LiDAR and terminal equipment

Abstract

This application provides a lidar and terminal device. The lidar includes a transceiver assembly and a rotating mirror assembly. The transceiver assembly includes a transmitter and a receiver. The rotating mirror assembly includes a first rotating mirror assembly and a second rotating mirror assembly. The first rotating mirror assembly is disposed in the optical path between the transceiver assembly and the second rotating mirror assembly. The first rotating mirror assembly includes at least one first rotating mirror and at least one first rotating axis, and the first rotating mirror is rotatable around the first rotating axis. The second rotating mirror assembly includes at least one second rotating mirror and at least one second rotating axis, and the second rotating mirror is rotatable around the second rotating axis. The ratio of the rotational speed of the first rotating mirror to the rotational speed of the second rotating mirror is inversely proportional to the ratio of the number of mirrors in the first rotating mirror to the number of mirrors in the second rotating mirror. This application enables the lidar to change its field of view while ensuring the stability of the lidar's effective usage time and frame rate.

Description

Technical Field

[0001] This application relates to laser detection technology, and more particularly to a lidar and terminal device. Background Technology

[0002] LiDAR is a commonly used ranging sensor with advantages such as long detection range, high resolution, strong resistance to active interference, small size, and light weight. It is widely used in fields such as intelligent robots, drones, and autonomous driving. LiDAR generally has a specific field of view (FOV). However, with the development of technology, variable field of view lidar has emerged in recent years. This allows the lidar to dynamically adjust its detection range according to application requirements, thereby improving flexibility and applicability.

[0003] In a related technical solution, a variable field-of-view lidar includes a transceiver assembly and a rotating mirror assembly. The transceiver assembly includes a transmitter and a receiver, and the rotating mirror assembly includes a rotating mirror and a rotating axis. The transmitter emits a light beam, which is reflected by the rotating mirror, illuminates the surface of the object being measured, and is then reflected back to the receiver. The rotating mirror rotates around the rotating axis, thereby changing the angle of the reflected light path to achieve one-dimensional scanning. When it is necessary to change the field of view of the lidar, this can be achieved by changing the rotational speed of the rotating mirror; for example, by reducing the rotational speed of the rotating mirror, the point cloud density can be increased, and then the point cloud at the desired angle can be selected, switching the lidar's original large field of view to the required smaller field of view.

[0004] However, using related technologies to reduce the rotation speed of the rotating mirror will lead to a decrease in the frame rate of the lidar and a reduction in the utilization rate of the lidar, thus wasting the performance of the lidar. Summary of the Invention

[0005] In order to overcome the above-mentioned defects in related technologies, the purpose of this application is to provide a lidar and terminal device. This application can change the field of view of the lidar by setting the number of faces and rotation speed of the first rotating mirror without changing the rotation speed of the second rotating mirror, or by setting the number of faces and rotation speed of the second rotating mirror without changing the rotation speed of the first rotating mirror, through the cooperation of the two rotating mirrors, thereby helping to ensure the stability of the effective usage time and frame rate of the lidar.

[0006] On the one hand, this application provides a lidar, including: a transceiver assembly and a rotating mirror assembly;

[0007] The transceiver assembly includes a transmitter and a receiver, wherein the transmitter is used to emit a light beam to the rotating mirror assembly, and the receiver is used to receive the light beam reflected back by the rotating mirror assembly;

[0008] The rotating mirror assembly includes a first rotating mirror assembly and a second rotating mirror assembly. The first rotating mirror assembly is disposed in the optical path between the transceiver assembly and the second rotating mirror assembly. The first rotating mirror assembly includes at least one first rotating mirror and at least one first rotating shaft, and the first rotating mirror can rotate around the first rotating shaft. The second rotating mirror assembly includes at least one second rotating mirror and at least one second rotating shaft, and the second rotating mirror can rotate around the second rotating shaft. The ratio of the rotational speed of the first rotating mirror to the rotational speed of the second rotating mirror is inversely proportional to the ratio of the number of mirrors of the first rotating mirror to the number of mirrors of the second rotating mirror.

[0009] In one possible implementation, the projection of the first rotating mirror is a regular polygon in a plane perpendicular to the first axis of rotation.

[0010] In a plane perpendicular to the second axis of rotation, the projection of the second rotating mirror is a regular polygon.

[0011] In one possible implementation, the rotation direction of the first rotating mirror is the same as the rotation direction of the second rotating mirror;

[0012] Alternatively, the rotation direction of the first rotating mirror is opposite to that of the second rotating mirror.

[0013] In one possible implementation, the first rotating mirror assembly includes a plurality of first rotating mirrors, a plurality of first rotating axes, and a first switching device. The plurality of first rotating mirrors correspond one-to-one with the plurality of first rotating axes. The first rotating mirrors can rotate around the corresponding first rotating axes, and the number of mirrors of different first rotating mirrors is different from each other. The plurality of first rotating axes are rotatably disposed on the first switching device, and the first switching device is used to connect one of the plurality of first rotating mirrors to the optical path.

