Optical system and rotary laser radar

Abstract

The invention provides an optical system and a rotary laser radar, and the optical system comprises a transmitting lens which is used for collimating a laser beam transmitted by a laser; the reflecting mirror is provided with a transmitting part and a receiving part, and the transmitting part of the reflecting mirror is used for reflecting the collimated laser beams; the rotary reflection structure is of a right prism structure or a regular prism structure, the rotary reflection structure can rotate around a rotating shaft parallel to the side faces, each side face of the rotary reflection structure has a reflection function, and the side faces of the rotary reflection structure are provided with a transmitting part and a receiving part; the emission part on the side surface of the rotary reflection structure is used for further reflecting the laser beam; the receiving part on the side surface of the rotary reflection structure is used for further reflecting the laser beam reflected by the to-be-measured object; the receiving part of the reflector is used for further reflecting the laser beam; and the receiving lens is used for converging the laser beams reflected by the receiving part of the reflector.

Description

Technical Field

[0001] Embodiments of the present application relate to the fields of optics and lidar, and particularly to optical systems and rotary lidar. Background Art

[0002] At present, lidar is involved in various related fields such as industrial automation, mobile robots, driving assistance, and drones, which makes this product increasingly important. At the same time, with the development of optical technology, its application scope is getting wider and wider. Therefore, the reasonable design of lidar products plays a crucial role.

[0003] The current rotary lidar has a too large emission spot, resulting in a low spatial scanning resolution of the lidar, which cannot meet the requirements of scenarios with high spatial scanning resolution. Summary of the Invention

[0004] Embodiments of the present application provide an optical system and a rotary lidar.

[0005] In a first aspect, embodiments of the present application provide an optical system, including: a transmitting lens 202 for collimating the laser beam emitted by a laser; a reflecting mirror 203 having a transmitting portion and a receiving portion, the transmitting portion of the reflecting mirror 203 being configured to reflect the collimated laser beam; a rotating reflecting structure, the rotating reflecting structure being a straight prism structure or a regular prism structure, the rotating reflecting structure being capable of rotating about a rotation axis parallel to the side surface, each side surface of the rotating reflecting structure having a reflecting function, the side surface of the rotating reflecting structure having a transmitting portion and a receiving portion, the transmitting portion of the side surface of the rotating reflecting structure being configured to further reflect the laser beam reflected by the transmitting portion of the reflecting mirror 203; the receiving portion of the side surface of the rotating reflecting structure being configured to further reflect the laser beam reflected by the transmitting portion of the side surface of the rotating reflecting structure after being reflected by a measured object; the receiving portion of the reflecting mirror 203 being configured to further reflect the laser beam reflected by the receiving portion of the side surface of the rotating reflecting structure; and a receiving lens 205 for converging the laser beam reflected by the receiving portion of the reflecting mirror 203.

[0006] In some exemplary embodiments, the rotating reflecting structure includes: a rotating body 218 and a rotating reflecting mirror 204, the rotating body 218 being a straight prism structure or a regular prism structure, the rotating body 218 being capable of rotating about a rotation axis parallel to the side surface, and a rotating reflecting mirror 204 being fixed to each side surface of the rotating body 218.

[0007] In some exemplary embodiments, the rotary reflection structure includes: a rotary body 218, which is a straight prism structure or a regular prism structure. The rotary body 218 can rotate around a rotation axis parallel to the side surface, and each side surface of the rotary body 218 is a reflecting surface.

[0008] In some exemplary embodiments, the rotary reflection structure is a straight quadrangular prism structure or a regular quadrangular prism structure, and the number of side surfaces of the rotary reflection structure is four; or the rotary reflection structure is a straight hexagonal prism structure or a regular hexagonal prism structure, and the number of side surfaces of the rotary reflection structure is six; or the rotary reflection structure is a straight octagonal prism structure or a regular octagonal prism structure, and the number of side surfaces of the rotary reflection structure is eight.

[0009] In some exemplary embodiments, the angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emitting part of the side surface of the rotary reflection structure and the number of side surfaces of the rotary reflection structure.

[0010] In some exemplary embodiments, the absolute value of the difference between the angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam and 45° is less than or equal to a preset threshold.

[0011] In some exemplary embodiments, the angle between the rotation axis and the reflecting mirror 203 is less than or equal to a preset threshold.

[0012] In some exemplary embodiments, the angle between the optical axis of the emitting lens 202 and the optical axis of the receiving lens 205 is less than or equal to a preset threshold.

[0013] In a second aspect, an embodiment of the present application provides a rotary lidar, including: any one of the above optical systems; the rotary lidar further includes: a transmitting circuit board 201, on which a laser is arranged, and the transmitting circuit board 201 is used to control the laser to emit the laser beam; a receiving circuit board 206, which is used to receive the converged laser beam and convert the converged laser beam into an electrical signal; a galvanometer motor 209, which is used to control the rotation of the rotary reflection structure under the drive of a galvanometer motor drive circuit board 207; and a galvanometer motor drive circuit board 207, which is used to drive the galvanometer motor 209.

[0014] In some exemplary embodiments, it further includes: a first reader circuit board 210, which is used to measure the rotation angle of the rotary reflection structure in combination with a first code disk 220.

[0015] In some exemplary embodiments, it further includes: a ranging circuit board 301, configured to control the galvanometer motor drive circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206 to operate; receive the electrical signals sent by the receiving circuit board 206, and convert the electrical signals into measurement data.

[0016] In the optical system provided by the embodiment of the present application, since the laser beam collimated by the transmitting lens 202 has a divergence angle that varies with distance, the longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflecting mirror 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available for arranging the transmitting lens 202 and the receiving lens 205. As a result, the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set relatively long, thereby reducing the divergence angle of the laser beam, narrowing the diameter of the laser emission spot, improving the spatial scanning resolution of the lidar, and meeting the requirements of scenarios with high spatial scanning resolution.

[0017] In the rotary lidar provided by the embodiment of the present application, since the laser beam collimated by the transmitting lens 202 has a divergence angle that varies with distance, the longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflecting mirror 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available for arranging the transmitting lens 202 and the receiving lens 205. As a result, the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set relatively long, thereby reducing the divergence angle of the laser beam, narrowing the diameter of the laser emission spot, improving the spatial scanning resolution of the lidar, and meeting the requirements of scenarios with high spatial scanning resolution. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the composition of a rotary lidar provided by an embodiment of the present application;

[0019] Figure 2 For the embodiment of the present application Figure 1 exploded view;

[0020] Figure 3 It is an exploded view of the motor galvanometer assembly according to another embodiment of the present application;

[0021] Figure 4 It is an exploded view of the galvanometer structure according to the embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the circuit connection in the motor galvanometer assembly according to the embodiment of the present application;

[0023] Figure 6Explosion schematic diagram of the rotary lidar provided by another embodiment of the present application;

[0024] Figure 7 Cross-sectional schematic diagram of the rotary lidar according to the embodiment of the present application;

[0025] Figure 8 Explosion schematic diagram of the outer cover assembly according to the embodiment of the present application;

[0026] Figure 9 Explosion schematic diagram of the rotor assembly according to the embodiment of the present application;

[0027] Figure 10 Explosion schematic diagram of the bottom structure assembly according to the embodiment of the present application;

[0028] Figure 11 Explosion schematic diagram of the base assembly according to the embodiment of the present application;

[0029] Figure 12 Schematic diagram of the circuit connection in the rotary lidar according to the embodiment of the present application.

