Laser radar

Abstract

The invention provides a laser radar. The laser radar comprises a housing (501); the bottom cover (502) is fixedly connected with the shell (501); the transmission cover (503) is fixedly mounted on the shell (501), and laser can be transmitted through the transmission cover (503); a containing space defined by the shell (501), the bottom cover (502) and the transmission cover (503) is internally provided with a base (509) fixedly connected with the bottom cover (502); the core circuit board (110), the motor rotor assembly (200), the first laser receiving and transmitting module (101), the second laser receiving and transmitting module (103), the first receiving and transmitting blocking piece (505) and the distance measuring circuit board (109) are fixedly connected with the base (509).

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of laser radar, and in particular to a laser radar. BACKGROUND

[0002] The conventional scanning laser radar usually adopts a single laser emission module to emit laser onto a single rotating mirror, and then emits laser through the rotating mirror, and the laser reflected by the object to be measured passes through the rotating mirror and hits a single receiving module. This scanning laser radar cannot achieve a strict scanning of more than 180 degrees, whether it is a single mirror or a multi-mirror, because the mirror has a thickness. If the laser hits the thickness position, there will be a certain angle of blind area, so that full-angle coverage cannot be achieved, thereby affecting the product performance and safety. SUMMARY

[0003] Embodiments of the present application provide a laser radar.

[0004] Embodiments of the present application provide a laser radar, which comprises: a shell 501; a bottom cover 502 fixedly connected with the shell 501; a transmission cover 503 fixedly installed on the shell 501, the transmission cover 503 being capable of transmitting laser; a containing space surrounded by the shell 501, the bottom cover 502 and the transmission cover 503, wherein the containing space is provided with: a base 509 fixedly connected with the bottom cover 502; a core circuit board 110, a motor rotor assembly 200, a first laser transceiver module 101, a second laser transceiver module 103, a first transceiver baffle 505 and a ranging circuit board 109 fixedly connected with the base 509.

[0005] In some exemplary embodiments, the motor rotor assembly 200 comprises: a motor 106, the motor 106 comprising a motor stator 106-1 and a motor rotor 106-2 installed on the motor stator 106-1; a first rotating mirror 102 and a second rotating mirror 104 fixedly installed on the motor rotor 106-2; a second transceiver baffle 201 sleeved outside the motor rotor 106-2 and fixedly connected with the motor rotor 106-2, the second transceiver baffle 201 dividing one of the first rotating mirror 102 and the second rotating mirror 104 into a first emission part and a first receiving part, and dividing the other of the first rotating mirror 102 and the second rotating mirror 104 into a second emission part and a second receiving part.

[0006] In some example embodiments, the first laser transceiver module 101 is configured to emit a first laser, the first laser is transmitted to one of the first rotating mirror 102 and the second rotating mirror 104; one of the first rotating mirror 102 and the second rotating mirror 104 is configured to reflect the first laser to obtain a first reflected laser; the first reflected laser is transmitted to the first object to be measured through the transmission cover 503 and is reflected by the first object to be measured to obtain a second reflected laser, the second reflected laser is transmitted to one of the first rotating mirror 102 and the second rotating mirror 104 through the transmission cover 503; one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the second reflected laser to obtain a third reflected laser, the third reflected laser is transmitted to the first laser transceiver module 101; the first laser transceiver module 101 is further configured to receive the third reflected laser and convert the third reflected laser into first measurement data; the second laser transceiver module 103 is configured to emit a second laser, the second laser is transmitted to the other one of the first rotating mirror 102 and the second rotating mirror 104; the other one of the first rotating mirror 102 and the second rotating mirror 104 is configured to reflect the second laser to obtain a fourth reflected laser; the fourth reflected laser is transmitted to the second object to be measured through the transmission cover 503 and is reflected by the second object to be measured to obtain a fifth reflected laser, the fifth reflected laser is transmitted to the other one of the first rotating mirror 102 and the second rotating mirror 104; the other one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the fifth reflected laser to obtain a sixth reflected laser, the sixth reflected laser is transmitted to the second laser transceiver module 103 through the transmission cover 503; the second laser transceiver module 103 is further configured to receive the sixth reflected laser and convert the sixth reflected laser into second measurement data; the motor 106 is configured to control the rotation of the first rotating mirror 102 and the second rotating mirror 104, and the relative positions between the motor rotor 106-2, the first rotating mirror 102 and the second rotating mirror 104 remain unchanged during the rotation; the distance measuring circuit board 109 is configured to receive the first measurement data and the second measurement data; the core circuit board 110 is configured to control the operation of the distance measuring circuit board 109; the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 are parallel to each other, or the included angle between the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 is less than or equal to a preset threshold.