[0014] And / or, the second rotating mirror assembly includes a plurality of second rotating mirrors, a plurality of second rotating shafts, and a second switching device. The plurality of second rotating mirrors correspond one-to-one with the plurality of second rotating shafts. The second rotating mirrors can rotate around the corresponding second rotating shafts, and the number of mirrors of different second rotating mirrors is different from each other. The plurality of second rotating shafts can be rotatably arranged on the second switching device, and the second switching device is used to connect one of the plurality of second rotating mirrors to the optical path.

[0015] In one possible implementation, the rotating mirror assembly further includes a first driving member and a second driving member, wherein the output end of the first driving member is connected to the first rotating shaft, and the output end of the second driving member is connected to the second rotating shaft.

[0016] In one possible implementation, the rotating mirror assembly further includes a drive unit, a power transmission mechanism, and a shifting mechanism. The power transmission mechanism includes a first power transmission mechanism, a second power transmission mechanism, and an intermediate power transmission mechanism. The first power transmission mechanism is connected to the first rotating shaft. The output end of the drive unit is connected to the second rotating shaft through the second power transmission mechanism. The shifting mechanism is connected to the first power transmission mechanism, the second power transmission mechanism, or the intermediate power transmission mechanism. The shifting mechanism is used to control the position of the first power transmission mechanism, the second power transmission mechanism, or the intermediate power transmission mechanism so that the first power transmission mechanism is connected to or disconnected from the second power transmission mechanism.

[0017] In one possible implementation, the first power transmission mechanism includes a first gear, the second power transmission mechanism includes a second gear, the intermediate power transmission mechanism includes an intermediate gear, and the first gear and the second gear are spaced apart; the shifting mechanism is used to control the intermediate gear to mesh or disengage with the first gear and the second gear.

[0018] In one possible implementation, the first power transmission mechanism includes a first pulley, the second power transmission mechanism includes a second pulley, the intermediate power transmission mechanism includes an intermediate pulley, and the first pulley and the intermediate pulley are connected by a conveyor belt; the shifting mechanism is used to control the movement of the first pulley or the intermediate pulley so that the second pulley is connected to or disconnected from the conveyor belt.

[0019] In one possible implementation, the shifting mechanism includes a shifting drive and a shifting adapter. The shifting drive is connected to the shifting adapter and can drive the shifting adapter to move. The shifting adapter is connected to the intermediate power transmission mechanism or the first power transmission mechanism.

[0020] On the other hand, this application provides a terminal device including any of the lidar described above.

[0021] This application provides a lidar and a terminal device. The lidar includes a transceiver assembly and a rotating mirror assembly. The transceiver assembly includes a transmitter and a receiver. The transmitter emits a light beam to the rotating mirror assembly, and the receiver receives the light beam reflected back from the rotating mirror assembly. The rotating mirror assembly includes a first rotating mirror assembly and a second rotating mirror assembly. The first rotating mirror assembly is disposed in the optical path between the transceiver assembly and the second rotating mirror assembly. The first rotating mirror assembly includes at least one first rotating mirror and at least one first rotating axis, and the first rotating mirror is rotatable around the first rotating axis. The second rotating mirror assembly includes at least one second rotating mirror and at least one second rotating axis, and the second rotating mirror is rotatable around the second rotating axis. The ratio of the rotational speed of the first rotating mirror to the rotational speed of the second rotating mirror is inversely proportional to the ratio of the number of mirrors of the first rotating mirror to the number of mirrors of the second rotating mirror. This application sets a first rotating mirror assembly and a second rotating mirror assembly in the optical path, and sets the ratio of the rotation speed of the first rotating mirror to the rotation speed of the second rotating mirror to be inversely proportional to the ratio of the number of mirror surfaces of the first rotating mirror to the number of mirror surfaces of the second rotating mirror. Compared with the solutions in related technologies, this application can change the field of view of the lidar by setting the number of mirror surfaces and rotation speed of the first rotating mirror without changing the rotation speed of the second rotating mirror, or by setting the number of mirror surfaces and rotation speed of the second rotating mirror without changing the rotation speed of the first rotating mirror, through the cooperation of the two rotating mirrors. The lidar can directly output a small-area high-density point cloud without truncating a small-area field of view, which is beneficial to ensuring the stability of the effective usage time and frame rate of the lidar. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A simplified structural diagram of a lidar provided in one embodiment of this application;

[0024] Figure 2 The optical path diagram of the second rotating mirror in the first state provided in an embodiment of this application;

[0025] Figure 3 The optical path diagram of the second rotating mirror in the second state provided in an embodiment of this application;

[0026] Figure 4 This is an optical path diagram of the second rotating mirror in a third state according to an embodiment of this application;

[0027] Figure 5 This is a schematic diagram showing the positional relationship between the first rotating shaft and the second rotating shaft according to an embodiment of this application;

[0028] Figure 6 A simplified structural diagram of a lidar provided in another embodiment of this application;

[0029] Figure 7 A simplified structural diagram of a power transmission mechanism provided in an embodiment of this application in its first state;

[0030] Figure 8 A simplified structural diagram of the power transmission mechanism provided in an embodiment of this application in a second state;

[0031] Figure 9 A simplified structural diagram of a power transmission mechanism in a first state, provided in another embodiment of this application;

[0032] Figure 10 A simplified structural diagram of the power transmission mechanism in a second state, provided in another embodiment of this application;

[0033] Figure 11 A simplified structural diagram of a gear shifting mechanism provided in one embodiment of this application;

[0034] Figure 12 A simplified structural diagram of a shifting mechanism provided in an embodiment of this application in its first state;

[0035] Figure 13 A simplified structural diagram of the shifting mechanism provided in an embodiment of this application in a second state;

[0036] Figure 14 A simplified structural diagram of a shifting mechanism provided in another embodiment of this application;

[0037] Figure 15 A simplified structural diagram of a shifting mechanism in a first state, provided in another embodiment of this application;

[0038] Figure 16 A simplified structural diagram of a shifting mechanism provided in another embodiment of this application in a second state.