[0030] Among them, 100 is the outer cover assembly, 200 is the motor mirror assembly, 300 is the rotor assembly, 400 is the bottom structure assembly, and 500 is the base assembly;

[0031] 101 is the outer cover, 102 is the outer cover seat, 103 is the first positioning pin, and 104 is the first threaded hole;

[0032] 201 is the transmitting circuit board, 202 is the transmitting lens, 203 is the reflecting mirror, 204 is the rotating reflecting mirror, 205 is the receiving lens, 206 is the receiving circuit board, 207 is the rotating mirror motor drive circuit board, 208 is the lens holder, 209 is the rotating mirror motor, 210 is the first reader circuit board, 211 is the partition board, 212 is the first screw, 213 is the fourth screw, 214 is the seventh screw, 215 is the third screw through hole, 216 is the fifth screw, 217 is the sixth screw, 218 is the rotating mirror body, 219 is the rotating baffle, 220 is the first code disk, and 221 is the second screw;

[0033] 301 is the ranging circuit board, 302 is the rotor, 303 is the second code disk, 304 is the first wireless transmission magnetic core, 305 is the first wireless transmission coil, 306 is the motor iron ring, 307 is the radiation ring, 308 is the rotating shaft, 309 is the twelfth screw, 310 is the sixth threaded hole, 311 is the eleventh screw, 312 is the fourth threaded hole, 313 is the fifth screw through hole, 314 is the positioning post through hole, 315 is the positioning post, and 316 is the bearing through hole;

[0034] 401 is the second reader circuit board, 402 is the base stator, 403 is the base O-ring, 404 is the second wireless transmission coil, 405 is the second wireless transmission magnetic core, 406 is the motor iron core, 407 is the motor iron core coil, 408 is the micro bearing, 409 is the motor power circuit board, 410 is the fourteenth screw, 411 is the stator central axis, 412 is the thirteenth screw;

[0035] 501 is the interface connector, 502 is the first interface, 503 is the base, 504 is the main control circuit board, 505 is the tenth screw, 506 is the interface via hole, 507 is the second positioning pin, 508 is the ninth screw, 509 is the third positioning pin, 510 is the fourth screw via hole, 511 is the positioning pin via hole. Specific embodiments

[0036] To enable those skilled in the art to better understand the technical solutions of the present application, the optical system and the rotary lidar provided by the present application will be described in detail below with reference to the accompanying drawings.

[0037] In the following, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0038] In the case of no conflict, the various embodiments of the present application and the various features in the embodiments may be combined with each other.

[0039] As used herein, the term "and / or" includes any and all combinations of at least one of the associated listed items.

[0040] The terms used herein are only for describing specific embodiments and are not intended to limit the present application. As used herein, the singular forms "a" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms "comprises" and / or "consists of" are used in this specification, the specified features, wholes, steps, operations, elements, and / or components are present, but do not preclude the presence or addition of at least one other feature, whole, step, operation, element, component, and / or group thereof.

[0041] The embodiments described herein may be described with reference to the plan view and / or cross-sectional view by means of the ideal schematic diagrams of the present application. Therefore, the example illustrations may be modified according to the manufacturing technology and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the drawings have schematic properties, and the shapes of the regions shown in the drawings illustrate the specific shapes of the regions of the elements, but are not intended to be restrictive.

[0042] In the description of the embodiments, unless otherwise clearly specified and defined, terms such as "arrangement" and "connection" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or connected through an intermediate medium, or there can be communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] Unless otherwise defined, all terms (including technical and scientific terms) used herein shall have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in common dictionaries shall be interpreted as having a meaning consistent with their meaning in the relevant art and the context of this application, and shall not be interpreted as having an idealized or overly formal meaning unless clearly so defined herein.

[0044] Figure 1 A schematic diagram of the composition of a lidar provided for an embodiment of this application Figure 2 For the embodiment of this application Figure 1 Expansion schematic diagram.

[0045] In a first aspect, referring to Figure 1 and Figure 2 , an embodiment of this application provides an optical system, including:

[0046] A transmitting lens 202 for collimating the laser beam emitted by the laser.

[0047] A reflecting mirror 203 having a transmitting portion and a receiving portion, and the transmitting portion of the reflecting mirror 203 is used for reflecting the collimated laser beam.

[0048] A rotating reflection structure, the rotating reflection structure is a straight prism structure or a regular prism structure, the rotating reflection structure can rotate around a rotation axis parallel to the side surface, each side surface of the rotating reflection structure has a reflection function, the side surface of the rotating reflection structure has a transmitting portion and a receiving portion, and the transmitting portion of the side surface of the rotating reflection structure is used for further reflecting the laser beam reflected by the transmitting portion of the reflecting mirror 203; the receiving portion of the side surface of the rotating reflection structure is used for further reflecting the laser beam reflected by the object to be measured after being reflected by the transmitting portion of the side surface of the rotating reflection structure.

[0049] The receiving portion of the reflecting mirror 203 is used for further reflecting the laser beam reflected by the receiving portion of the side surface of the rotating reflection structure.

[0050] A receiving lens 205 for converging the laser beam reflected by the receiving portion of the reflecting mirror 203.

[0051] In some exemplary embodiments, the transmitting portion and the receiving portion of the mirror 203 may be different portions on the same mirror. In some exemplary embodiments, the transmitting portion and the receiving portion of the mirror 203 may also be two different mirrors.

[0052] In some exemplary embodiments, the rotating reflection structure includes: a rotating body 218 and a rotating mirror 204. The rotating body 218 is a straight prism structure or a regular prism structure. The rotating body 218 can rotate about a rotation axis parallel to the side surface, and a rotating mirror 204 is fixed to each side surface of the rotating body 218.

[0053] In some exemplary embodiments, the rotating mirror 204 has a transmitting portion and a receiving portion. The transmitting portion of the rotating mirror 204 is configured to further reflect the laser beam reflected by the transmitting portion of the mirror 203.

[0054] In some exemplary embodiments, the transmitting portion and the receiving portion of the transmitting portion of the rotating mirror 204 may be different portions on the same mirror. In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating mirror 204 may also be two different mirrors.

[0055] In some exemplary embodiments, the rotating reflection structure includes: a rotating body 218. The rotating body 218 is a straight prism structure or a regular prism structure. The rotating body 218 can rotate about a rotation axis parallel to the side surface, and each side surface of the rotating body 218 is a reflecting surface.

[0056] In some exemplary embodiments, the rotating reflection structure is a straight quadrangular prism structure or a regular quadrangular prism structure, and the number of side surfaces of the rotating reflection structure is four.

[0057] In some exemplary embodiments, when the rotating mirror body 218 is a straight quadrangular prism structure or a regular quadrangular prism structure, and the transmitting portion and the receiving portion of the transmitting portion of the rotating mirror 204 are different portions on the same mirror, the number of rotating mirrors 204 is four; when the transmitting portion and the receiving portion of the rotating mirror 204 are two different mirrors, the number of rotating mirrors 204 is eight.

[0058] In some exemplary embodiments, the rotating mirror body 218 is a straight quadrangular prism structure or a regular quadrangular prism structure, and the number of reflecting surfaces is four.

[0059] In some exemplary embodiments, a straight quadrangular prism structure is a columnar structure with a quadrilateral cross-section and side surfaces perpendicular to the bottom surface.

[0060] In some exemplary embodiments, a regular quadrangular prism structure is a columnar structure with a square cross-section and side faces perpendicular to the base.

[0061] In some exemplary embodiments, the rotary reflection structure is a regular hexagonal prism structure or a straight hexagonal prism structure, and the number of side faces of the rotary reflection structure is six.

[0062] In some exemplary embodiments, the rotating mirror body 218 is a regular hexagonal prism structure or a straight hexagonal prism structure. When the transmitting part and the receiving part of the rotating reflecting mirror 204 are different parts on the same reflecting mirror, the number of the rotating reflecting mirrors 204 is six; when the transmitting part and the receiving part of the rotating reflecting mirror 204 are two different reflecting mirrors, the number of the rotating reflecting mirrors 204 is twelve.

