Reflection area grating based on TOF laser radar

Abstract

The invention discloses a reflection area grating based on a TOF laser radar, and relates to the technical field of reflection gratings. Comprising a bottom plate arranged on the inner wall of a grating shell, a control part arranged on the bottom plate, a receiving part arranged at the top of the control part, a signal receiver I arranged on the receiving part, a connecting wire I arranged at the top of the signal receiver I, and a signal receiver II arranged at the other end of the connecting wire I, the first signal receiver and the second signal receiver penetrate through the grating shell and are fixedly connected with the grating shell. Through cooperation of the laser transmitter and the overturning assembly, laser is converted into diffuse reflection light to be output, random switching of detection from point focusing to line extension and from surface diffusion to maximum scattering is achieved through the adjusting assembly, and the problems that a traditional infrared light array is fixed in gain, short in detection distance, small in coverage range and fixed in shape are solved. Meanwhile, the TOF ranging technology is matched with the receiving assembly, so that the position of an obstacle can be accurately positioned.

Description

Technical Field

[0001] This invention relates to the field of reflective grating technology, and more particularly to a reflective region grating based on TOF lidar. Background Technology

[0002] Optical gratings are widely used in industrial automation, robot obstacle avoidance, logistics sorting and smart warehousing. When optical gratings are used for robot obstacle avoidance, laser detection is required. Meanwhile, TOF laser radar, as an advanced laser sensor technology, calculates distance by emitting laser and measuring its round-trip time. It has the characteristics of fast, high precision and non-contact measurement, and can effectively and quickly calculate the distance to obstacles.

[0003] Existing reflective gratings all use fixed-gain infrared photodiode arrays, which emit light directly, resulting in a short detection distance, making it difficult to cover large spaces. They also cannot adjust the refraction distance of the light or the coverage area, and cannot flexibly adapt to areas of different heights or shapes, leading to a narrow overall application range and poor adaptability. Summary of the Invention

[0004] In view of the problems existing in the reflection area grating of the TOF lidar, the present invention is proposed.

[0005] Therefore, the present invention provides a reflective area grating based on TOF lidar, the purpose of which is to solve the problems of short light detection distance, difficulty in covering large spaces, inability to adjust the refraction distance of light, inability to adjust the coverage range of light, and inability to flexibly adapt to areas of different heights or shapes.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a reflective area grating based on TOF lidar, comprising a grating shell; a sensor unit, comprising a receiving component disposed inside the grating shell; an adjustment unit, comprising an adjustment component disposed on the receiving component, and a flipping component disposed inside the adjustment component, wherein one end of the adjustment component is fixedly connected to the receiving component; and a connection unit, comprising a connection component disposed at the bottom of the grating shell. The distance from the laser emission plane to the obstacle is set as the laser distance value; the speed from the laser emission plane to the obstacle is set as the laser movement speed; the time it takes for the laser to be emitted from the device is set as the laser emission time; the time it takes for the laser to reflect back from the obstacle is set as the laser return time; the diffusion range of the laser from the emission plane to the obstacle is set as the laser irradiation range; the laser emission point is set as the emission angle; and the point where the laser returns after being blocked by the obstacle is set as the incident angle. The flipping component works with the laser emitted from the grating shell to move inside the adjustment component. The laser emitted from the grating shell enters the adjustment component, and the adjustment component adjusts the incident angle of the grating shell. When the laser exit angle increases, the laser irradiation distance becomes longer and the irradiation range becomes smaller. When the laser exit angle decreases, the laser irradiation distance becomes shorter and the irradiation range becomes larger.

[0007] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, the receiving component includes a base plate disposed on the inner wall of the grating shell, a control part disposed on the base plate, a receiving part disposed on the top of the control part, a signal receiver one disposed on the receiving part, a connecting line one disposed on the top of the signal receiver one, and a signal receiver two disposed at the other end of the connecting line one, wherein both the signal receiver one and the signal receiver two penetrate through the grating shell and are fixedly connected.

[0008] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, the adjustment component includes a laser emitter disposed on a base plate and a light-scattering reflector disposed on the outer diameter of the laser emitter, wherein the light-scattering reflector is connected to the base plate.

[0009] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, a rotating part is provided on the outer diameter of one end of the astigmatic reflector, and a scale adjustment part is provided inside the rotating part.

[0010] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, the other end of the rotating part is provided with a scale adjustment part, and the scale adjustment part penetrates and is connected to the grating shell.