[0039] Figure label:

[0040] 100-Transceiver Components;

[0041] 210 - First rotating mirror; 220 - First rotating shaft; 230 - First switching device;

[0042] 310 - Second rotating mirror; 320 - Second rotating shaft; 330 - Second switching device;

[0043] 410 - First power transmission mechanism; 420 - Second power transmission mechanism; 430 - Intermediate power transmission mechanism; 440 - Limiting component; 450 - Conveyor belt;

[0044] 510 - Drive unit; 520 - Telescopic rod; 530 - First adapter block; 540 - First bearing;

[0045] 610-Electromagnet; 620-Coil; 630-Permanent magnet; 640-Second adapter block; 650-Second bearing; 660-Blocking component. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0047] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0048] As described in the background section, in related technologies, when it is necessary to change the field of view of a LiDAR, this can be achieved by changing the rotation speed of a rotating mirror. For example, when it is necessary to narrow the field of view of the LiDAR, the rotation speed of the rotating mirror can be reduced, thereby lengthening the single-frame time of the point cloud and increasing the point cloud density. However, reducing the rotation speed of the rotating mirror will lead to a decrease in the number of frames of the LiDAR, reducing the utilization rate of the LiDAR and wasting its performance. For example, taking a rotating mirror with three faces, each face of the rotating mirror occupies a central angle of 120°. When the rotating mirror rotates 1°, the reflected light sweeps 2°. When the field of view of the LiDAR is 100°, the rotating mirror needs to rotate 50°, and the angle utilization rate is 50° / 120°, approximately 41.7%. When the field of view of the LiDAR is 30°, the rotating mirror only needs to rotate 15° to scan the entire field of view, at which point the LiDAR utilization rate is only 12.5%.

[0049] In view of this, the embodiments of this application aim to provide a lidar and terminal device. By setting a first rotating mirror assembly and a second rotating mirror assembly, the first rotating mirror assembly is positioned in the optical path between the transceiver assembly and the second rotating mirror assembly. The ratio of the rotational speed of the first rotating mirror to the rotational speed of the second rotating mirror is set to be inversely proportional to the ratio of the number of mirror surfaces of the first rotating mirror to the number of mirror surfaces of the second rotating mirror. Compared to solutions in related technologies, this application can change the field of view of the lidar by setting the number of mirror surfaces and rotational speed of the first rotating mirror, or by setting the number of mirror surfaces and rotational speed of the second rotating mirror, without changing the rotational speed of the second rotating mirror. This allows the lidar to directly output a small-area, high-density point cloud without truncating a small field of view, which helps ensure the effective usage time and frame rate stability of the lidar.

[0050] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can gain a more detailed understanding of the content of this application.

[0051] Figure 1 A simplified structural diagram of a lidar provided in an embodiment of this application.

[0052] Please refer to Figure 1 This embodiment provides a lidar, including a transceiver assembly 100 and a rotating mirror assembly. The transceiver assembly 100 includes a transmitter and a receiver. The transmitter emits a light beam to the rotating mirror assembly, and the receiver receives the light beam reflected back from the rotating mirror assembly.

[0053] The rotating mirror assembly includes a first rotating mirror assembly and a second rotating mirror assembly. The first rotating mirror assembly is disposed in the optical path between the transceiver assembly 100 and the second rotating mirror assembly. The first rotating mirror assembly includes at least one first rotating mirror 210 and at least one first rotating shaft 220. The first rotating mirror 210 can rotate around the first rotating shaft 220. It is understood that the first rotating mirror 210 can be fixedly connected to the first rotating shaft 220 by means of bonding or other methods. The first rotating shaft 220 can rotate under the drive of an external driving component such as a motor, thereby realizing the rotation of the first rotating mirror 210. The second rotating mirror assembly includes at least one second rotating mirror 310 and at least one second rotating shaft 320. The second rotating mirror 310 can rotate around the second rotating shaft 320. Similarly, the second rotating mirror 310 can be fixedly connected to the second rotating shaft 320 by means of bonding or other methods. The second rotating shaft 320 can rotate under the drive of an external driving component such as a motor, thereby realizing the rotation of the second rotating mirror 310. In this embodiment, the dimensions of the first rotating mirror 210 and the second rotating mirror 310 can be set as needed.

