present invention uses a galvanometer with high-frequency scanning in combination with a multi-faceted rotating mirror for scanning. In this way, with two scanning devices cooperating, the requirement for the number of lasers is not too high. For example, when implementing 100 lines, <100 / 2 the number of lasers can be used (which can be understood as the number of lasers corresponding to a lower number of lines). The specific requirements depend on the situation (higher resolution requires more lasers). For example: 10 lasers can achieve a resolution of 0.1°×0.1°, a field of view of 120°×20°, then 5 multi-faceted rotating mirrors with a rotation speed of 120 RPM (rotating 10 faces in 1 s corresponding to 1 frame of point cloud) and a galvanometer (such as a MEMS micromirror) with a resonance frequency of 650 Hz can meet the requirements; 20 lasers can achieve a resolution of 0.05°×0.05°, a field of view of 120°×20°, then 5 multi-faceted rotating mirrors with a rotation speed of 120 RPM (rotating 10 faces in 1 s corresponding to 1 frame of point cloud) and a galvanometer (such as a MEMS micromirror) with a resonance frequency of 700 Hz can meet the requirements.

[0076] S1002. The galvanometer reflects the detection signal to the multi-faceted rotating mirror to complete one-dimensional scanning in the first direction.

[0077] In implementation, a MEMS micromirror can be selected as the galvanometer. The scanning frequency of the galvanometer can be greater than 50 Hz.

[0078] S1003. The multi-faceted rotating mirror reflects the signal reflected by the galvanometer to the target object to complete one-dimensional scanning in the second direction perpendicular to the first direction; the scanning frequency of the multi-faceted rotating mirror is less than the scanning frequency of the galvanometer.

[0079] In implementation, the rotation speed range of the multi-faceted rotating mirror can be set to 200 revolutions per minute to 1200 revolutions per minute.

[0080] S1004. The acquisition system acquires the echo signal scattered back by the target object and transmits it to the signal processing system.

[0081] S1005. The signal processing system receives the motion position information fed back by the galvanometer and the multifaceted rotating mirror, and combines it with the echo signal to generate a point cloud image.

[0082] In the working method of the lidar system provided in the embodiments of the present invention, by performing the above steps S1001 to S1005, the galvanometer with high-frequency scanning can be combined with the multifaceted rotating mirror to perform one-dimensional scanning of the surrounding environmental target objects in different directions, obtain point cloud data, generate a point cloud image with high resolution, and the rotating mirror speed does not need to be too high, with high stability, strong reliability, and low overall cost.

[0083] Since the embodiments in the working method part correspond to the embodiments in the lidar system part, for the embodiments in the working method part, please refer to the description of the embodiments in the lidar system part, which will not be elaborated here. And it has the same beneficial effects as the above-mentioned lidar system.

[0084] Further, in specific implementation, in the working method of the lidar system provided in the embodiments of the present invention, it further includes:

[0085] The drive circuit in the signal processing system issues a drive signal to synchronously control the emission system to emit a detection signal, and the galvanometer and the multifaceted rotating mirror cooperate for scanning.

[0086] Further, in specific implementation, in the working method of the lidar system provided in the embodiments of the present invention, in step S1005, combining the echo signal to generate a point cloud image may specifically include:

[0087] The processing chip in the signal processing system obtains the depth information of different scanning angles according to the echo signal, the motion position signal, and the emission time of the emission system to generate a point cloud image.

[0088] For the more specific working processes of the above steps, reference can be made to the corresponding content disclosed in the foregoing embodiments, which will not be elaborated here.

[0089] Based on the same inventive concept, the embodiments of the present invention also provide an electronic device including the above lidar system. Since the principle of the electronic device to solve problems is similar to that of the foregoing lidar system, for the implementation of the electronic device, reference can be made to the implementation of the lidar system, and the repeated parts will not be elaborated.

[0090] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts between the embodiments, reference can be made to each other.

