Laser radar

Abstract

The laser radar comprises a shell, a transmitting mechanism, a receiving mechanism and a driving mechanism, at least part of the shell can allow optical signals to pass through, the transmitting mechanism is used for transmitting the optical signals, the transmitting mechanism comprises a light source, a micro-lens assembly and a micro-prism assembly, the micro-lens assembly comprises a micro-lens array, and the micro-prism assembly comprises a micro-prism array. The micro-lens array is used for collimating optical signals emitted by the light-emitting unit; the microprism assembly comprises a light-transmitting substrate, a first microprism array, a second microprism array and a third microprism array, and at least part of optical signals externally reflected by the first microprism array and internally reflected by the second microprism array have a first overlapping area; the receiving mechanism is connected to the base station, the transmitting mechanism and the receiving mechanism are arranged in a spaced mode, the receiving mechanism is used for receiving the optical signals, the driving mechanism is connected to the side, opposite to the transmitting mechanism, of the base station, and the driving mechanism is used for driving the base station to rotate.

Description

Technical Field

[0001] This invention relates to a radar device, and more particularly to a lidar. Background Technology

[0002] With the development and application of LiDAR technology, the market demand for LiDAR with improved illumination angles is increasing. Currently, in order to increase the pitch field of view, LiDARs on the market have the entire optomechanical module tilted on the LiDAR. While this tilting arrangement can improve the pitch field of view to some extent, it also rapidly increases the size of the optomechanical module, making the entire LiDAR larger and failing to meet the requirements for machine miniaturization.

[0003] Therefore, how to make lidar both have an illumination angle and be miniaturized is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a lidar that improves the scanning angle range of the lidar without increasing its size.

[0005] A lidar according to an embodiment of the present invention includes:

[0006] A housing having an accommodating cavity formed therein, at least a portion of which allows optical signals to pass through;

[0007] A base is disposed within the accommodating cavity;

[0008] A transmitting mechanism, connected to the base, is used to transmit light signals to a target object. The transmitting mechanism includes a light source, a microlens assembly, and a microprism assembly. The light source includes multiple light-emitting units. The microlens assembly includes at least one microlens array, where the microlenses in the microlens array correspond to the light-emitting units. The light-emitting units are located at the focal points of the microlenses, and the microlens array is used to collimate the light emitted by the light-emitting units. The microprism assembly includes a light-transmitting substrate, a first microprism array, a second microprism array, and a third microprism array. The first microprism array is formed on a first surface of the light-transmitting substrate, the second microprism array is formed on a second surface of the light-transmitting substrate, and the third microprism array is formed on the first and / or second surfaces of the light-transmitting substrate. The first surface is the surface of the light-transmitting substrate facing the microlens array, and the second surface is the surface of the light-transmitting substrate facing away from the microlens array. The microprisms in the first, second, and third microprism arrays correspond to the microlenses in the microlens array.

[0009] At least a portion of the light signals reflected from the outside of the first microprism array and reflected from the inside of the second microprism array have a first overlapping region, and at least a portion of the light signals reflected from the inside of the second microprism array and refracted by the third microprism array have a second overlapping region.

[0010] A receiving mechanism, connected to the base and spaced apart from the transmitting mechanism, is used to receive the light signal emitted by the transmitting mechanism after being reflected by the target object;

[0011] A driving mechanism is connected to the side of the base opposite to the transmitting mechanism. The driving mechanism is used to drive the base to rotate so that the light source emits a light signal in the direction of the base's rotation.

[0012] According to some embodiments of the present invention, the inclined surfaces of the microprisms in the first microprism array are coated with an external reflective film, or the inclined surfaces of the microprisms in the second microprism array are coated with an internal reflective film, or the inclined surfaces of the microprisms in the third microprism array are coated with an antireflective film.

[0013] According to some embodiments of the present invention, the light-transmitting substrate extends along a first direction, and the first microprism array, the second microprism array, and the third microprism array are sequentially disposed on the light-transmitting substrate in the first direction;

[0014] Wherein, the first direction is the extending direction of the light-transmitting substrate.

[0015] According to some embodiments of the present invention, the light-transmitting substrate has at least one vacant position, which is used to allow the light signal emitted by the light source to pass directly through after being collimated by the corresponding microlens.