[0054] In this embodiment, the ratio of the rotational speed of the first rotating mirror 210 to the rotational speed of the second rotating mirror 310 is inversely proportional to the ratio of the number of mirror surfaces of the first rotating mirror 210 to the number of mirror surfaces of the second rotating mirror 310. For example, when the number of mirror surfaces of the first rotating mirror 210 is 3 and the number of mirror surfaces of the second rotating mirror 310 is 5, the second rotating mirror 310 needs to rotate 3 times for the first rotating mirror 210 to complete 5 rotations; when the number of mirror surfaces of the first rotating mirror 210 is 8 and the number of mirror surfaces of the second rotating mirror 310 is 9, the second rotating mirror 310 needs to rotate 8 times for the first rotating mirror 210 to complete 9 rotations. This method ensures the synchronicity of the mirror surface switching between the first rotating mirror 210 and the second rotating mirror 310; that is, when the first rotating mirror 210 changes surfaces, the second rotating mirror 310 also changes surfaces synchronously, thereby ensuring the uniformity of the produced image.

[0055] The effects of this embodiment will be explained in detail below in conjunction with the propagation path of the optical path.

[0056] Taking a horizontal incident light emitted by the transmitter as an example, if the incident position and angle of the incident light remain unchanged, when the first rotating mirror 210 is fixed and the mirror surface of the second rotating mirror 310 is perpendicular to the incident light, the incident light will be reflected back along the original path.

[0057] Figure 2 The optical path diagram of the second rotating mirror in a first state is provided as an embodiment of this application. Figure 2 As shown, when the first rotating mirror 210 is fixed and the mirror surface of the second rotating mirror 310 forms an angle of 90°-A1° with the incident light, the angle between the reflected light after reflection by the mirror surface of the second rotating mirror 310 and the incident light is A0°, which can be understood as A0°=2A1°.

[0058] Figure 3 The optical path diagram of the second rotating mirror in a second state is provided in one embodiment of this application. Figure 3 As shown, when the first rotating mirror 210 is fixed, and the second rotating mirror 310 continues to rotate B1° from the first state (i.e., the angle between the incident ray and the mirror surface of the second rotating mirror is 90° - (A1° + B1°), the angle B0 between the reflected ray and the incident ray is A0° + 2B1°. It can be understood that when only the second rotating mirror 310 rotates, the rotational speed of the optical path sweep is twice the rotational speed of the second rotating mirror 310.

[0059] Figure 4 The optical path diagram of the second rotating mirror in a third state, as provided in an embodiment of this application. Figure 4 As shown, if the second rotating mirror 310 continues to rotate B1° from the first state, the first rotating mirror 210 also rotates synchronously A2° / 2. At this time, the angle C0 between the reflected ray and the incident ray becomes A0°+2B1°-A2°, where A2 is the change in the angle of the incident ray caused by the rotation of the first rotating mirror 210. Specifically, after reflection by the first rotating mirror 210 and the second rotating mirror 310, the change in the angle between the reflected ray and the incident ray is twice the difference between the rotation angle of the first rotating mirror 210 and the rotation angle of the second rotating mirror 310.

[0060] For example, when the number of mirrors in the first rotating mirror 210 is 3 and the number of mirrors in the second rotating mirror 310 is also 3, the ratio of the rotational speed of the first rotating mirror 210 to the rotational speed of the second rotating mirror 310 is 1:1. At this time, the light path after reflection by the two rotating mirrors becomes a straight line, and the lidar becomes a unidirectional laser ranging device.

[0061] When the number of mirrors in the first rotating mirror 210 is 5 and the number of mirrors in the second rotating mirror 310 is 3, the ratio of the rotation speed of the first rotating mirror 210 to that of the second rotating mirror 310 is 3:5. At this time, the sweepable field of view of the optical path after reflection by the two rotating mirrors becomes 40% of the original field of view, and the point cloud density of the lidar is increased to 2.5 times the original point cloud density.

[0062] When the number of mirrors in the first rotating mirror 210 is 4 and the number of mirrors in the second rotating mirror 310 is 3, the ratio of the rotation speed of the first rotating mirror 210 to that of the second rotating mirror 310 is 3:4. At this time, the sweepable field of view of the optical path after reflection by the two rotating mirrors becomes 25% of the original field of view, and the point cloud density of the lidar is increased to 4 times the original point cloud density.

[0063] In other words, this embodiment can set the number of faces and rotation speed of the first rotating mirror 210 without changing the rotation speed of the second rotating mirror 310, or set the number of faces and rotation speed of the second rotating mirror 310 without changing the rotation speed of the first rotating mirror 210. By cooperating with the two rotating mirrors, the field of view of the lidar can be changed. The lidar can directly output a small-area high-density point cloud without truncating a small-area field of view, which helps to ensure the stability of the effective usage time and frame rate of the lidar.

[0064] Of course, in other embodiments, the number of faces and rotation of the first and second rotating mirrors can be changed simultaneously according to the actual FOV requirements of the lidar, thereby changing the lidar's field of view through the cooperation of the two rotating mirrors.

[0065] Understandably, when the first rotating mirror 210 and the second rotating mirror 310 rotate in the same direction, the scanning speed of the lidar can be slowed down. This achieves the effect of densifying the point cloud in the target area without shortening the laser pulse emission interval, thus narrowing the lidar's field of view. Compared with solutions in related technologies, this embodiment can set the number of faces and rotation speed of the first rotating mirror 210 without changing the rotation speed of the second rotating mirror 310, or set the number of faces and rotation speed of the second rotating mirror 310 without changing the rotation speed of the first rotating mirror 210. By cooperating with the two rotating mirrors, the lidar's field of view can be changed. The lidar can directly output a small-area, high-density point cloud without truncating a small-area field of view, which helps to ensure the effective usage time and frame rate stability of the lidar.