[0007] In some example embodiments, the motor rotor assembly 200 further comprises: a motor code disc 108 fixedly connected with or integrally formed with the motor rotor 106-2; a motor read head circuit board 107 fixedly mounted on the base 509; and the motor stator 106-1 fixedly mounted on the motor read head circuit board 107.

[0008] In some example embodiments, the motor read head circuit board 107 is configured to measure angle information of rotation of the motor 106 in combination with the motor code disc 108, and transmit the angle information of rotation of the motor 106 to a ranging circuit board 109; and the ranging circuit board 109 is configured to incorporate the angle information of rotation of the motor 106 into the first measurement data and the second measurement data.

[0009] In some example embodiments, the first laser transceiver module 101 comprises: a first lens holder 1018; a first laser transmitter circuit board 1011, a first reflector 1013, a first transmitting lens 1014, a first receiving lens 1015, and a first laser receiver circuit board 1017 fixedly mounted on the first lens holder 1018; a first laser 1012 fixedly mounted on the first laser transmitter circuit board 1011; and a first laser receiver 1016 fixedly mounted on the first laser receiver circuit board 1017; and the second laser transceiver module 103 comprises: a second lens holder; a second laser transmitter circuit board 1031, a second reflector 1033, a second transmitting lens 1034, a second receiving lens 1035, and a second laser receiver circuit board 1037 fixedly mounted on the second lens holder; a second laser 1032 fixedly mounted on the second laser transmitter circuit board 1031; and a second laser receiver 1036 fixedly mounted on the second laser receiver circuit board 1037.

[0010] In some example embodiments, the first lens holder 1018 has a first screw via hole 1021, and the first lens holder 1018 is fixedly connected with the base 509 through the first screw via hole 1021; and the second lens holder has a second screw via hole, and the second lens holder is fixedly connected with the base 509 through the second screw via hole.

[0011] In some example embodiments, the first lens holder 1018 has a first spring adjustment mounting hole 1020, and the first laser transceiver module 101 further comprises: a first spring 5061 arranged in the first spring adjustment mounting hole 1020; and the second lens holder has a second spring adjustment mounting hole, and the second laser transceiver module 103 further comprises: a second spring 5062 arranged in the second spring adjustment mounting hole.

[0012] In some example embodiments, the first laser emission circuit board 1011 is configured to drive the first laser 1012 to emit third laser light; the first laser 1012 is configured to emit the third laser light; the first mirror 1013 is configured to reflect the third laser light emitted by the first laser 1012 to obtain seventh reflected laser light, and the seventh reflected laser light is transmitted to the first emission lens 1014; the first emission lens 1014 is configured to collimate the seventh reflected laser light to obtain the first laser light; the first receiving lens 1015 is configured to converge the third reflected laser light to obtain first converged laser light, and the first converged laser light is transmitted to the first laser receiver 1016; the first laser receiver 1016 is configured to convert the first converged laser light into a first electrical signal; the first laser receiving circuit board 1017 is configured to convert the first electrical signal into the first measurement data; the second laser emission circuit board 1031 is configured to drive the second laser 1032 to emit fourth laser light; the second laser 1032 is configured to emit the fourth laser light; the second mirror 1033 is configured to reflect the fourth laser light emitted by the second laser 1032 to obtain eighth reflected laser light, and the eighth reflected laser light is transmitted to the second emission lens 1034; the second emission lens 1034 is configured to collimate the eighth reflected laser light to obtain the second laser light; the second receiving lens 1035 is configured to converge the sixth reflected laser light to obtain second converged laser light, and the second converged laser light is transmitted to the second laser receiver 1036; the second laser receiver 1036 is configured to convert the second converged laser light into a second electrical signal; and the second laser receiving circuit board 1037 is configured to convert the second electrical signal into the second measurement data.

[0013] In some example embodiments, the apparatus further comprises an inner optical path assembly fixedly connected to the base 509; wherein the inner optical path assembly comprises an inner optical path mirror frame 504 fixedly connected to the base 509; and an inner optical path mirror 105 fixedly installed on the inner optical path mirror frame 504.