[0063] In some exemplary embodiments, the rotating mirror body 218 is a regular hexagonal prism structure or a straight hexagonal prism structure, and the number of reflecting surfaces is six.

[0064] In some exemplary embodiments, a straight hexagonal prism structure is a columnar structure with a hexagonal cross-section and side faces perpendicular to the base.

[0065] In some exemplary embodiments, a regular hexagonal prism structure is a columnar structure with a regular hexagonal cross-section and side faces perpendicular to the base.

[0066] In some exemplary embodiments, the rotary reflection structure is a regular octagonal prism structure or a straight octagonal prism structure, and the number of side faces of the rotary reflection structure is eight.

[0067] In some exemplary embodiments, the rotating mirror body 218 is a regular octagonal prism structure or a straight octagonal prism structure. When the transmitting part and the receiving part of the rotating reflecting mirror 204 are different parts on the same reflecting mirror, the number of the rotating reflecting mirrors 204 is eight; when the transmitting part and the receiving part of the rotating reflecting mirror 204 are two different reflecting mirrors, the number of the rotating reflecting mirrors 204 is sixteen.

[0068] In some exemplary embodiments, the rotating mirror body 218 is a regular octagonal prism structure or a straight octagonal prism structure, and the number of reflecting surfaces is eight.

[0069] In some exemplary embodiments, a straight octagonal prism structure is a columnar structure with a regular octagonal cross-section and side faces perpendicular to the base.

[0070] In some exemplary embodiments, a regular octagonal prism structure is a columnar structure with a regular octagonal cross-section and side faces perpendicular to the base.

[0071] In other embodiments, the rotating reflection structure may also be other numbers of straight prism structures or regular prism structures, and the rotating mirror body 218 may also be other numbers of straight prism structures or regular prism structures, that is, the number of the rotating reflecting mirrors 204 or the reflecting surfaces may also be other numbers. The embodiments of the present application do not make any limitations thereto, and all are within the protection scope of the embodiments of the present application.

[0072] In some exemplary embodiments, when a rotating reflecting mirror 204 is fixed to each side surface of the rotating mirror body 218, the rotating reflecting mirror 204 may be made of quartz material.

[0073] In some exemplary embodiments, when each side surface of the rotating mirror body 218 is a reflecting surface, the main body of the rotating mirror body 218 may be made of plastic material, and a reflecting film or an anti-reflection film may be coated on the side surface of the rotating mirror body 218 to make the side surface become a reflecting surface.

[0074] In some exemplary embodiments, the reflecting film may be a metal film, for example.

[0075] In some exemplary embodiments, the plastic material may be aluminum material, for example.

[0076] In some exemplary embodiments, by coating a reflecting film or an anti-reflection film on the side surface of the rotating mirror body 218 to make the side surface become a reflecting surface, it is not necessary to install the rotating reflecting mirror 204 on the side surface of the rotating mirror body 218, thus saving the installation steps; moreover, the plastic material is relatively light, has low energy consumption during high-speed rotation, and the requirements for the rotor will also be reduced.

[0077] In some exemplary embodiments, the included angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emitting portion of the side surface of the rotating reflection structure and the number of the rotating reflecting mirrors 204.

[0078] In some exemplary embodiments, the included angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emitting portion of the rotating reflecting mirror 204 and the number of the rotating reflecting mirrors 204.

[0079] In some exemplary embodiments, the included angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emitting portion of the reflecting surface and the number of the reflecting surfaces.

[0080] In some exemplary embodiments, when the receiving portion of the emitting portion of the reflecting mirror 203 is different portions on the same reflecting mirror, the included angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is 45°.

[0081] In some exemplary embodiments, when the receiving part and the emitting part of the mirror 203 are different parts on the same mirror, due to the existence of errors, it is usually difficult to strictly make the angle between the mirror 203 and the transmission direction of the collimated laser beam exactly 45°. To allow for the existence of errors, the absolute value of the difference between the angle between the mirror 203 and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be set to a value as small as possible, such that the angle between the mirror 203 and the transmission direction of the collimated laser beam is basically equal to 45°.

[0082] In some exemplary embodiments, when the emitting part and the receiving part of the mirror 203 are two different mirrors, the angles between both mirrors and the transmission direction of the collimated laser beam are 45°.

[0083] In some exemplary embodiments, when the emitting part and the receiving part of the mirror 203 are two different mirrors, due to the existence of errors, it is usually difficult to strictly make the angles between both mirrors and the transmission direction of the collimated laser beam exactly 45°. To allow for the existence of errors, the absolute value of the difference between the angles between both mirrors and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be set to a value as small as possible, such that the angles between both mirrors and the transmission direction of the collimated laser beam are basically equal to 45°.

[0084] In some exemplary embodiments, the rotation axis is parallel to the mirror 203.

[0085] In some exemplary embodiments, due to the existence of errors, it is usually difficult to strictly make the rotation axis parallel to the mirror 203. To allow for the existence of errors, the angle between the rotation axis and the mirror 203 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be set to a value as small as possible, such that the rotation axis and the mirror 203 are basically parallel.

[0086] In some exemplary embodiments, the rotating reflection structure can rotate around the rotation axis under the control of the rotating mirror motor 209. More specifically, the rotating mirror body 218 can rotate around the rotation axis under the control of the rotating mirror motor 209.

[0087] In some exemplary embodiments, the rotation axis can refer to the connection line between the center points of the two bottom surfaces of the rotating reflection structure. More specifically, the rotation axis can refer to the connection line between the center points of the two bottom surfaces of the rotating mirror body 218.

[0088] In some exemplary embodiments, when the rotating mirror motor 209 controls the rotation of the rotating mirror body 218, the rotating reflection mirror 204 is driven to rotate. During the rotation, the relative positional relationship between the rotating mirror body 218 and the rotating reflection mirror 204 remains unchanged.

[0089] In some exemplary embodiments, the optical axis of the transmitting lens 202 is parallel to the optical axis of the receiving lens 205.

[0090] In some exemplary embodiments, due to the existence of errors, it is usually difficult to strictly parallelize the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205. To allow for the existence of errors, the included angle between the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 can be set to be less than or equal to a preset threshold. Here, the preset threshold can take a value as small as possible, such that the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 are substantially parallel.

[0091] For the optical system provided by the embodiments of the present application, since the laser beam collimated by the transmitting lens 202 has a divergence angle that varies with distance, the longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflecting mirror 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available for arranging the transmitting lens 202 and the receiving lens 205. Thus, the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set to be relatively long, thereby reducing the divergence angle of the laser beam, narrowing the diameter of the laser emission spot, improving the spatial scanning resolution of the lidar, and meeting the requirements of scenarios with high spatial scanning resolution.

[0092] In a second aspect, referring to Figure 1 and Figure 2 , another embodiment of the present application provides a rotary lidar, including: any one of the above optical systems. The rotary lidar further includes: a transmitting circuit board 201, on which a laser is provided, and the transmitting circuit board 201 is used to control the laser to emit a laser beam; a receiving circuit board 206, which is used to receive the converged laser beam and convert the converged laser beam into an electrical signal; a galvanometer motor 209, which is used to control the rotation of the rotating reflection structure under the drive of the galvanometer motor drive circuit board 207; and a galvanometer motor drive circuit board 207, which is used to drive the galvanometer motor 209.

[0093] In some exemplary embodiments, it further includes: a first reader circuit board 210, which is used to measure the rotation angle of the rotating reflection structure in combination with the first code disk 220. More specifically, it is used to measure the rotation angle of the galvanometer body 218 in combination with the first code disk 220.

[0094] In some exemplary embodiments, it further includes: a ranging circuit board 301, which is used to control the operation of the galvanometer motor drive circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206; and receive the electrical signal sent by the receiving circuit board 206 and convert the electrical signal into measurement data.