[0016] According to some embodiments of the present invention, the first microprism array includes at least two first microprisms, and the planes containing the surfaces of any two first microprisms that are away from the light-transmitting substrate intersect.

[0017] The second microprism array includes at least two second microprisms, and the planes containing the surfaces of any two second microprisms that are away from the light-transmitting substrate intersect.

[0018] The third microprism array includes at least two third microprisms, and the planes containing the surfaces of any two third microprisms that are away from the light-transmitting substrate intersect.

[0019] According to some embodiments of the present invention, the transmitting mechanism satisfies the following relationship:

[0020]

[0021] Wherein, d1 is the diameter of the microlens, d2 is the width of the microprism corresponding to the microlens, the width being the dimension of the surface of the microprism in contact with the light-transmitting substrate in the first direction, f is the focal length of the microlens, and β is the divergence angle of the light-emitting unit.

[0022] According to some embodiments of the present invention, the rotation axis of the base extends along a second direction, and the launching mechanism is located on the rotation axis of the base;

[0023] Wherein, the first direction is perpendicular to the second direction.

[0024] According to some embodiments of the present invention, the receiving mechanism includes a first receiving component and a second receiving component, wherein the first receiving component, the transmitting mechanism, and the second receiving component are sequentially disposed on the base along a third direction;

[0025] The third direction is perpendicular to the first direction and the second direction.

[0026] According to some embodiments of the present invention, the first receiving component includes a first lens group and a first signal receiving component, the first signal receiving component being connected to the base, and the first signal receiving component being used to receive the optical signal collimated by the first lens group.

[0027] According to some embodiments of the present invention, the second receiving component includes a second lens group and a second signal receiving component, the second signal receiving component being connected to the base, and the second signal receiving component being used to receive the optical signal collimated by the second lens group.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0030] Figure 1 This is a schematic diagram of the planar structure of the lidar in an embodiment of the present invention;

[0031] Figure 2 This is a three-dimensional structural diagram of the lidar after removing the upper housing in an embodiment of the present invention;

[0032] Figure 3 This is a cross-sectional view of the lidar in the first direction in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the planar structure of the laser radar transmitting mechanism in an embodiment of the present invention;

[0034] Figure 5 For this Figure 3 A partial planar structural diagram of the launching mechanism in the image;

[0035] Figure 6 This is a three-dimensional structural diagram of the microprism array in the lidar of this invention embodiment;

[0036] Figure 7 This is a schematic diagram of the planar structure of the first receiving component in the lidar in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the planar structure of the second receiving component in the lidar in an embodiment of the present invention;

[0038] Figure 9 This is a three-dimensional schematic diagram of the illumination range of the lidar in an embodiment of the present invention.

[0039] Reference numerals: 100, housing; 101, first housing; 102, second housing; 103, accommodating cavity; 110, base; 200, emitting mechanism; 210, light source; 211, light-emitting unit; 220, microlens assembly; 221, microlens array; 230, light-transmitting substrate; 231, vacant position; 240, microprism assembly; 241, first microprism array; 242, first microprism; 243, external reflective film; 244, second microprism array; 2 45. Second microprism; 246. Internal reflection film; 247. Third microprism array; 248. Third microprism; 249. Antireflective coating; 300. Receiving mechanism; 310. First receiving component; 311. First lens group; 312. First signal receiving component; 320. Second receiving component; 321. Second lens group; 322. Second signal receiving component; 400. Driving mechanism; 500. First direction; 600. Second direction; 700. Third direction. Detailed Implementation

[0040] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0042] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0043] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0044] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] Please see Figures 1-3 The lidar provided in this application embodiment includes a housing 100, a base 110, a transmitting mechanism 200, a receiving mechanism 300, and a driving mechanism 400.

[0046] The housing 100 has a cavity 103 formed inside. The body mainly includes a first housing 101 and a second housing 102. The first housing 101 and the second housing 102 together form the cavity 103. At least a portion of the housing 100 can allow light signals to pass through. Either the first housing 101 and the second housing 102 can both allow light signals to pass through; or the first housing 101 can allow light signals to pass through while the second housing 102 blocks the propagation of light signals; or the first housing 101 can allow light signals to pass through while a portion of the second housing 102 near the first housing 101 can allow light signals to pass through.