[0066] When the rotation direction of the first rotating mirror 210 is opposite to that of the second rotating mirror 310, the scanning speed of the lidar can be increased, which can achieve the effect of reducing the point cloud in the target area without shortening the laser pulse emission interval, thereby expanding the field of view of the lidar.

[0067] In this embodiment, the ratio of the number of mirrors in the first rotating mirror 210 to the number of mirrors in the second rotating mirror 310 is preferably 3:4, 3:5 or 4:5.

[0068] As described above, this embodiment sets a first rotating mirror 210 component and a second rotating mirror 310 component in the optical path, and sets the ratio of the rotation speed of the first rotating mirror 210 to the rotation speed of the second rotating mirror 310 to be inversely proportional to the ratio of the number of mirrors of the first rotating mirror 210 to the number of mirrors of the second rotating mirror 310. Compared with the solutions in related technologies, this embodiment can change the field of view of the lidar by setting the number of mirrors and rotation speed of the first rotating mirror 210 without changing the rotation speed of the second rotating mirror 310, or by setting the number of mirrors and rotation speed of the second rotating mirror 310 without changing the rotation speed of the first rotating mirror 210. The lidar can directly output a small-area high-density point cloud without truncating a small-area field of view, which is beneficial to ensuring the effective usage time and frame rate stability of the lidar.

[0069] In this embodiment, the first rotating shaft 220 and the second rotating shaft 320 can be arranged in parallel. At this time, the lidar can change the field of view in a certain direction (such as the horizontal direction) through the first rotating mirror 210 and the second rotating mirror 310.

[0070] Alternatively, the directions of the first rotating shaft 220 and the second rotating shaft 320 can be set to intersect. Figure 5 This is a schematic diagram illustrating the positional relationship between the first and second rotating shafts provided in an embodiment of this application. Figure 5 As shown, when the direction of the first rotating shaft 220 and the direction of the second rotating shaft 320 form an angle D, the second reflected light after being reflected by the second rotating mirror 310 will also be deflected by an angle D in another direction (such as the vertical direction). At this time, the lidar can change the field of view in two directions (such as the horizontal and vertical directions) through the first rotating mirror 210 and the second rotating mirror 310.

[0071] Please continue to refer to Figure 1 In one embodiment of this application, the projection of the first rotating mirror 210 is a regular polygon in a plane perpendicular to the first rotation axis 220. Similarly, the projection of the second rotating mirror 310 is a regular polygon in a plane perpendicular to the second rotation axis 320. This embodiment does not limit the height of the first and second rotating mirrors 210, but their heights should be adapted to the transceiver assembly 100. By limiting the projections of both the first and second rotating mirrors 210 to regular polygons, it is possible to ensure that when the ratio of the rotational speed of the first and second rotating mirrors 210 to the ratio of the number of mirrors in the first and second rotating mirrors 310 is inversely proportional to the ratio of the number of mirrors in the first and second rotating mirrors 310, the mirrors of the first and second rotating mirrors 210 can switch synchronously.

[0072] Please refer to Figure 6In one possible implementation, the first rotating mirror 210 assembly of this embodiment includes multiple first rotating mirrors 210, multiple first rotating shafts 220, and a first switching device. Each of the multiple first rotating mirrors 210 corresponds one-to-one with a single first rotating shaft 220. Each first rotating mirror 210 can rotate around its corresponding first rotating shaft 220, and the number of mirror surfaces of the different first rotating mirrors 210 is different. The multiple first rotating shafts 220 are rotatably mounted on the first switching device 230, which is used to connect one of the multiple first rotating mirrors 210 into the optical path. Exemplarily, the first switching device 230 can be a structure such as a turntable, with the multiple first rotating shafts 220 spaced circumferentially along the turntable. The first rotating shafts 220 can be mounted on the turntable using bearings or other components, and each first rotating shaft 220 can be connected to a driving device for independent driving. The turntable can also be connected to a corresponding drive device to drive it to rotate. By rotating the turntable, the first rotating mirror 210 with different mirror counts can be connected to the optical path, so as to facilitate the selection of the first rotating mirror 210 with the appropriate mirror count according to actual needs.

[0073] And / or, the second rotating mirror 310 assembly includes multiple second rotating mirrors 310, multiple second rotating shafts 320, and a second switching device. Each of the multiple second rotating mirrors 310 corresponds one-to-one with a second rotating shaft 320. Each second rotating mirror 310 can rotate around its corresponding second rotating shaft 320, and the number of mirrors on each second rotating mirror 310 is different. Multiple second rotating shafts 320 are rotatably mounted on a second switching device 330, which is used to connect one of the multiple second rotating mirrors 310 into the optical path. Exemplarily, the second switching device 330 can be a structure such as a turntable, with multiple second rotating shafts 320 spaced circumferentially along the turntable. The second rotating shafts 320 can be mounted on the turntable using bearings or other components, and each second rotating shaft 320 can be connected to a driving device for independent driving. The turntable can also be connected to a corresponding driving device to drive its rotation. By rotating the turntable, second rotating mirrors 310 with different numbers of mirrors can be connected into the optical path, thus facilitating the selection of a second rotating mirror 310 with an appropriate number of mirrors according to actual needs.