[0095] In some exemplary embodiments, the ranging circuit board 301 is further configured to control the operation of the first read head circuit board 210.

[0096] In the rotary lidar provided by the embodiments of the present application, since the laser beam collimated by the transmitting lens 202 has a divergence angle that varies with distance, the longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflecting mirror 203 between the rotary reflection structure and the transmitting lens 202, and between the rotary reflection structure and the receiving lens 205, more space is provided for arranging the transmitting lens 202 and the receiving lens 205. Thus, the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set relatively long, thereby reducing the divergence angle of the laser beam, narrowing the diameter of the laser emission spot, improving the scanning and measurement accuracy of the lidar, and meeting the requirements of scenarios with high scanning and measurement accuracy.

[0097] Figure 3 It is an exploded schematic view of the motor rotating mirror assembly according to another embodiment of the present application. Figure 4 It is an exploded schematic view of the rotating mirror structure according to the embodiment of the present application. Figure 5 It is a circuit connection schematic diagram in the motor rotating mirror assembly according to the embodiment of the present application.

[0098] In a third aspect, referring to Figure 3 、 Figure 4 and Figure 5 Another embodiment of the present application provides a motor rotating mirror assembly, including: a lens holder 208, the lens holder 208 having a base and two sides perpendicular to the base, the base of the lens holder 208 having a transmitting lens mounting hole, a receiving lens mounting hole, and a reflecting mirror mounting hole; a transmitting lens 202 fixedly mounted in the transmitting lens mounting hole of the lens holder 208, a receiving lens 205 fixedly mounted in the receiving lens mounting hole of the lens holder 208, and a reflecting mirror 203 fixedly mounted in the reflecting mirror mounting hole of the lens holder 208; a transmitting circuit board 201 and a receiving circuit board 206 fixedly connected to the side of the base of the lens holder 208 opposite to the side where the reflecting mirror mounting hole is located; a first through hole is provided between the transmitting circuit board 201 and the transmitting lens 202 in the base of the lens holder 208, and a second through hole is provided between the receiving circuit board 206 and the receiving lens 205.

[0099] A rotation reflection structure, where the rotation reflection structure is a straight prism structure or a regular prism structure. The rotation reflection structure can rotate around a rotation axis parallel to the side surface. Each side surface of the rotation reflection structure has a reflection function, and there is a motor mounting hole inside one end of the rotation reflection structure; there is a rotation baffle 219 on the rotation reflection structure or a rotation baffle 219 fixedly connected to the rotation reflection structure. The rotation baffle 219 divides each side surface of the rotation reflection structure into a transmitting part and a receiving part; a rotating mirror motor 209 fixedly installed in the motor mounting hole of the rotation reflection structure and fixedly connected to the inner side of one side surface of the lens holder 208; a rotating mirror motor drive circuit board 207 fixedly installed on the outer side of one side surface of the lens holder 208, and the rotating mirror motor drive circuit board 207 is electrically connected to the rotating mirror motor 209.

[0100] In some exemplary embodiments, as Figure 3 shown, a laser is provided on the transmitting circuit board 201. The transmitting circuit board 201 is used to control the laser to emit a laser beam, and the laser beam emitted by the laser is transmitted to the transmitting lens 202 through the first through hole.

[0101] In some exemplary embodiments, as Figure 3 shown, a fixing connection method well-known to those skilled in the art can be used to fixedly connect the transmitting circuit board 201 and the base of the lens holder 208. For example, the transmitting circuit board 201 and the base of the lens holder 208 can be fixedly connected by a first screw 212.

[0102] In some exemplary embodiments, as Figure 2 shown, the transmitting lens 202 is used to collimate the laser beam emitted by the laser.

[0103] In some exemplary embodiments, the optical axis of the transmitting lens 202 is parallel to the optical axis of the receiving lens 205.

[0104] In some exemplary embodiments, due to the existence of errors, it is usually difficult to strictly parallel the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205. In order to allow for the existence of errors, the included angle between the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as a value as small as possible, so that the optical axis of the transmitting lens 202 and the optical axis of the receiving lens 205 are substantially parallel.

[0105] In some exemplary embodiments, the transmitting lens 202 can be fixedly installed in the transmitting lens mounting hole of the lens holder 208 by an adhesive method.

[0106] In some exemplary embodiments, the mirror 203 has a transmitting portion and a receiving portion, and the transmitting portion of the mirror 203 is configured to reflect the collimated laser beam.

[0107] In some exemplary embodiments, the mirror 203 can be fixedly installed in the mirror mounting hole of the lens holder 208 by means of adhesion.

[0108] In some exemplary embodiments, the ratio between the transmitting portion and the receiving portion of the mirror 203 can be set according to actual needs. By adjusting the mounting position of the rotating baffle 219 on the rotating reflection structure, the ratio relationship between the transmitting portion and the receiving portion can be changed. More specifically, by adjusting the mounting position of the rotating baffle 219 on the rotating mirror body 218, the ratio relationship between the transmitting portion and the receiving portion can be changed.

[0109] In some exemplary embodiments, the transmitting portion and the receiving portion of the mirror 203 can be different portions on the same mirror. In some exemplary embodiments, the transmitting portion and the receiving portion of the mirror 203 can also be two different mirrors.

[0110] In some exemplary embodiments, the rotating reflection structure includes: a rotating body 218 and a rotating mirror 204. The rotating body 218 is a straight prism structure or a regular prism structure. The rotating body 218 is capable of rotating about a rotation axis parallel to the side surface, and a rotating mirror 204 is fixed to each side surface of the rotating body 218.

[0111] In some exemplary embodiments, the rotating mirror 204 has a transmitting portion and a receiving portion, and the transmitting portion of the rotating mirror 204 is configured to further reflect the laser beam reflected by the transmitting portion of the mirror 203.

[0112] In some exemplary embodiments, the rotating mirror 204 has a transmitting portion and a receiving portion. The transmitting portion of the rotating mirror 204 is configured to further reflect the laser beam reflected by the transmitting portion of the mirror 203; the receiving portion of the rotating mirror 204 is configured to further reflect the laser beam reflected by the object under test after being reflected by the transmitting portion of the rotating mirror 204.

[0113] In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating mirror 204 can be different portions on the same mirror. In some exemplary embodiments, the transmitting portion and the receiving portion of the rotating mirror 204 can also be two different mirrors.

[0114] In some exemplary embodiments, the rotary reflection structure includes: a rotary body 218, which is a straight prism structure or a regular prism structure, and the rotary body 218 can rotate around a rotation axis parallel to the side surface, and each side surface of the rotary body 218 is a reflection surface.

[0115] In some exemplary embodiments, the reflection surface has a transmitting portion and a receiving portion. The transmitting portion of the reflection surface is used to further reflect the laser beam reflected by the transmitting portion of the reflecting mirror 203; the receiving portion of the reflection surface is used to further reflect the laser beam reflected by the object to be measured after being reflected by the transmitting portion of the reflection surface.

[0116] In some exemplary embodiments, the rotary reflection structure is a straight quadrangular prism structure or a regular quadrangular prism structure, and the number of side surfaces of the rotary reflection structure is four.

[0117] In some exemplary embodiments, the rotary mirror body 218 is a straight quadrangular prism structure or a regular quadrangular prism structure. When the transmitting portion and the receiving portion of the rotary reflecting mirror 204 are different portions on the same reflecting mirror, the number of the rotary reflecting mirrors 204 is four; when the transmitting portion and the receiving portion of the rotary reflecting mirror 204 are two different reflecting mirrors, the number of the rotary reflecting mirrors 204 is eight.

[0118] In some exemplary embodiments, the rotary mirror body 218 is a straight quadrangular prism structure or a regular quadrangular prism structure, and the number of reflection surfaces is four.