[0011] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, the rotating part is provided with a moving groove inside, and one end of the moving groove is connected to the diffuse reflector. The fixed part is provided with a moving groove inside, and the moving groove is provided with gear teeth.

[0012] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, the flipping component includes a movable block slidably disposed inside the arc-shaped groove and the movable groove, and a gear two disposed at the bottom of the movable block, wherein the gear two engages with the gear tooth two.

[0013] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, a movable ring is provided at the other end of the gear two, a convex lens is provided inside the movable ring, and the movable ring is slidably connected to the fixed part.

[0014] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, a transmission grating plate is provided inside the moving slot, and the transmission grating plate cooperates with the light-scattering reflector.

[0015] As a preferred embodiment of the reflective area grating based on TOF lidar described in this invention, the connecting component includes a connecting locking plate disposed at the bottom of the grating shell, a locking plate disposed at the bottom of the connecting locking plate, a protective ring disposed at the bottom of the locking plate, a second connecting line disposed at the bottom of the protective ring, and a connector disposed at the other end of the second connecting line, wherein the connector is electrically connected to the control unit.

[0016] The beneficial effects of this invention are as follows: By cooperating with the laser emitter and the flipping component, the laser is converted into diffuse reflection light output. The adjustment component enables arbitrary switching between point focusing, line extension, and surface diffusion to maximum scattering range detection, avoiding the problems of fixed gain, short detection distance, small coverage area, and fixed shape of traditional infrared tube arrays. At the same time, the TOF ranging technology, combined with the receiving component, can accurately locate the position of obstacles, enabling obstacle avoidance and path planning for automated equipment. The connecting component supports the cascading and splicing of multiple gratings to form "light walls" or "light nets" of arbitrary height and curvature. The installation density, angle, and number of layers can be flexibly adjusted according to requirements without additional wiring, enhancing the performance of its installation combination, improving the applicable fields of the reflective grating, and enabling the reflective grating to adapt to various complex environments and meet the detection needs of different scenarios. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the reflective area grating based on TOF lidar of the present invention.

[0019] Figure 2 This is a schematic diagram of the side structure of the reflective area grating based on TOF lidar of the present invention.

[0020] Figure 3 This is a schematic diagram of the internal structure of the reflective area grating based on TOF lidar of the present invention.

[0021] Figure 4 This is a schematic diagram of the bottom cross-sectional structure of the reflective area grating based on TOF lidar of the present invention.

[0022] Figure 5This is a schematic diagram of the adjustment component structure of the reflection area grating based on TOF lidar of the present invention.

[0023] Figure 6 This invention relates to a reflective region grating based on a TOF lidar. Figure 5 A magnified structural diagram at point A.

[0024] Figure 7 This is an exploded view of the adjustment component of the reflective area grating based on TOF lidar according to the present invention.

[0025] Figure 8 This is a cross-sectional exploded view of the adjustment component of the reflection area grating based on TOF lidar of the present invention.

[0026] Figure 9 This is a schematic diagram of the TOF laser beam of the reflective region grating based on the TOF lidar of the present invention.

[0027] Explanation of reference numerals in the attached drawings: 100, grating housing; 200, sensor unit; 201, receiving assembly; 2011, base plate; 2012, control unit; 2013, receiving unit; 2014, signal receiver one; 2015, signal receiver two; 2016, connecting line one; 300, adjustment unit; 301, adjustment assembly; 3011, laser emitter; 3012, diffused light reflector; 3013, rotating part; 3014, arcuate groove; 301 5. Scale adjustment part; 3016. Fixing part; 3017. Moving groove; 3018. Gear tooth two; 302. Flip assembly; 3021. Moving block; 3022. Gear two; 3023. Moving ring; 3024. Convex lens; 3025. Transmitting grating plate; 400. Connecting unit; 401. Connecting assembly; 4011. Connecting locking plate; 4012. Locking plate; 4013. Protective ring; 4014. Connecting wire two; 4015. Connector. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] Example 1, referring to Figure 1 - Figure 3 The first embodiment of the present invention provides a reflective area grating based on TOF lidar. This device includes: a grating housing 100, a sensor unit 200, and an adjustment unit 300.