[0074] It is understood that, through the above structure, the lidar of this embodiment can achieve the combined use of the first rotating mirror 210 and the second rotating mirror 310 with different numbers of mirrors.

[0075] Furthermore, in other possible implementations, the first rotating mirror 210 of this embodiment can also be detachably connected and installed in the lidar. When it is necessary to replace the first rotating mirror 210 with a different number of mirrors, the current first rotating mirror 210 can be disassembled first, and then another first rotating mirror 210 with a different number of mirrors can be installed in the lidar. Correspondingly, the second rotating mirror 310 can also be detachably connected and installed in the lidar.

[0076] In one possible implementation, the rotating mirror assembly of this embodiment further includes a first driving member and a second driving member. The output end of the first driving member is connected to the first rotating shaft 220, and the output end of the second driving member is connected to the second rotating shaft 320. In this embodiment, both the first driving member and the second driving member can be motors, which control the start / stop and rotation speed of the first rotating shaft 220 and the second rotating shaft 320, respectively.

[0077] In another possible implementation, the rotating mirror assembly can also be driven by the same drive unit, which can be a motor or the like. In this case, the rotating mirror assembly further includes a power transmission mechanism and a shifting mechanism. The power transmission mechanism includes a first power transmission mechanism 410, a second power transmission mechanism 420, and an intermediate power transmission mechanism 430. The first power transmission mechanism 410 is connected to the first rotating shaft 220, and the output end of the drive unit is connected to the second rotating shaft 320 via the second power transmission mechanism 420. The shifting mechanism is connected to the first power transmission mechanism 410, the second power transmission mechanism 420, or the intermediate power transmission mechanism 430. The shifting mechanism controls the position of the first power transmission mechanism 410, the second power transmission mechanism 420, or the intermediate power transmission mechanism 430, so that the first power transmission mechanism 410 is connected to or disconnected from the second power transmission mechanism 420. When the shifting mechanism connects the first power transmission mechanism 410 and the second power transmission mechanism 420, it can drive the first power transmission mechanism 410 and the second power transmission mechanism 420 simultaneously through the same driving component, that is, drive the first rotating shaft 220 and the second rotating shaft 320.

[0078] Figure 7 A simplified structural diagram of a power transmission mechanism provided in an embodiment of this application in its first state; Figure 8 A simplified structural diagram of the power transmission mechanism provided in an embodiment of this application in the second state.

[0079] Please refer to Figure 7 and Figure 8 In one possible implementation, the first power transmission mechanism 410 of this embodiment includes a first gear, the second power transmission mechanism 420 includes a second gear, and the intermediate power transmission mechanism 430 includes an intermediate gear. The power transmission mechanisms also include a limiting member 440, and the intermediate power transmission mechanism 430 can move within the limiting member 440 under the drive of the shifting mechanism, so that the intermediate gear meshes with or disengages from the first and second gears. Specifically, in Figure 7 In the first state shown, the first gear and the second gear are separated, the second gear rotates, and the first gear does not rotate. In this state, the first rotating mirror 210 connected to the first gear does not rotate, while the second rotating mirror 310 connected to the second gear rotates. Figure 8In the second state shown, the first gear and the second gear mesh through an intermediate gear. The second gear drives the first gear to rotate in the same direction, and the first rotating mirror 210 rotates accordingly. This allows the field of view of the lidar to be changed without altering the rotational speed of the second rotating mirror 310. It is understood that in this embodiment, the ratio of the number of teeth on the first gear to the number of teeth on the second gear is inversely proportional to the ratio of the rotational speed of the first rotating shaft 220 to the rotational speed of the second rotating shaft 320.

[0080] Figure 9 A simplified structural diagram of a power transmission mechanism in a first state, provided in another embodiment of this application; Figure 10 A simplified structural diagram of a power transmission mechanism in a second state, provided in another embodiment of this application.

[0081] Please refer to Figure 9 and Figure 10 In another possible implementation, the first power transmission mechanism 410 of this embodiment includes a first pulley, the second power transmission mechanism 420 includes a second pulley, and the intermediate power transmission mechanism 430 includes an intermediate pulley. The first pulley and the intermediate pulley are connected via a conveyor belt 450. The second pulley can be disposed between the first pulley and the intermediate pulley and is located inside the conveyor belt 450. A shifting mechanism is used to control the movement of the first pulley or the intermediate pulley, thereby causing the conveyor belt 450 to shift, so that the second pulley connects to or separates from the conveyor belt 450. Specifically, in Figure 9 In the first state shown, the first and second pulleys are separated; only the second pulley rotates, while the first pulley does not. Figure 10 In the second state shown, the first pulley and the second pulley are connected by a conveyor belt 450. The second pulley can drive the first pulley to rotate via the conveyor belt 450, thereby driving the first rotating mirror 210 to rotate and changing the field of view of the lidar. It can be understood that in this embodiment, the ratio of the diameter of the first pulley to the diameter of the second pulley is inversely proportional to the ratio of the rotational speed of the first rotating shaft 220 to the rotational speed of the second rotating shaft 320.