[0119] In some exemplary embodiments, the straight quadrangular prism structure is a columnar structure with a quadrilateral cross-section and side surfaces perpendicular to the bottom surface.

[0120] In some exemplary embodiments, the regular quadrangular prism structure is a columnar structure with a square cross-section and side surfaces perpendicular to the bottom surface.

[0121] In some exemplary embodiments, the rotary reflection structure is a straight hexagonal prism structure or a regular hexagonal prism structure, and the number of side surfaces of the rotary reflection structure is six.

[0122] In some exemplary embodiments, the rotary mirror body 218 is a straight hexagonal prism structure or a regular hexagonal prism structure. When the transmitting portion and the receiving portion of the rotary reflecting mirror 204 are different portions on the same reflecting mirror, the number of the rotary reflecting mirrors 204 is six; when the transmitting portion and the receiving portion of the rotary reflecting mirror 204 are two different reflecting mirrors, the number of the rotary reflecting mirrors 204 is twelve.

[0123] In some exemplary embodiments, the rotary mirror body 218 is a straight hexagonal prism structure or a regular hexagonal prism structure, and the number of reflection surfaces is six.

[0124] In some exemplary embodiments, a straight hexagonal prism structure is a columnar structure with a hexagonal cross-section and side surfaces perpendicular to the base surface.

[0125] In some exemplary embodiments, a regular hexagonal prism structure is a columnar structure with a regular hexagonal cross-section and side surfaces perpendicular to the base surface.

[0126] In some exemplary embodiments, the rotary reflection structure is a straight octagonal prism structure or a regular octagonal prism structure, and the number of side surfaces of the rotary reflection structure is eight.

[0127] In some exemplary embodiments, the rotating mirror body 218 is a straight octagonal prism structure or a regular octagonal prism structure. When the transmitting part and the receiving part of the rotary reflection mirror 204 are different parts on the same reflecting mirror, the number of rotary reflection mirrors 204 is eight; when the transmitting part and the receiving part of the rotary reflection mirror 204 are two different reflecting mirrors, the number of rotary reflection mirrors 204 is sixteen.

[0128] In some exemplary embodiments, the rotating mirror body 218 is a straight octagonal prism structure or a regular octagonal prism structure, and the number of reflecting surfaces is eight.

[0129] In some exemplary embodiments, a straight octagonal prism structure is a columnar structure with a regular octagonal cross-section and side surfaces perpendicular to the base surface.

[0130] In some exemplary embodiments, a regular octagonal prism structure is a columnar structure with a regular octagonal cross-section and side surfaces perpendicular to the base surface.

[0131] In other embodiments, the rotary reflection structure may also be a straight prism structure or a regular prism structure with other numbers, and the rotating mirror body 218 may also be a straight prism structure or a regular prism structure with other numbers, that is, the number of rotary reflection mirrors 204 or reflecting surfaces may also be other numbers. The embodiments of the present application do not limit this, and all are within the protection scope of the embodiments of the present application.

[0132] In some exemplary embodiments, when a rotary reflection mirror 204 is fixed to each side surface of the rotating mirror body 218, the rotary reflection mirror 204 can be made of quartz material.

[0133] In some exemplary embodiments, when each side surface of the rotating mirror body 218 is a reflecting surface, the main body of the rotating mirror body 218 can be made of plastic material, and a reflecting film or an anti-reflection enhancement film can be plated on the side surface of the rotating mirror body 218 to make the side surface become a reflecting surface.

[0134] In some exemplary embodiments, the reflecting film can be, for example, a metal film.

[0135] In some exemplary embodiments, the plastic material can be, for example, aluminum material.

[0136] In some exemplary embodiments, by plating a reflective film or an anti-reflection enhancement film on the side surface of the rotating mirror body 218, the side surface becomes a reflecting surface, so that it is not necessary to mount the rotating mirror 204 on the side surface of the rotating mirror body 218, saving the mounting step; moreover, the plastic material is relatively light, consumes less energy during high-speed rotation, and the requirements for the rotor are also reduced.

[0137] In some exemplary embodiments, as Figure 4 shown, when the rotating baffle 219 is fixedly connected to the rotating mirror body 218, the rotating baffle 219 and the rotating mirror body 218 are independent structures. There are first screw through holes (not marked in the figure) protruding inward on the four edges of the rotating mirror body 218, and second screw through holes (not marked in the figure) protruding inward at positions opposite to the four edges of the rotating mirror body 218 on the rotating baffle 219. The second screw 221 is used to fixedly connect the rotating mirror body 218 and the rotating baffle 219 through the first screw through hole on the rotating mirror body 218 and the second screw through hole on the rotating baffle 219.

[0138] In some exemplary embodiments, as Figure 4 shown, the rotating baffle 219 has a groove; as Figure 3 shown, the motor rotating mirror assembly further includes: a partition 211 installed in the groove of the rotating baffle 219 and fixedly connected to the lens holder 208; the partition 211 divides the reflecting mirror 203 into a transmitting part and a receiving part. In the embodiment of the present application, the transmitting optical path and the receiving optical path of the rotary lidar are separated by the partition 211, avoiding mutual influence between the light beams on the transmitting optical path and the light beams on the receiving optical path, isolating the signal crosstalk between the transceiver, and thus improving the measurement accuracy.

[0139] In some exemplary embodiments, as Figure 3 shown, the partition 211 and the lens holder 208 can be fixedly connected by a fixed connection method well-known to those skilled in the art. For example, the partition 211 and the lens holder 208 can be fixedly connected by a third screw (not shown in the figure).

[0140] In some exemplary embodiments, the angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the transmitting part on the side surface of the rotating reflection structure and the number of rotating mirrors 204. More specifically, the angle between the reflecting mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the transmitting part of the rotating mirror 204 and the number of rotating mirrors 204.

[0141] In some exemplary embodiments, the angle between the mirror 203 and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emitting portion of the reflecting surface and the number of reflecting surfaces.

[0142] In some exemplary embodiments, when the receiving portion of the emitting portion of the mirror 203 is different portions on the same mirror, the angle between the mirror 203 and the transmission direction of the collimated laser beam is 45°.

[0143] In some exemplary embodiments, when the receiving portion of the emitting portion of the mirror 203 is different portions on the same mirror, due to the existence of errors, it is usually difficult to achieve that the angle between the mirror 203 and the transmission direction of the collimated laser beam is strictly 45°. In order to allow for the existence of errors, the absolute value of the difference between the angle between the mirror 203 and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as a value as small as possible, so that the angle between the mirror 203 and the transmission direction of the collimated laser beam is basically equal to 45°.

[0144] In some exemplary embodiments, when the emitting portion and the receiving portion of the mirror 203 are two different mirrors, the angles between both mirrors and the transmission direction of the collimated laser beam are 45°.

[0145] In some exemplary embodiments, when the emitting portion and the receiving portion of the mirror 203 are two different mirrors, due to the existence of errors, it is usually difficult to achieve that the angles between both mirrors and the transmission direction of the collimated laser beam are strictly 45°. In order to allow for the existence of errors, the absolute value of the difference between the angles between both mirrors and the transmission direction of the collimated laser beam and 45° can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as a value as small as possible, so that the angles between both mirrors and the transmission direction of the collimated laser beam are basically equal to 45°.

[0146] In some exemplary embodiments, the rotation axis is parallel to the mirror 203.

[0147] In some exemplary embodiments, due to the existence of errors, it is usually difficult to achieve that the rotation axis is strictly parallel to the mirror 203. In order to allow for the existence of errors, the angle between the rotation axis and the mirror 203 can be set to be less than or equal to a preset threshold. Here, the preset threshold can be taken as a value as small as possible, so that the rotation axis and the mirror 203 are basically parallel.