[0047] The portion of the housing 100 used to allow light signals to pass through is typically made of a material with high transmittance, such as glass fiber, quartz fiber, polyethylene fiber, or other materials with high transmittance.

[0048] The base 110 is disposed within the accommodating cavity 103 and serves to support the transmitting mechanism 200 and the receiving mechanism 300. The transmitting mechanism 200 is connected to the base 110 and is used to transmit light signals to the target object. The receiving mechanism 300 is used to receive the light signals reflected by the target object. The driving mechanism 400 is used to drive the base 110 to rotate so that the transmitting mechanism 200 rotates to irradiate.

[0049] Please see Figures 4-6 The emitting mechanism 200 includes a light source 210, a microlens assembly 220, and a microprism assembly 240.

[0050] The light source 210 includes multiple light-emitting units 211, which are used to emit light signals. The light source 210 is formed by multiple light-emitting units 211 in an array to expand the illumination range of the light signal. The number and arrangement of the light-emitting units 211 can be set according to actual needs, and no specific restrictions are imposed here.

[0051] The microlens assembly 220 includes at least one microlens array 221, in which the microlenses correspond to the light-emitting unit 211, which is located at the focal point of the microlens. The microlens array 221 is used to collimate the light signal emitted by the light-emitting unit 211 so that the collimated light signal is directly incident on the microprism assembly 240.

[0052] The microprism assembly 240 includes a light-transmitting substrate 230, a first microprism array 241, a second microprism array 244, and a third microprism array 247. The first microprism array 241 is formed on a first surface of the light-transmitting substrate 230, the second microprism array 244 is formed on a second surface of the light-transmitting substrate 230, and the third microprism array 247 is formed on the first and / or second surfaces of the light-transmitting substrate 230. The first surface is the surface of the light-transmitting substrate 230 facing the microlens array 221, and the second surface is the surface of the light-transmitting substrate 230 facing away from the microlens array 221. The microprisms in the first microprism array 241, the second microprism array 244, and the third microprism array 247 correspond to the microlenses in the microlens array 221.

[0053] The first microprism array 241, the second microprism array 244, and the third microprism array 247 deflect the light signals emitted by the corresponding light-emitting unit 211 to different degrees, thereby increasing the illumination angle of the light signals emitted by the emitting mechanism 200.

[0054] At least a portion of the light signals reflected externally by the first microprism array 241 and internally by the second microprism array 244 exist in a first overlapping region, and at least a portion of the light signals reflected internally by the second microprism array 244 and refracted by the third microprism array 247 exist in a second overlapping region. Due to the existence of the first and second overlapping regions, the light signals emitted by the light source 210 can be covered by the light signals within their illumination range.

[0055] The light signal emitted from the light source 210 forms a first angle with the emission direction of the light source 210 after being externally reflected by the first microprism array 241, a second angle with the emission direction of the light source 210 after being internally reflected by the second microprism array 244, and a third angle with the emission direction of the light source 210 after being refracted by the third microprism array 247. The emission directions of the light signals reflected externally by the first microprism array 241 and internally reflected by the second microprism array 244 are different, and the emission directions of the light signals reflected internally by the second microprism array 244 and refracted by the third microprism array 247 are also different. The angle formed by the superposition of the first angle, the second angle, and the third angle is the emission angle of the transmitting mechanism 200, which is the illumination angle of the lidar in this application.

[0056] In some embodiments, the inclined surfaces of the microprisms in the first microprism array 241 are coated with an external reflective film 243. When a light signal is irradiated onto the first microprism array 241 through the external reflective film 243, the light signal is reflected by the external reflective film 243, so that the angle of the deflected light signal has a first angle with the original emission angle.

[0057] The inclined surfaces of the microprisms in the second microprism array 244 are coated with an internal reflection film 246. When a light signal is irradiated onto the second microprism array 244 through the internal reflection film 246, the light signal enters the second microprism array 244 and then irradiates the internal reflection film 246, where it is reflected inside the second microprism array 244, resulting in a second angle between the angle of the deflected light signal and the original emission angle.

[0058] The inclined surfaces of the microprisms in the third microprism array 247 are coated with an antireflection film 249. When a light signal is irradiated onto the third microprism array 247 through the antireflection film 249, the light signal enters the third microprism 248 and passes through the antireflection film 249. The antireflection film 249 deflects the light signal, so that the angle of the deflected light signal has a third angle with the original emission angle.