[0082] In this embodiment, the shifting mechanism may include a shifting drive and a shifting adapter. The shifting drive is connected to the shifting adapter and can drive the shifting adapter to move. The shifting adapter is connected to the intermediate power transmission mechanism 430 or the first power transmission mechanism 410. The following description uses the intermediate power transmission mechanism 430, which includes an intermediate gear, as an example. The shifting mechanism is used to drive the intermediate power transmission mechanism 430 to move.

[0083] Figure 11 A simplified structural diagram of a gear shifting mechanism provided in one embodiment of this application; Figure 12 A simplified structural diagram of a shifting mechanism provided in an embodiment of this application in its first state; Figure 13This is a simplified structural diagram of the shifting mechanism provided in an embodiment of this application in its second state. Please refer to... Figures 11-13 In one possible implementation, the shift drive component of this embodiment includes a drive device 510 and a telescopic rod 520. The drive device 510 is connected to the telescopic rod 520 and can control the extension or retraction of the telescopic rod 520. One end of the telescopic rod 520 facing away from the drive device 510 is connected to a first adapter block 530. A first bearing 540 is provided inside the first adapter block 530. The outer ring of the first bearing 540 is fixedly connected to the first adapter block 530 by welding or other means. The inner ring of the first bearing 540 is connected to the intermediate power transmission mechanism 430. For example, as... Figure 12 As shown, in the first state, the drive device 510 controls the extension rod 520 to extend, thereby driving the intermediate power transmission mechanism 430 on the first adapter block 530 to extend; as Figure 13 As shown, in the second state, the drive device 510 controls the telescopic rod 520 to retract, thereby driving the intermediate power transmission mechanism 430 on the first adapter block 530 to retract.

[0084] Combination Figure 7 and Figure 8 It can be seen that by driving the telescopic rod 520 to move via the drive device 510, the intermediate power transmission mechanism 430 can move within the limiting member 440, so that the intermediate gear meshes with the first gear and the second gear (at which time the shifting mechanism can be in the first state mentioned above) or disengages (at which time the shifting mechanism can be in the second state mentioned above). It is understood that the aforementioned shifting drive component can also be used... Figure 9 and Figure 10 In the illustrated embodiment, the first power transmission mechanism 410 is moved.

[0085] Figure 14 A simplified structural diagram of a shifting mechanism provided in another embodiment of this application; Figure 15 A simplified structural diagram of a shifting mechanism in a first state, provided in another embodiment of this application; Figure 16 A simplified structural diagram of the shifting mechanism provided in another embodiment of this application in a second state. Please refer to... Figures 14-16 In another possible implementation, the shift drive component of this embodiment includes an electromagnet 610, a coil 620, a permanent magnet 630, and a second adapter block 640. The coil 620 is wound around the electromagnet 610 and is used to connect to an external power source. The permanent magnet 630 is fixedly mounted on the second adapter block 640. The electromagnet 610 and the second adapter block 640 are spaced apart. A second bearing 650 is provided inside the second adapter block 640. The outer ring of the second bearing 650 is fixedly connected to the second adapter block 640 by welding or other means, and the inner ring of the second bearing 650 is connected to the intermediate power transmission mechanism 430. For example, as... Figure 15As shown, in the first state, a current in the first direction is passed through the coil 620, causing the electromagnet 610 and the permanent magnet 630 to repel each other, thereby driving the intermediate power transmission mechanism 430 on the second adapter block 640 to extend; as Figure 16 As shown, in the second state, the coil 620 is supplied with current in the second direction, causing the electromagnet 610 and the permanent magnet 630 to attract each other, thereby driving the intermediate power transmission mechanism 430 on the second adapter block 640 to retract.

[0086] Combination Figure 7 and Figure 8 It is understood that by controlling the direction of the current in the input coil 620, the electromagnet 610 can attract or repel the permanent magnet 630, thereby enabling the intermediate power transmission mechanism 430 to move within the limiting member 440, causing the intermediate gear to mesh with the first gear and the second gear (at which time the shifting mechanism can be in the first state mentioned above) or disengage (at which time the shifting mechanism can be in the second state mentioned above). It is also understood that the aforementioned shifting drive component can be used... Figure 9 and Figure 10 In the illustrated embodiment, the first power transmission mechanism 410 is moved to drive it. When applied to... Figure 9 and Figure 10 In the embodiment shown, the shift drive may further include a stop member 660, which is disposed on the side of the second transition block 640 away from the electromagnet 610. When the electromagnet 610 repels the permanent magnet 630, the stop member 660 can limit the maximum movement distance of the second transition block 640.

[0087] It is understood that, depending on the actual layout or usage environment, the shift drive component in the shift structure of this embodiment can be a remotely controllable actuator such as an electromagnet, pneumatic valve, hydraulic valve, or motor. Shifting can be achieved through a paddle, spring, or other structure driven by the electromagnet or other actuator. The shift adapter in the shift structure can be a synchronous belt, gear, connecting rod, or other structure.

[0088] The lidar in this embodiment uses a scheme where the first rotating mirror 210 and the second rotating mirror 310 work together. Compared with the single rotating mirror scheme in related technologies, the lidar has a higher utilization rate at long distances, reduces the hardware requirements of the lidar, and efficiently utilizes the performance of the transceiver component 100.