[0030] The sensor unit 200 includes a receiving component 201 disposed inside the grating housing 100; The adjustment unit 300 includes an adjustment component 301 disposed on the receiving component 201 and a flipping component 302 disposed inside the adjustment component 301, and one end of the adjustment component 301 is fixedly connected to the receiving component 201. The connection unit 400 includes a connection component 401 disposed at the bottom of the grating housing 100; The distance from the laser emission plane to the obstacle is set as the laser distance value D, the speed of the laser emission plane to the obstacle is set as the speed of light C, the time for the laser to be emitted from the device is set as the laser emission time t1, the time for the laser to be reflected back from the obstacle is set as the laser return time t2, the diffusion range of the laser from the emission plane to the obstacle is set as the laser irradiation range S, the laser emission point is set as the incident angle a, and the return point of the laser when blocked by the obstacle is set as the emission angle b. The flipping component 302 works in conjunction with the laser emitted from the grating shell 100 to move inside the adjustment component 301. The laser emitted from the grating shell 100 enters the interior of the adjustment component 301, and the adjustment component 301 adjusts the incident angle α of the grating shell 100. When the laser incident angle α increases, the laser distance D becomes farther and the laser irradiation range S becomes smaller. When the laser incident angle α decreases, the laser distance D becomes closer and the laser irradiation range S becomes larger. When the reflective grating is working, the laser emitter 3011 inside the adjustment component 301 emits laser light, which is then reflected by the flip component 302 and converted into diffuse reflection light before being emitted for laser detection. When the detection range needs to be adjusted, the laser beam is adjusted and focused by rotating the adjustment component 301, thus focusing the laser beam into a point, allowing it to travel further and increasing the linear detection range. At the same time, the reverse adjustment of the adjustment component 301 can diffuse the laser beam, changing the detection range from further to larger detection area. The adjustment of the adjustment component 301 can also maximize the scattering of the laser beam, thereby increasing the detection area. After the laser beam is emitted, if it encounters an obstruction, the receiving component 201 will receive the laser obstruction signal and collect and process the signal. The distance to the obstacle is calculated using the Time-of-Flight (TOF) method. Multiple gratings can be electrically connected through the connecting component 401, and multiple gratings can be combined to enhance the performance of the installation and combination.

[0031] Reference Figure 9 During TOF lidar detection, a laser beam is emitted from the lidar, and the emission time t1 is recorded by an internal timer. The returning light is received by a receiver, and the return time t is recorded by another timer. 2， Subtracting the two times gives the "time of flight" of the laser. Since the speed of light C is constant, the distance to the obstacle can be easily calculated once the speed and time are known.

[0032] At the same time, when adjusting the detection range, the TOF lidar works in the same way as the light source adjustment of the reflective grating. It changes the distance and area of ​​the laser beam by adjusting the reflection and refraction angles and ranges, thereby detecting the target and obtaining the target's specific distance.

[0033] Where: D: laser ranging value; C: speed of light; t1: laser emission time; t2: laser return time.

[0034] Therefore, when the grating is being detected, the laser emitter 3011 inside the adjustment component 301 emits a laser. The laser is emitted, and the receiving component 201 records the laser emission time t1. When the emitted laser comes into contact with an obstacle, the receiving component 201 receives the laser return time t2. By subtracting the time when the laser emitter 3011 emits the laser from the time when the receiving component 201 receives the laser return time, the speed of light C of the laser moving in the air can be obtained. Since the speed of the laser is constant, the laser distance value D can be obtained from the known speed. Thus, obstacles around the grating shell 100 and the distance of the obstacles from the grating can be detected quickly.

[0035] During operation, when the reflective grating is working, the laser emitter 3011 inside the adjustment component 301 emits laser light. After reflection by the flipping component 302, the laser light is converted into diffuse reflection light and then emitted for external laser detection. When it is necessary to adjust the detection range, the laser beam is adjusted and focused by adjusting the drive of the adjustment component 301, thereby focusing the laser beam into a point, allowing it to travel further and increasing the linear detection range. At the same time, by adjusting the reverse adjustment of the adjustment component 301, the laser beam can be diffused, transforming the laser from detecting further distances into detecting a larger area. Adjusting component 301 allows for maximum laser scattering, thereby increasing the detection area. Simultaneously, if the laser encounters an obstruction after emission, receiving component 201 receives and processes the laser obstruction signal. Using Time-of-Flight (TOF) calculations, the distance to the obstacle is determined. Connecting component 401 allows for electrical connection to multiple gratings and enables combination with multiple gratings, enhancing installation and assembly performance and expanding the applicability of the reflective grating. This reflective grating can adapt to various complex environments, meeting the detection needs of different scenarios.