[0059] The light signals deflected by the first microprism array 241, the second microprism array 244, and the third microprism array 247 are combined and irradiated within the first, second, and third angle ranges, respectively, thereby increasing the irradiation angle of the light signal emitted by the emitting mechanism 200.

[0060] In some embodiments, a light-transmitting substrate 230 extends along a first direction 500, and a first microprism array 241, a second microprism array 244, and a third microprism array 247 are sequentially disposed on the light-transmitting substrate 230 along the first direction 500. The sequential arrangement of the third microprism array reduces the obstruction or influence of each microprism array on the light signal deflected by the other microprism arrays.

[0061] In some embodiments, the light-transmitting substrate 230 has at least one vacant position 231. The vacant position 231 is used to allow the light signal emitted by the light source 210 to pass directly after being collimated by the corresponding microlens. The vacant position 231 is used to provide the emitting mechanism 200 with the light signal at the original emission angle of the light-emitting unit 211. Preferably, the vacant position 231 may be disposed between the third microprism array 247 to avoid or reduce the influence between light signals at different angles.

[0062] In some embodiments, the first microprism array 241 includes at least two first microprisms 242, and the planes on the surfaces of any two first microprisms 242 that are away from the light-transmitting substrate 230 intersect. The surface of each first microprism 242 that is away from the light-transmitting substrate 230 is used to attach an external reflective film 243, so that each first microprism 242 deflects the light signal to a different degree. The area covered by the deflection of the corresponding light signal by the first microprisms 242 of different sizes constitutes a first angle.

[0063] The second microprism array 244 includes at least two second microprisms 245. The planes on the surfaces of any two second microprisms 245 that are away from the light-transmitting substrate 230 intersect. The surface of each second microprism 245 that is away from the light-transmitting substrate 230 is used to attach the inner reflection film 246, so that each second microprism 245 deflects the light signal to a different degree. The areas covered by the deflection of the corresponding light signals by the multiple second microprisms 245 form a second included angle.

[0064] The third microprism array 247 includes at least two third microprisms 248. The planes on the surfaces of any two third microprisms 248 that are away from the light-transmitting substrate 230 intersect. The surface of each third microprism 248 that is away from the light-transmitting substrate 230 is used to attach the anti-reflection film 249, so that each third microprism 248 deflects the light signal to a different degree. The areas covered by the deflection of the corresponding light signals by the multiple third microprisms 248 form a third angle.

[0065] In some embodiments, the diameter of the microlens in the microlens assembly 220 and the width of the microprism corresponding to the microlens satisfy the following relationship:

[0066] Wherein, the width is the dimension of the surface of the microprism in contact with the light-transmitting substrate 230 in the first direction 500, the focal length of the microlens is , and the divergence angle of the light-emitting unit 211 is .

[0067] Adopting such Figure 1 The launch mechanism 200 shown is also referenced. Figure 8 , Figure 8 for Figure 1 The diagram shows a partial structural schematic of the emitting mechanism 200. The light-emitting unit 211 is a VCSEL with a wavelength of 905nm. The distance between two adjacent light-emitting units 211 is 2mm. The light-emitting size of the unit 211 is 20μm, and the full width at half maximum (FWHM) divergence angle of the unit 211 is 16°. After collimation by the microlens assembly 220, the divergence angle is required to be reduced to 0.2°. The focal length of the microlens is 5.7mm, the diameter is 1.8mm, the distance between two adjacent microlenses is 2mm, and the thickness of the light-transmitting substrate 230 is 1.5mm. The microprisms in the microprism assembly 240 are made of H-ZLAF92 material, and all microprisms have a width of 1.8mm. Figure 1 The microlens assembly 220 shown contains nine microprisms. Counting from right to left, the second microprism is a trapezoidal microprism. Apart from that, all other microprisms are triangular microprisms. The heights h of the triangular microprisms from right to left are 1.31 mm, 1.8 mm, 2.38 mm, 3.53 mm, 1.2 mm, 0.584 mm, 0.584 mm, and 0.989 mm, respectively. The heights h1 and h2 of the trapezoidal microprisms are 1.4 mm and 2.31 mm, respectively.