[0089] This embodiment also provides a terminal device including the aforementioned lidar. Exemplarily, the terminal device may be a car, drone, robot, or other similar device. The lidar can be installed at any location on the terminal device according to actual needs, such as on the windshield of a car. Because the terminal device uses the aforementioned lidar, the field of view of the lidar can be changed while ensuring the stability of the effective usage time and frame rate of the lidar.

[0090] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0091] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0092] It should be noted that in the description of this application, the terms "first" and "second" are used only for convenience in describing different components and should not be construed as indicating or implying a sequential relationship, relative importance, or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features.

[0093] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0094] In the description of this application, 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 an embodiment or example that are included in at least one embodiment or example of this application. In this application, 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.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lidar, characterized in that, include: Transceiver components and rotating mirror components; The transceiver assembly includes a transmitter and a receiver, wherein the transmitter is used to emit a light beam to the rotating mirror assembly, and the receiver is used to receive the light beam reflected back by the rotating mirror assembly; The rotating mirror assembly includes a first rotating mirror assembly and a second rotating mirror assembly. The first rotating mirror assembly is disposed in the optical path between the transceiver assembly and the second rotating mirror assembly. The first rotating mirror assembly includes at least one first rotating mirror and at least one first rotating shaft, and the first rotating mirror can rotate around the first rotating shaft. The second rotating mirror assembly includes at least one second rotating mirror and at least one second rotating shaft, and the second rotating mirror can rotate around the second rotating shaft. The ratio of the rotational speed of the first rotating mirror to the rotational speed of the second rotating mirror is inversely proportional to the ratio of the number of mirrors of the first rotating mirror to the number of mirrors of the second rotating mirror.

2. The lidar according to claim 1, characterized in that, In a plane perpendicular to the first axis of rotation, the projection of the first rotating mirror is a regular polygon; In a plane perpendicular to the second axis of rotation, the projection of the second rotating mirror is a regular polygon.

3. The lidar according to claim 2, characterized in that, The rotation direction of the first rotating mirror is the same as that of the second rotating mirror; Alternatively, the rotation direction of the first rotating mirror is opposite to that of the second rotating mirror.

4. The lidar according to any one of claims 1-3, characterized in that, The first rotating mirror assembly includes multiple first rotating mirrors, multiple first rotating shafts, and a first switching device. The multiple first rotating mirrors correspond one-to-one with the multiple first rotating shafts. The first rotating mirrors can rotate around the corresponding first rotating shafts, and the number of mirrors of different first rotating mirrors is different. The multiple first rotating shafts are rotatably mounted on the first switching device, and the first switching device is used to connect one of the multiple first rotating mirrors to the optical path. And / or, the second rotating mirror assembly includes a plurality of second rotating mirrors, a plurality of second rotating shafts, and a second switching device. The plurality of second rotating mirrors correspond one-to-one with the plurality of second rotating shafts. The second rotating mirrors can rotate around the corresponding second rotating shafts, and the number of mirrors of different second rotating mirrors is different from each other. The plurality of second rotating shafts can be rotatably arranged on the second switching device, and the second switching device is used to connect one of the plurality of second rotating mirrors to the optical path.

5. The lidar according to any one of claims 1-3, characterized in that, The rotating mirror assembly further includes a first driving member and a second driving member, wherein the output end of the first driving member is connected to the first rotating shaft, and the output end of the second driving member is connected to the second rotating shaft.

6. The lidar according to any one of claims 1-3, characterized in that, The rotating mirror assembly further includes a drive unit, a power transmission mechanism, and a shifting mechanism. The power transmission mechanism includes a first power transmission mechanism, a second power transmission mechanism, and an intermediate power transmission mechanism. The first power transmission mechanism is connected to the first rotating shaft. The output end of the drive unit is connected to the second rotating shaft through the second power transmission mechanism. The shifting mechanism is connected to the first power transmission mechanism, the second power transmission mechanism, or the intermediate power transmission mechanism. The shifting mechanism is used to control the position of the first power transmission mechanism, the second power transmission mechanism, or the intermediate power transmission mechanism so that the first power transmission mechanism is connected to or disconnected from the second power transmission mechanism.

7. The lidar according to claim 6, characterized in that, The first power transmission mechanism includes a first gear, the second power transmission mechanism includes a second gear, and the intermediate power transmission mechanism includes an intermediate gear. The first gear and the second gear are spaced apart. The shifting mechanism is used to control the intermediate gear to mesh or disengage with the first gear and the second gear.

8. The lidar according to claim 6, characterized in that, The first power transmission mechanism includes a first pulley, the second power transmission mechanism includes a second pulley, and the intermediate power transmission mechanism includes an intermediate pulley. The first pulley and the intermediate pulley are connected by a conveyor belt. The shifting mechanism is used to control the movement of the first pulley or the intermediate pulley so that the second pulley is connected to or disconnected from the conveyor belt.

9. The lidar according to claim 6, characterized in that, The shifting mechanism includes a shifting drive and a shifting adapter. The shifting drive is connected to the shifting adapter and can drive the shifting adapter to move. The shifting adapter is connected to the intermediate power transmission mechanism or the first power transmission mechanism.

10. A terminal device, characterized in that, Including the lidar as described in any one of claims 1-9.

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