[0091] Finally, it should also be noted that unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "comprising", "including" and "having" and any other variants thereof in this application are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element. In this application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0092] For the foregoing embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps may be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0093] Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still, without conflict and without creative efforts, combine, add or delete the features in the embodiments of the present invention according to the circumstances, or make other adjustments, so as to obtain different technical solutions that are essentially not divorced from the concept of the present invention, and these technical solutions also belong to the scope of protection of the present invention.

[0094] The above has introduced in detail the lidar system, its working method, and the electronic device provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention, rather than limiting the protection scope of the invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A lidar system, characterized in that, Including: A transmitting system (10), a scanning system (20), a collecting system (30), and a signal processing system (40) electrically connected to the transmitting system (10), the scanning system (20), and the collecting system (30) respectively; the scanning system (20) includes a galvanometer (21) and a multi-faceted rotating mirror (22); The transmitting system (10) is configured to transmit a detection signal to the galvanometer (21); The galvanometer (21) is configured to reflect the detection signal to the multi-faceted rotating mirror (22) to complete one-dimensional scanning in a first direction; The multi-faceted rotating mirror (22) is configured to reflect the signal reflected by the galvanometer (21) to a target object to complete one-dimensional scanning in a second direction perpendicular to the first direction; the scanning frequency of the multi-faceted rotating mirror (22) is less than the scanning frequency of the galvanometer (21); The collecting system (30) is configured to collect the echo signal scattered back by the target object and transmit it to the signal processing system (40); The signal processing system (40) is configured to receive the motion position information fed back by the galvanometer (21) and the multi-faceted rotating mirror (22), and generate a point cloud image in combination with the echo signal.

2. The lidar system according to claim 1, wherein The signal processing system (40) includes a driving circuit electrically connected to the transmitting system (10) and the scanning system (20) respectively; The driving circuit is configured to issue a driving signal to synchronously control the transmitting system (10) to transmit a detection signal, and the galvanometer (21) and the multi-faceted rotating mirror (22) to cooperate in scanning.

3. The lidar system according to claim 2, wherein, The signal processing system (40) further includes a processing chip electrically connected to the transmitting system (10), the scanning system (20), and the collecting system (30) respectively; The processing chip is configured to obtain depth information at different scanning angles based on the echo signal, the motion position signal, and the emission time of the transmitting system (10) to generate a point cloud image.

4. The lidar system according to any one of claims 1 to 3, characterized in that, The galvanometer (21) is a MEMS micro-galvanometer.

5. The lidar system according to claim 4, wherein The scanning frequency of the galvanometer (21) is not less than 30 Hz.

6. The lidar system according to any one of claims 1 to 3, characterized in that, The multi-faceted rotating mirror (22) has two mutually parallel bottom surfaces, and at least three mirror reflection surfaces connected to each other are included between the two bottom surfaces; Multiple said mirror reflection surfaces are all perpendicular to the bottom surface; or, the inclination angles of multiple said mirror reflection surfaces relative to the bottom surface are different.

7. The lidar system according to claim 6, wherein The rotation speed of the multi-faceted rotating mirror (22) is not greater than 1800 RPM.

8. A working method of a lidar system according to any one of claims 1 to 7, characterized in that, Including: The transmitting system (10) transmits a detection signal to the galvanometer (21); The galvanometer (21) reflects the detection signal to the multi-faceted rotating mirror (22) to complete one-dimensional scanning in a first direction; The multi-faceted rotating mirror (22) reflects the signal reflected by the galvanometer (21) to a target object to complete one-dimensional scanning in a second direction perpendicular to the first direction; the scanning frequency of the multi-faceted rotating mirror (22) is less than the scanning frequency of the galvanometer (21); The collecting system (30) collects the echo signal scattered back by the target object and transmits it to the signal processing system (40); The signal processing system (40) receives the motion position information fed back by the galvanometer (21) and the polygon mirror (22), and generates a point cloud image in combination with the echo signal.

9. An electronic device, characterized in that, It includes the lidar system according to any one of claims 1 to 7.

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