[0068] The laser emitted by the light-emitting unit 211, after being collimated by the lens assembly, enters the microprism assembly 240. After internal reflection, external reflection, and refraction, it forms beams with different field of view angles. From right to left, the angles of the emitted beams corresponding to the triangular microprisms are -18°, 0°, 18°, 36°, 54°, 72°, 108°, and 120°, respectively, while the angle of the emitted beam corresponding to the trapezoidal microprism is -36°. Furthermore, in... Figure 1 In the microlens assembly 220 shown, the third microlens from left to right does not correspond to a microprism, but instead corresponds to an empty position 231 on the light-transmitting substrate 230. The angle of the emitted beam corresponding to the third microlens is 90°. Therefore, Figure 4 The emitting mechanism 200 shown can form an illumination angle from -36° to 120°; when the driving mechanism 400 drives the base 110 to rotate 360°, the light signal of the emitting mechanism 200 will form as shown in the image. Figure 9 The irradiation range is shown.

[0069] from Figure 2 , Figure 3As can be seen, the emitting mechanism 200 in this embodiment of the application can achieve an illumination angle of more than 150° without tilting, which meets the illumination angle requirements of the lidar. At the same time, since the microlens assembly 220 and the microprism assembly 240 can be made very thin, the size of the emitting mechanism 200 can be made very small, which is beneficial to the miniaturization of the lidar.

[0070] In some embodiments, the receiving mechanism 300 is connected to the base 110 and spaced apart from the transmitting mechanism 200, and is used to receive the light signal emitted by the transmitting mechanism 200 after being reflected by the target object. After the light signal emitted by the transmitting mechanism 200 illuminates the target object, the target object reflects the light signal back to the lidar. The receiving mechanism 300 receives the reflected light signal and identifies that the light signal has completed the lidar detection work.

[0071] The receiving mechanism 300 includes a first receiving component 310 and a second receiving component 320. The first receiving component 310, the transmitting mechanism 200, and the second receiving component 320 are sequentially arranged on the base 110 along a third direction 700, wherein the third direction 700 is relatively perpendicular to the first direction 500 and the second direction 600. By arranging the first receiving component 310 and the second receiving component 320 on both sides of the transmitting mechanism 200, the angular range of optical signals that the receiving mechanism 300 can receive is increased.

[0072] Please refer to Figure 7 The first receiving component 310 includes a first lens group 311 and a first signal receiving component 312. The first signal receiving component 312 is connected to the base 110 and is used to receive the light signal collimated by the first lens group 311. After the light signal emitted by the transmitting mechanism 200 illuminates the target object, it is reflected by the target object. The reflected light signal enters the first lens group 311, and after being collimated by the first lens group 311, it is directly projected onto the first signal receiving component, so that the first signal receiving component 312 can stably receive the light signal.

[0073] Please see Figure 8 The second receiving component 320 includes a second lens group 321 and a second signal receiving component 322. The second signal receiving component 322 is connected to the base 110 and is used to receive the light signal collimated by the second lens group 321. The light signal emitted by the transmitting mechanism 200 is reflected by the target object after illuminating it. The reflected light signal enters the second lens group 321, and after being collimated by the second lens group 321, it is directly projected onto the second signal receiving component 322, so that the second signal receiving component 322 can stably receive the light signal.

[0074] The drive mechanism 400 is connected to the side of the base 110 facing away from the emitting mechanism 200. The drive mechanism 400 is used to drive the base 110 to rotate, so that the light source 210 emits light signals in the rotation direction of the base 110. By driving the base 110 to rotate, the original illumination range of the light signal emitted by the emitting mechanism 200, which was in an approximately planar range, is changed to illumination in a three-dimensional space.

[0075] The base 110 has its rotation axis extending along the second direction 600, and the emitting mechanism 200 is located on the rotation axis of the base 110. The first direction 500 is perpendicular to the second direction 600. In the practical application of this application, the second direction 600 is approximately the irradiation direction of the light emitted by the light-emitting unit 211.

[0076] In summary, this application utilizes the arrangement of microprism components 240 within the emitting mechanism 200 to increase the angle at which the light signal is emitted from the emitting mechanism 200. The driving mechanism 400 rotates the base 110, causing the emitted light angle of the emitting mechanism 200 to form a three-dimensional illumination range. This allows the lidar in this application to achieve an illumination angle greater than 150° without tilting, facilitating the overall miniaturization of the lidar. The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments and features of the present invention can be combined with each other unless otherwise specified.