[0148] In some exemplary embodiments, the receiving portion of the mirror 203 is configured to further reflect the laser beam reflected by the receiving portion on the side of the rotating reflection structure. More specifically, the receiving portion of the mirror 203 is configured to further reflect the laser beam reflected by the rotating mirror 204 or the receiving portion of the reflecting surface.

[0149] In some exemplary embodiments, the rotating mirror 204 can be fixedly mounted on the side of the rotating mirror body 218 by means of adhesion.

[0150] In some exemplary embodiments, the ratio between the emitting portion and the receiving portion on the side of the rotating reflection structure can be set according to actual needs, and the ratio relationship between the emitting portion and the receiving portion can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating reflection structure. More specifically, the ratio between the emitting portion and the receiving portion of the rotating mirror 204 or the reflecting surface can be set according to actual needs, and the ratio relationship between the emitting portion and the receiving portion can be changed by adjusting the mounting position of the rotating baffle 219 on the rotating mirror body 218.

[0151] In some exemplary embodiments, the receiving lens 205 is configured to converge the laser beam reflected by the receiving portion of the mirror 203, and the converged laser beam is transmitted to the receiving circuit board 206 through the second through hole.

[0152] In some exemplary embodiments, the receiving lens 205 can be fixedly mounted in the receiving lens mounting hole of the lens holder 208 by means of adhesion.

[0153] In some exemplary embodiments, the receiving circuit board 206 is configured to receive the converged laser beam and convert the converged laser beam into an electrical signal.

[0154] In some exemplary embodiments, the receiving circuit board 206 and the base of the lens holder 208 can be fixedly connected by a fixed connection method well-known to those skilled in the art. For example, the receiving circuit board 206 and the base of the lens holder 208 can be fixedly connected by the fourth screw 213.

[0155] In some exemplary embodiments, the rotating mirror motor 209 is configured to control the rotation of the rotating reflection structure under the drive of the rotating mirror motor drive circuit board 207. More specifically, it is configured to control the rotation of the rotating mirror body 218 under the drive of the rotating mirror motor drive circuit board 207; the rotating mirror motor drive circuit board 207 is configured to drive the rotating mirror motor 209.

[0156] In some exemplary embodiments, when the rotating mirror motor 209 controls the rotation of the rotating mirror body 218, the rotating mirror 204 is driven to rotate, and the relative positional relationship between the rotating mirror body 218 and the rotating mirror 204 remains unchanged during the rotation.

[0157] In some exemplary embodiments, the rotating reflection structure can rotate about the rotation axis under the control of the rotating mirror motor 209. More specifically, the rotating mirror body 218 can rotate about the rotation axis under the control of the rotating mirror motor 209.

[0158] In some exemplary embodiments, the rotation axis can refer to the connection line of the center points of the two bottom surfaces of the rotating reflection structure. More specifically, the rotation axis can refer to the connection line of the center points of the two bottom surfaces of the rotating mirror body 218.

[0159] In some exemplary embodiments, the rotating mirror motor drive circuit board 207 can be fixedly installed on the outer side of one side surface of the lens holder 208 in a well-known manner to those skilled in the art. For example, as Figure 3 shown, the rotating mirror motor drive circuit board 207 can be fixedly installed on the outer side of one side surface of the lens holder 208 by using the fifth screw 216.

[0160] In some exemplary embodiments, as Figure 4 shown, a first code disk mounting hole is provided inside the other end of the rotating reflection structure. More specifically, a first code disk mounting hole is provided inside the other end of the rotating mirror body 218; the motor rotating mirror assembly further includes: a first read head circuit board 210 fixedly installed on the outer side of the other side surface of the lens holder 208; a first code disk 220 fixedly installed inside the first code disk mounting hole.

[0161] In some exemplary embodiments, the first read head circuit board 210 is used to measure the rotation angle of the rotating reflection structure in combination with the first code disk 220. More specifically, it is used to measure the rotation angle of the rotating mirror body 218 in combination with the first code disk 220.

[0162] In some exemplary embodiments, the first read head circuit board 210 can be fixedly installed on the outer side of the other side surface of the lens holder 208 in a well-known manner to those skilled in the art. For example, as Figure 3 shown, the first read head circuit board 210 can be fixedly installed on the outer side of the other side surface of the lens holder 208 by using the sixth screw 217.

[0163] In some exemplary embodiments, as Figure 3 shown, a third screw through hole 215 can be provided on the base of the lens holder 208, and the motor rotating mirror assembly can be fixedly installed on the subsequent rotor assembly 300 by using the seventh screw 214 through the third screw through hole 215.

[0164] In the motor mirror assembly provided by the embodiment of the present application, since the laser beam collimated by the transmitting lens 202 has a divergence angle that varies with distance, and the longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflecting mirror 203 between the rotating reflection structure and the transmitting lens 202, and between the rotating reflection structure and the receiving lens 205, more space is available for arranging the transmitting lens 202 and the receiving lens 205. As a result, the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set relatively long, thereby reducing the divergence angle of the laser beam, narrowing the diameter of the laser emission spot, improving the scanning measurement accuracy of the lidar, and meeting the requirements of scenarios with high scanning measurement accuracy.

[0165] Figure 5 It is a schematic circuit connection diagram in the motor mirror assembly of the embodiment of the present application. Figure 6 It is an exploded view of a rotary lidar provided by another embodiment of the present application.

[0166] Fourthly, referring to Figure 5 and Figure 6 Another embodiment of the present application provides a rotary lidar, including: any one of the motor mirror assemblies 200 described in any of the foregoing embodiments; the rotary lidar further includes: a rotor assembly 300 and a bottom structure assembly 400; wherein, the rotor assembly 300 includes: a motor rotor, and a ranging circuit board 301 mounted on the motor rotor, and the ranging circuit board 301 is electrically connected to the transmitting circuit board 201, the receiving circuit board 206, and the mirror motor drive circuit board 207; wherein, the bottom structure assembly 400 includes: a motor stator, and a motor power circuit board 409 fixedly mounted under the motor stator, the motor rotor is fixedly mounted on the motor stator, and the motor mirror assembly 200 is fixedly mounted on the motor rotor.

[0167] In some exemplary embodiments, the ranging circuit board 301 is used to control the operation of the mirror motor drive circuit board 207, the transmitting circuit board 201, and the receiving circuit board 206; receive the electrical signals sent by the receiving circuit board 206 and convert the electrical signals into measurement data.

[0168] In some exemplary embodiments, the ranging circuit board 301 is also electrically connected to the first reader circuit board 210.

[0169] In some exemplary embodiments, the ranging circuit board 301 is also used to control the operation of the first reader circuit board 210.

[0170] In some exemplary embodiments, as Figure 6 shown, the rotary lidar further includes: a housing assembly 100.

[0171] In some exemplary embodiments, as Figure 6 shown, the rotary lidar further includes: a base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0172] In some exemplary embodiments, as Figure 6 shown, the rotary lidar further includes: a housing assembly 100; a base assembly 500 fixedly connected to the housing assembly 100; wherein, the motor rotating mirror assembly 200, the rotor assembly 300 and the bottom structure assembly 400 are disposed in the accommodation space formed by the housing assembly 100 and the base assembly 500, and the bottom structure assembly 400 is fixedly connected to the base assembly 500.

[0173] In some exemplary embodiments, as Figure 8 shown, the housing assembly 100 includes: a housing 101, the upper part of the housing 101 is a hemisphere, the lower part of the housing 101 is a cylinder, and at least part of the area of the housing 101 is made of a light-transmitting material; a housing base 102, and the housing base 102 is fixedly connected to the housing 101.