[0036] Furthermore, during grating detection, the laser emitter 3011 inside the adjustment component 301 emits a laser. As the laser is emitted, the receiving component 201 records the laser emission time t1. When the emitted laser touches an obstacle, the receiving component 201 receives the laser return time t2. By subtracting the time when the laser emitter 3011 emits the laser from the time when the receiving component 201 receives the laser return time, the speed of light C of the laser in the air can be obtained. Since the speed of the laser is constant, the laser distance value D can be obtained from the known speed. Thus, obstacles around the grating shell 100 and the distance of the obstacles from the grating can be detected quickly.

[0037] Example 2, refer to Figure 1 - Figure 7This is the second embodiment of the present invention, which differs from the first embodiment in that: the adjustment assembly 301 includes a laser emitter 3011 disposed on the base plate 2011, and a diffuse reflector 3012 disposed on the outer diameter of the laser emitter 3011, and the diffuse reflector 3012 is connected to the base plate 2011. A rotating part 3013 is disposed on the outer diameter of one end of the diffuse reflector 3012, and a scale adjustment part 3015 is disposed inside the rotating part 3013. The scale adjustment part 3015 is disposed on the other end of the rotating part 3013 and penetrates and is connected to the grating shell 100. A moving groove 3017 is disposed inside the rotating part 3013, and one end of the moving groove 3017 is connected to... The astigmatic reflector 3012 is connected to the fixed part 3016, which has a movable groove 3017 inside. A gear 3018 is provided inside the movable groove 3017. The flipping assembly 302 includes a movable block 3021 slidably disposed within the arc-shaped groove 3014 and the movable groove 3017, and a gear 3022 disposed at the bottom of the movable block 3021, which engages with the gear 3018. A movable ring 3023 is provided at the other end of the gear 3022, which has a convex lens 3024 inside and is slidably connected to the fixed part 3016. A transmission grating plate 3025 is provided inside the movable groove 3017, and the transmission grating plate 3025 is connected to the astigmatic reflector 3016. In conjunction with the light reflector 3012, during grating detection, the laser emitter 3011 emits a laser beam, which directly illuminates the transmission grating plate 3025. As the light passes through the transmission grating plate 3025, some light becomes diffusely reflected light and passes through the grating plate 3025, while some light is reflected onto the inner wall of the diffuse reflector 3012, then refracted by the diffuse reflector 3012, and emitted again through the transmission grating plate 3025. The resulting diffusely reflected light is directly emitted through the convex lens 3024 and the scale adjustment part 3015, initiating normal operation detection. When it is necessary to adjust the laser detection range, rotating the scale adjustment part 3015 causes the rotating part 3013 to rotate as well. Because the scale adjustment part 3015 has scale markings on its surface, it is only necessary to rotate it to the specified scale to make the rotating part 3013 rotate. At the same time, the moving block 3021 inside the arc groove 3014 is also squeezed by the arc groove 3014 and moves along the moving groove 3017. While the moving block 3021 is moving, the moving ring 3023 at the other end of the moving block 3021 also moves the convex lens 3024 inside the moving groove 3017. When the convex lens 3024 moves closer to the laser of the laser emitter 3011, it focuses the diffusely reflected laser, so that the light can be gathered towards the center, changing the illumination and reflection of the light, so that the laser can be illuminated further, thereby increasing the detection distance.

[0038] Simultaneously, when the laser needs to be readjusted, the reverse rotation of the rotating part 3013 causes it to move away from the laser emitter 3011, carrying the convex lens 3024. This causes the laser to become scattered, thus increasing the laser detection range. Simultaneously, as the rotating part 3013 rotates, the moving block 3021, carrying the convex lens 3024, moves along the inside of the moving groove 3017. When gear 3022 meshes with gear 3018, the moving block 3021, carrying the moving ring 3023 and the convex lens 3024, flips directly inside the fixed part 3016. This maximizes the scattering of the laser emitted by the laser emitter 3011, while also maximizing the laser detection area. This allows for arbitrary switching between point focusing, line extension, and surface diffusion to maximum scattering range detection, avoiding the problems of fixed gain, short detection distance, small coverage, and fixed shape inherent in traditional infrared tube arrays.