Claims

1. A lidar, characterized in that, include: A housing having an accommodating cavity formed therein, at least a portion of which allows optical signals to pass through; A base is disposed within the accommodating cavity; A transmitting mechanism, connected to the base, is used to emit light signals toward a target. The transmitting mechanism includes a light source, a microlens assembly, and a microprism assembly. The light source includes multiple light-emitting units. The microlens assembly includes at least one microlens array, where the microlenses in the microlens array correspond to the light-emitting units, and the light-emitting units are located at the focal points of the microlenses. The microlens array is used to collimate the signals emitted by the light-emitting units. The microprism assembly includes a light-transmitting substrate, a first microprism array, a second microprism array, and a third microprism array. The first microprism array is formed on a first surface of the light-transmitting substrate, the second microprism array is formed on a second surface of the light-transmitting substrate, and the third microprism array is formed on the first and / or second surfaces of the light-transmitting substrate. The first surface is the surface of the light-transmitting substrate facing the microlens array, and the second surface is the surface of the light-transmitting substrate facing away from the microlens array. The microprisms in the first, second, and third microprism arrays correspond to the microlenses in the microlens array. At least a portion of the light signals reflected from the outside of the first microprism array and reflected from the inside of the second microprism array have a first overlapping region, and at least a portion of the light signals reflected from the inside of the second microprism array and refracted by the third microprism array have a second overlapping region. A receiving mechanism, connected to the base and spaced apart from the transmitting mechanism, is used to receive the light signal emitted by the transmitting mechanism after being reflected by the target object; A driving mechanism is connected to the side of the base opposite to the transmitting mechanism. The driving mechanism is used to drive the base to rotate so that the light source emits a light signal in the direction of the base's rotation.

2. The lidar according to claim 1, characterized in that, The inclined surfaces of the microprisms in the first microprism array are coated with an external reflective film, or the inclined surfaces of the microprisms in the second microprism array are coated with an internal reflective film, or the inclined surfaces of the microprisms in the third microprism array are coated with an anti-reflective film.

3. The lidar according to claim 2, characterized in that, The light-transmitting substrate extends along a first direction, and the first microprism array, the second microprism array, and the third microprism array are sequentially disposed on the light-transmitting substrate in the first direction; Wherein, the first direction is the extending direction of the light-transmitting substrate.

4. The lidar according to claim 3, characterized in that, The light-transmitting substrate has at least one vacant position, which is used to allow the light signal emitted by the light source to pass directly through after being collimated by the corresponding microlens.

5. The lidar according to claim 2, characterized in that, The first microprism array includes at least two first microprisms, and the planes containing the surfaces of any two first microprisms that are away from the light-transmitting substrate intersect. The second microprism array includes at least two second microprisms, and the planes containing the surfaces of any two second microprisms that are away from the light-transmitting substrate intersect. The third microprism array includes at least two third microprisms, and the planes containing the surfaces of any two third microprisms that are away from the light-transmitting substrate intersect.

6. The lidar according to claims 1-5, characterized in that, The launching mechanism satisfies the following relationship: Wherein, d1 is the diameter of the microlens, d2 is the width of the microprism corresponding to the microlens, the width is the dimension of the surface of the microprism in contact with the light-transmitting substrate in the first direction, f is the focal length of the microlens, and β is the divergence angle of the light-emitting unit.

7. The lidar according to claim 3, characterized in that, The rotation axis of the base extends along the second direction, and the launching mechanism is located on the rotation axis of the base; Wherein, the first direction is perpendicular to the second direction.

8. The lidar according to claim 7, characterized in that, The receiving mechanism includes a first receiving component and a second receiving component, and the first receiving component, the transmitting mechanism, and the second receiving component are sequentially arranged on the base along a third direction; The third direction is perpendicular to the first direction and the second direction.

9. The lidar according to claim 8, characterized in that, The first receiving component includes a first lens group and a first signal receiving component. The first signal receiving component is connected to the base and is used to receive the light signal collimated by the first lens group.

10. The lidar according to claim 8, characterized in that, The second receiving component includes a second lens group and a second signal receiving component. The second signal receiving component is connected to the base and is used to receive the light signal collimated by the second lens group.

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