[0174] In some exemplary embodiments, as Figure 11 shown, the base assembly 500 includes: a base 503, and the base 503 has an interface through hole 506; a main control circuit board 504 fixedly installed in the base 503, and the main control circuit board 504 is electrically connected to the motor power circuit board 409; a first interface 502 fixedly installed in the interface through hole 506, and the first interface 502 is electrically connected to the main control circuit board 504; an interface connector 501 fixedly connected to the first interface 502, one end of the interface connector 501 is electrically connected to the first interface 502, and the other end is electrically connected to a power supply.

[0175] In some exemplary embodiments, the main control circuit board 504 is connected to a power supply.

[0176] In some exemplary embodiments, the main control circuit board 504 is used to control the operation of the motor power circuit board 409.

[0177] In some exemplary embodiments, the interface connector 501 can convert the first interface 502 into a second interface.

[0178] In some exemplary embodiments, the first interface 502 can be a USB interface, and the second interface can be a type-C interface.

[0179] In some exemplary embodiments, the fixed connection between the housing assembly 100 and the base assembly 500 may refer to the fixed connection between the housing base 102 and the base 503.

[0180] In some exemplary embodiments, as Figure 8 and Figure 11 shown, the outer cover base 102 and the base 503 may have positioning pin jacks, and the outer cover base 102 and the base 503 are positioned by inserting the first positioning pin 103 and the second positioning pin 507 into the positioning pin jacks.

[0181] In some exemplary embodiments, the outer cover base 102 and the base 503 may adopt a fixed connection method known to those skilled in the art. For example, as Figure 8 shown, the outer cover base 102 has a first threaded hole 104, and an eighth screw (not shown in the figure) may be used to fixedly connect the outer cover base 102 and the base 503 through the first threaded hole 104.

[0182] In some exemplary embodiments, the main control circuit board 504 may be fixedly installed in the base 503 by a fixed installation method known to those skilled in the art. For example, as Figure 11 shown, the main control circuit board 504 has a fourth screw through hole 510, and the base 503 has a second threaded hole (not marked in the figure), and the main control circuit board 504 may be fixedly installed in the base 503 by using a ninth screw 508 through the fourth screw through hole 510 and the second threaded hole.

[0183] In some exemplary embodiments, the main control circuit board 504 may have a positioning pin through hole 511. When the main control circuit board 504 is installed in the base 503, the third positioning pin 509 may be inserted into the positioning pin through hole 511 to achieve positioning.

[0184] In some exemplary embodiments, the first interface 502 may be fixedly installed in the interface through hole 506 by a fixed installation method known to those skilled in the art. For example, as Figure 11 shown, the first interface 502 may be fixedly installed in the interface through hole 506 by using a tenth screw 505.

[0185] In some exemplary embodiments, the motor rotor may be a rotatable part structure in the motor. The motor rotor may be a motor rotor well-known to those skilled in the art or a newly developed motor rotor in the future, which is not limited here. For example, as Figure 9 shown, a feasible motor rotor structure is given. The motor rotor includes: a rotor 302, and the center of the rotor 302 has a bearing through hole 316; a rotating shaft 308 installed in the bearing through hole 316; a radiation ring 307 coaxially installed with the rotating shaft 308 and sleeved outside the rotating shaft 308; a motor iron ring 306 coaxially installed with the rotating shaft 308 and sleeved outside the radiation ring 307, and the motor iron ring 306 is fixedly connected to the rotor 302.

[0186] In some exemplary embodiments, the motor iron ring 306 and the rotor 302 may be fixedly connected by a method well known to those skilled in the art. For example, as Figure 9 shown, the rotor 302 has a fifth screw through-hole 313, and the motor iron ring 306 has a third threaded hole (not labeled in the figure). The eleventh screw 311 may be used to fixedly connect the motor iron ring 306 and the rotor 302 through the fifth screw through-hole 313 and the third threaded hole.

[0187] In some exemplary embodiments, the rotor 302 has a positioning post 315, and the ranging circuit board 301 has a positioning post through-hole 314. When the rotor 302 and the ranging circuit board 301 are fixedly connected, the positioning post 315 is inserted into the positioning post through-hole 314 to play a positioning role.

[0188] In some exemplary embodiments, the ranging circuit board 301 being mounted on the motor rotor may mean that the ranging circuit board 301 is fixedly connected to the rotor 302.

[0189] In some exemplary embodiments, the ranging circuit board 301 and the rotor 302 may be fixedly connected by a method well known to those skilled in the art. For example, as Figure 9 shown, the ranging circuit board 301 has a sixth screw through-hole 310, and the rotor 302 has a fourth threaded hole 312. The twelfth screw 309 may be used to fixedly connect the ranging circuit board 301 and the rotor 302 through the sixth screw through-hole 310 and the fourth threaded hole 312.

[0190] In some exemplary embodiments, the motor stator may be a stationary part structure in the motor. The motor stator may be a motor stator well known to those skilled in the art or a newly developed motor stator in the future, which is not limited here. For example, as Figure 10 shown, a feasible motor stator structure is given. The motor stator includes: a base stator 402, the center of the base stator 402 has a stator central axis 411, the center of the stator central axis 411 has a third through-hole, and the rotating shaft 308 is fixedly installed in the third through-hole of the stator central axis 411; a micro-bearing 408 coaxially installed with the rotating shaft 308 and sleeved outside the rotating shaft 308; a motor iron core 406 coaxially installed with the rotating shaft 308 and sleeved outside the micro-bearing 408; and a motor iron core coil 407 wound around the motor iron core 406.

[0191] In some exemplary embodiments, the motor power circuit board 409 being fixedly installed under the motor stator may mean that the motor power circuit board 409 is fixedly connected to the base stator 402.

[0192] In some exemplary embodiments, the motor power circuit board 409 and the base stator 402 may adopt a fixed connection method well-known to those skilled in the art. For example, as Figure 10 shown, the motor power circuit board 409 has a seventh screw through-hole (not labeled in the figure), and the base stator 402 has a fifth threaded hole (not labeled in the figure). The thirteenth screw 412 can be used to fixedly connect the motor power circuit board 409 and the base stator 402 through the seventh screw through-hole and the fifth threaded hole.

[0193] In some exemplary embodiments, as Figure 12 shown, the main control circuit board 504 is electrically connected to the radar motor, that is, the main control circuit board 504 is electrically connected to the motor iron core coil 407.

[0194] In some exemplary embodiments, as Figure 12 shown, the main control circuit board 504 is used to drive the radar motor to control the rotation of the rotor assembly 300.

[0195] In some exemplary embodiments, in order to achieve radio transmission, as Figure 9 and Figure 10 shown, the rotor assembly 300 further includes: a first wireless transmission magnetic core 304 coaxially installed with the rotating shaft 308 and sleeved outside the motor iron ring 306; a first wireless transmission coil 305 wound around the first wireless transmission magnetic core 304, and the first wireless transmission coil 305 is electrically connected to the ranging circuit board 301; the bottom structure assembly 400 further includes: a second wireless transmission magnetic core 405 coaxially installed with the rotating shaft 308 and sleeved outside the motor iron core 406; a second wireless transmission coil 404 wound around the second wireless transmission magnetic core 405, and the second wireless transmission coil 404 is electrically connected to the motor power circuit board 409.

[0196] In some exemplary embodiments, when the motor power circuit board 409 applies a changing current to the second wireless transmission coil 404, a changing magnetic flux is formed in the second wireless transmission magnetic core 405, and then a changing magnetic flux is formed in the first wireless transmission magnetic core 304. The changing magnetic flux in the first wireless transmission magnetic core 304 induces a changing current in the first wireless transmission coil 305. The generated current is transmitted to the ranging circuit board 301. Thus, the current is transmitted from the motor power circuit board 40 to the ranging circuit board 301, and the ranging circuit board 301 can work properly.