[0039] During operation, when the grating is being inspected, the laser emitter 3011 emits a laser beam, which directly illuminates the transmission grating plate 3025. As the light passes through the transmission grating plate 3025, some light becomes diffusely reflected light and passes through the grating plate 3025, while some light is reflected onto the inner wall of the diffuse reflector 3012, then refracted by the diffuse reflector 3012, and emitted again through the transmission grating plate 3025. The resulting diffusely reflected light is then emitted directly through the convex lens 3024 and the scale adjustment part 3015, initiating normal operation. When it is necessary to adjust the laser detection range, rotating the scale adjustment part 3015 causes the rotating part 3013 to rotate as well. The scale adjustment unit 3015 has scale markings on its surface. To use it, simply rotate it to the specified scale, and the rotating unit 3013 will rotate. At the same time, the moving block 3021 inside the arc groove 3014 will also be squeezed by the arc groove 3014 and move along the moving groove 3017. While the moving block 3021 is moving, the moving ring 3023 at the other end of the moving block 3021 will also move the convex lens 3024 inside the moving groove 3017. When the convex lens 3024 moves closer to the laser emitter 3011, it will focus the diffusely reflected laser, allowing the light to converge towards the center, changing the illumination and reflection of the light, and allowing the laser to illuminate further, thereby increasing the detection distance.

[0040] Simultaneously, when the laser needs to be readjusted, the reverse rotation of the rotating part 3013 causes it to move away from the laser emitter 3011, carrying the convex lens 3024. This causes the laser to become scattered, thus increasing the laser detection range. Simultaneously, as the rotating part 3013 rotates, the moving block 3021, carrying the convex lens 3024, moves along the inside of the moving groove 3017. When gear 3022 meshes with gear 3018, the moving block 3021, carrying the moving ring 3023 and the convex lens 3024, flips directly inside the fixed part 3016. This maximizes the scattering of the laser emitted by the laser emitter 3011, while also maximizing the laser detection area. This allows for arbitrary switching between point focusing, line extension, and surface diffusion to maximum scattering range detection, avoiding the problems of fixed gain, short detection distance, small coverage, and fixed shape inherent in traditional infrared tube arrays.

[0041] The remaining structure is the same as that in Example 1.

[0042] Example 3, referring to Figure 1 - Figure 8 This is the third embodiment of the present invention, which differs from the second embodiment in that: the receiving component 201 includes a base plate 2011 disposed on the inner wall of the grating shell 100, a control unit 2012 disposed on the base plate 2011, a receiving unit 2013 disposed on the top of the control unit 2012, a signal receiver 2014 disposed on the receiving unit 2013, a connecting line 2016 disposed on the top of the signal receiver 2014, and a signal receiver 2015 disposed at the other end of the connecting line 2016. Both the signal receiver 2014 and the signal receiver 2015 penetrate through and are fixedly connected to the grating shell 100. When the adjustment component 301 performs laser emission detection, if the emitted laser is blocked by an object, the signal receiver 2014 and the signal receiver 2015 receive the blocking signal and transmit the signal to the interior of the receiving unit 2013. The receiving unit 2013 then performs TOF calculation on the distance to the blocking object, thereby obtaining the specific distance value of the obstruction.

[0043] Compared to Embodiment 2, the connecting component 401 further includes a connecting locking plate 4011 disposed at the bottom of the grating housing 100, a locking plate 4012 disposed at the bottom of the connecting locking plate 4011, a protective ring 4013 disposed at the bottom of the locking plate 4012, a second connecting line 4014 disposed at the bottom of the protective ring 4013, and a connector 4015 disposed at the other end of the second connecting line 4014. The connector 4015 is electrically connected to the control unit 2012. By connecting the locking plates 4011 to each other, multiple gratings can be combined and spliced ​​to enhance the installation performance of the gratings. At the same time, by connecting the connectors 4015 of multiple gratings, they can be directly connected to each other, eliminating the need for additional wiring, enhancing the performance of its installation and combination, improving the applicable field of the reflective grating, and enabling the reflective grating to adapt to various complex environments and meet the detection needs of different scenarios.

[0044] During use, when adjusting component 301 performs laser emission detection, if the emitted laser is blocked by an object, signal receiver 1 2014 and signal receiver 2 2015 receive the blocking signal and transmit the signal to the inside of receiver 2013. Receiver 2013 then performs TOF calculation on the distance to the blocking object, thereby obtaining the specific distance value of the obstruction.

[0045] By connecting the interlocking plates 4011, multiple gratings can be combined and spliced ​​to enhance the installation performance of the gratings. At the same time, by connecting the connectors 4015 of multiple gratings, they can be directly interconnected, eliminating the need for additional wiring, enhancing the performance of installation and combination, improving the applicable fields of the reflective grating, and enabling the reflective grating to adapt to various complex environments and meet the detection needs of different scenarios.