[0197] In some exemplary embodiments, in order to measure the rotation angle of the rotor assembly 300, as Figure 9 and Figure 10As shown, the rotor assembly 300 further includes: a second code disk 303 coaxially installed with the rotating shaft 308 and fixedly installed on the lower surface of the rotor 302; the bottom structure assembly 400 further includes: a second read head circuit board 401 fixedly installed on the base stator 402.

[0198] In some exemplary embodiments, as Figure 12 shown, the second read head circuit board 401 is electrically connected to the main control circuit board 504.

[0199] In some exemplary embodiments, the main control circuit board 504 is used to control the operation of the second read head circuit board 401.

[0200] In some exemplary embodiments, the second read head circuit board 401 is used to measure the rotation angle of the rotor assembly 300 in combination with the second code disk 303.

[0201] In some exemplary embodiments, the second read head circuit board 401 can be fixedly installed on the base stator 402 by a fixed installation method well-known to those skilled in the art. For example, as Figure 10 shown, the second read head circuit board 401 can be fixedly installed on the base stator 402 by using the fourteenth screw 410.

[0202] In some exemplary embodiments, as Figure 7 and Figure 10 shown, the base stator 402 has an O-ring installation groove; the bottom structure assembly 400 further includes: a base O-ring 403 installed in the O-ring installation groove.

[0203] In some exemplary embodiments, as Figure 7 and Figure 10 shown, both the upper and lower surfaces of the base stator 402 have O-ring installation grooves, that is, the base stator 402 has two O-ring installation grooves, so there are also two O-rings 403, thus playing a waterproof role on both sides of the fixed connection between the outer cover seat 102 and the base.

[0204] In some exemplary embodiments, the center of the rotating shaft 308 has a fourth through hole, a first data transceiver is provided at a position corresponding to the fourth through hole on the ranging circuit board 301, and a second data transceiver is provided at a position corresponding to the fourth through hole on the main control circuit board 504.

[0205] In some exemplary embodiments, the optical signal emitted by the first data transceiver is transmitted through the fourth through hole to the second data transceiver and received by the second data transceiver.

[0206] In some exemplary embodiments, the optical signal emitted by the second data transceiver is transmitted through the fourth through hole to the second data transceiver and received by the first data transceiver.

[0207] For the rotary lidar provided in the embodiment of the present application, since the laser beam collimated by the transmitting lens 202 has a divergence angle that varies with distance, and the longer the focal length of the transmitting lens 202, the smaller the divergence angle. By adding a reflecting mirror 203 between the rotary reflection structure and the transmitting lens 202, and between the rotary reflection structure and the receiving lens 205, more space is available for arranging the transmitting lens 202 and the receiving lens 205. As a result, the focal lengths of the transmitting lens 202 and the receiving lens 205 can be set relatively long, thereby reducing the divergence angle of the laser beam, narrowing the diameter of the laser emission spot, improving the spatial scanning resolution of the lidar, and meeting the requirements of scenarios with high spatial scanning resolution.

[0208] In some exemplary embodiments, the motor rotating mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 are arranged in the accommodation space formed by the outer housing assembly 100 and the base assembly 500. The combination of the motor rotating mirror assembly 200, the rotor assembly 300, and the bottom structure assembly 400 can achieve the basic functions of the lidar, enabling the ranging function to be realized even without the base assembly 500, or without the base assembly 500 and the outer housing assembly 100.

[0209] In some exemplary embodiments, as Figure 7 shown, the waterproof function of the rotary lidar is achieved through the base O-ring 403, enabling the lidar to be used in rainy weather without being affected.

[0210] Those of ordinary skill in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations thereof. In the hardware implementation, the division of the functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be executed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that a communication medium typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium.

[0211] Example embodiments have been disclosed herein, and although specific terms have been employed, they are used for and should be construed only for general illustrative purposes and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly specified, features, characteristics, and / or elements described in connection with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in connection with other embodiments. Accordingly, those skilled in the art will understand that various forms and details may be changed without departing from the scope of the present application as set forth by the appended claims.

Claims

1. An optical system, comprising: An emission lens (202) for collimating the laser beam emitted by a laser; A reflecting mirror (203) having an emission portion and a receiving portion, wherein the emission portion of the reflecting mirror (203) is configured to reflect the collimated laser beam; A rotary reflection structure, which is a straight prism structure or a regular prism structure, and the rotary reflection structure can rotate about a rotation axis parallel to the side surface. Each side surface of the rotary reflection structure has a reflection function, and the side surface of the rotary reflection structure has an emission portion and a receiving portion. The emission portion of the side surface of the rotary reflection structure is configured to further reflect the laser beam reflected by the emission portion of the reflecting mirror (203); The receiving portion of the side surface of the rotary reflection structure is configured to further reflect the laser beam reflected by the object under test after being reflected by the emission portion of the side surface of the rotary reflection structure; The receiving portion of the reflecting mirror (203) is configured to further reflect the laser beam reflected by the receiving portion of the side surface of the rotary reflection structure; A receiving lens (205) for converging the laser beam reflected by the receiving portion of the reflecting mirror (203); 2. The optical system according to claim 1, wherein, The rotary reflection structure includes: a rotary body (218) and a rotary reflecting mirror (204). The rotary body (218) is a straight prism structure or a regular prism structure, and the rotary body (218) can rotate about a rotation axis parallel to the side surface. A rotary reflecting mirror (204) is fixed to each side surface of the rotary body (218); 3. The optical system according to claim 1, wherein, The rotary reflection structure includes: a rotary body (218), which is a straight prism structure or a regular prism structure, and the rotary body (218) can rotate about a rotation axis parallel to the side surface. Each side surface of the rotary body (218) is a reflecting surface; 4. The optical system according to claim 1, wherein, The rotary reflection structure is a straight quadrangular prism structure or a regular quadrangular prism structure, and the number of side surfaces of the rotary reflection structure is four; Or the rotary reflection structure is a straight hexagonal prism structure or a regular hexagonal prism structure, and the number of side surfaces of the rotary reflection structure is six; Or the rotary reflection structure is a straight octagonal prism structure or a regular octagonal prism structure, and the number of side surfaces of the rotary reflection structure is eight; 5. The optical system according to claim 1, wherein, The angle between the reflecting mirror (203) and the transmission direction of the collimated laser beam is determined according to the scanning angle range of the laser beam reflected by the emission portion of the side surface of the rotary reflection structure and the number of side surfaces of the rotary reflection structure; 6. The optical system according to claim 5, wherein, The absolute value of the difference between the angle between the reflecting mirror (203) and the transmission direction of the collimated laser beam and 45° is less than or equal to a preset threshold; 7. The optical system according to any one of claims 1-6, wherein, The angle between the rotation axis and the reflecting mirror (203) is less than or equal to a preset threshold; 8. The optical system according to any one of claims 1-6, wherein, The angle between the optical axis of the emission lens (202) and the optical axis of the receiving lens (205) is less than or equal to a preset threshold; 9. A rotary lidar, comprising: The optical system according to any one of claims 1-10; The rotary lidar further includes: A transmitting circuit board (201) is provided with a laser thereon, and the transmitting circuit board (201) is used to control the laser to emit the laser beam; A receiving circuit board (206) is used to receive the converged laser beam and convert the converged laser beam into an electrical signal; A galvanometer motor (209) is used to control the rotation of the rotary reflection structure under the drive of a galvanometer motor drive circuit board (207); A galvanometer motor drive circuit board (207) is used to drive the galvanometer motor (209).

10. The rotary lidar according to claim 9 further comprises: A first read head circuit board (210) is used to measure the rotation angle of the rotary reflection structure in combination with a first code disk (220).

11. The rotary lidar according to claim 9 further comprises: A ranging circuit board (301) is used to control the operation of the galvanometer motor drive circuit board (207), the transmitting circuit board (201), and the receiving circuit board (206); receive the electrical signal sent by the receiving circuit board (206) and convert the electrical signal into measurement data.

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