[0046] The remaining structure is the same as that in Example 2.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A reflective region grating based on TOF lidar, comprising a grating shell (100), characterized in that: The sensor unit (200) includes a receiving component (201) disposed inside the grating housing (100). The adjustment unit (300) includes an adjustment component (301) disposed on the receiving component (201) and a flipping component (302) disposed inside the adjustment component (301), and one end of the adjustment component (301) is fixedly connected to the receiving component (201); The connection unit (400) includes a connection component (401) disposed at the bottom of the grating housing (100); The distance from the laser emission plane to the obstacle is set as the laser distance value (D), the speed of the laser from the emission plane to the obstacle is set as the speed of light (C), the time it takes for the laser to be emitted from the device is set as the laser emission time (t1), the time it takes for the laser to reflect back from the obstacle is set as the laser return time (t2), the diffusion range of the laser from the emission plane to the obstacle is set as the laser irradiation range (S), the laser emission point is set as the incident angle (a), and the point where the laser returns after being blocked by the obstacle is set as the emission angle (b). The flipping component (302) moves inside the adjustment component (301) in conjunction with the laser emitted from the grating shell (100). The laser emitted from the grating shell (100) enters the interior of the adjustment component (301). The adjustment component (301) adjusts the incident angle (a) of the grating shell (100). When the laser incident angle (a) increases, the laser irradiation distance (D) becomes farther and the laser irradiation range (S) becomes smaller. When the laser incident angle (a) decreases, the laser irradiation distance (D) becomes closer and the laser irradiation range (S) becomes larger.

2. The reflective region grating based on TOF lidar according to claim 1, characterized in that: The receiving component (201) includes a base plate (2011) disposed on the inner wall of the grating shell (100), a control unit (2012) disposed on the base plate (2011), a receiving unit (2013) disposed on the top of the control unit (2012), a signal receiver one (2014) disposed on the receiving unit (2013), a connecting line one (2016) disposed on the top of the signal receiver one (2014), and a signal receiver two (2015) disposed at the other end of the connecting line one (2016). Both the signal receiver one (2014) and the signal receiver two (2015) penetrate through and are fixedly connected to the grating shell (100).

3. The reflective region grating based on TOF lidar according to claim 2, characterized in that: The adjustment assembly (301) includes a laser emitter (3011) disposed on a base plate (2011) and a diffuse reflector (3012) disposed on the outer diameter of the laser emitter (3011), and the diffuse reflector (3012) is connected to the base plate (2011).

4. The reflective region grating based on TOF lidar according to claim 3, characterized in that: A rotating part (3013) is provided on the outer diameter of one end of the diffuse reflector (3012), and a scale adjustment part (3015) is provided inside the rotating part (3013).

5. The reflective area grating based on TOF lidar according to claim 4, characterized in that: The other end of the rotating part (3013) is provided with a scale adjustment part (3015), and the scale adjustment part (3015) passes through and is connected to the grating shell (100).

6. The reflective region grating based on TOF lidar according to claim 5, characterized in that: The rotating part (3013) has a moving groove (3017) inside, and one end of the moving groove (3017) is connected to the diffuse reflector (3012). The fixed part (3016) has a moving groove (3017) inside, and the moving groove (3017) has a gear tooth (3018) inside.

7. The reflective region grating based on TOF lidar according to claim 6, characterized in that: The flipping assembly (302) includes a movable block (3021) that is slidably disposed inside the arc groove (3014) and the movable groove (3017), and a gear two (3022) disposed at the bottom of the movable block (3021), and the gear two (3022) engages with the gear tooth two (3018).

8. The reflective region grating based on TOF lidar according to claim 7, characterized in that: The other end of the gear (3022) is provided with a movable ring (3023), and a convex lens (3024) is provided inside the movable ring (3023). The movable ring (3023) is slidably connected to the fixed part (3016).

9. The reflective region grating based on TOF lidar according to claim 8, characterized in that: The interior of the movable slot (3017) is provided with a transmission grating plate (3025), and the transmission grating plate (3025) cooperates with the diffuse reflector (3012).

10. The reflective region grating based on TOF lidar according to claim 9, characterized in that: The connecting assembly (401) includes a connecting locking plate (4011) disposed at the bottom of the grating housing (100), a locking plate (4012) disposed at the bottom of the connecting locking plate (4011), a protective ring (4013) disposed at the bottom of the locking plate (4012), a second connecting line (4014) disposed at the bottom of the protective ring (4013), and a connector (4015) disposed at the other end of the second connecting line (4014), and the connector (4015) is electrically connected to the control unit (2012).

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