[0014] In some example embodiments, the inner optical path mirror 105 is configured to reflect the first reflected laser to obtain a ninth reflected laser; the inner optical path mirror 105 is further configured to reflect the ninth reflected laser to obtain a tenth reflected laser; one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser; the first laser transceiver module 101 is further configured to receive the eleventh reflected laser; or, the other one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser, and the eleventh reflected laser is converted into third measurement data, which is used for calibrating temperature drift; the second laser transceiver module 103 is further configured to receive the eleventh reflected laser, and the eleventh reflected laser is converted into third measurement data, which is used for calibrating temperature drift.

[0015] The laser radar provided by the embodiment of the present application adopts two laser transceiver modules and two rotating mirrors to realize scanning measurement, so that two laser transceiver modules can be used to perform two measurements when the two rotating mirrors rotate one circle, and the rotating mirror only needs 1 / 2 of the rotation speed at the expected scanning frequency, thereby improving the service life of the motor and reducing the noise; since the reflecting surfaces of the two rotating mirrors are parallel to each other or the included angle between the reflecting surfaces is less than or equal to a preset threshold, the scanning ranges of the two rotating mirrors have an overlapping area, and the scanning blind area is avoided through the overlapping area, and the angle range of scanning is expanded; through the reasonable layout of the two rotating mirrors and the two laser transceiver modules, the volume of the laser radar is reduced.

[0016] In some example embodiments, the addition of the mirror in the laser transceiver module lengthens the distance between the laser and the transmitting mirror, so that the focal length of the transmitting mirror can be longer, thereby effectively reducing the transmission of the laser spot to the measured object and improving the measurement accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The block diagram of the laser radar provided by an embodiment of the present application is shown in FIG. 1; Figure 2 The block diagram of the first laser transceiver module provided by an embodiment of the present application is shown in FIG. 2; Figure 3 The block diagram of the second laser transceiver module provided by an embodiment of the present application is shown in FIG. 3; Figure 4 The schematic diagram of the transmitting mirror provided by an embodiment of the present application is shown in FIG. 4; Figure 5 The perspective schematic diagram of the laser radar provided by another embodiment of the present application is shown in FIG. 5; Figure 6 The exploded schematic diagram of the laser radar provided by an embodiment of the present application is shown in FIG. 6. Figure 7 An internal schematic diagram of a laser radar provided for an embodiment of the present application; Figure 8 A structural schematic diagram of a motor rotor assembly provided for an embodiment of the present application; Figure 9 A cross-sectional schematic diagram of a first laser transceiver module provided for an embodiment of the present application; Figure 10 An exploded schematic diagram of a first laser transceiver module provided for an embodiment of the present application; Figure 11 Schematic diagrams of different views of a first lens holder provided for an embodiment of the present application; Figure 12 A structural schematic diagram of a base provided for an embodiment of the present application.

[0018] Among them, 101 is a first laser transceiver module, 102 is a first rotating mirror, 103 is a second laser transceiver module, 104 is a second rotating mirror, 105 is an internal optical path mirror, 106 is a motor, 106-1 is a motor stator, 106-2 is a motor rotor, 107 is a motor reader circuit board, 108 is a motor code disc, 109 is a ranging circuit board, 110 is a core circuit board, and 111 is a power supply; 1011 is a first laser transmitting circuit board, 1012 is a first laser, 1013 is a first mirror, 1014 is a first transmitting lens, 1015 is a first receiving lens, 1016 is a first laser receiver, 1017 is a first laser receiving circuit board, 1018 is a first lens holder, 1019 is a first rotating shaft adjusting hole, 1020 is a first spring adjusting mounting hole, 1021 is a first screw via hole, 1022 is a first laser receiving circuit board mounting position, 1023 is a first mirror mounting position, 1024 is a first laser transmitting circuit board mounting position, 1025 is a first transmitting lens mounting position, and 1026 is a first receiving lens mounting position; 1031 is a second laser transmitting circuit board, 1032 is a second laser, 1033 is a second mirror, 1034 is a second transmitting lens, 1035 is a second receiving lens, 1036 is a second laser receiver, and 1037 is a second laser receiving circuit board; 501 is a shell, 502 is a bottom cover, 503 is a transmission cover, 504 is an inner optical path mirror frame, 505 is a first transceiver baffle, 5061 is a first spring, 5062 is a second spring, 200 is a motor rotor assembly, 507 is a fifth screw via hole, 508 is a first adjustment rotating shaft, 509 is a base, 510 is a third screw via hole, 511 is a first screw, 512 is a seventh screw, 513 is a fifth screw, 514 is an eighth screw, 515 is a tenth screw via hole, 516 is a third threaded hole, 517 is a second threaded hole, 518 is a fourth screw, 519 is a third screw, 520 is a second screw, 521 is a fourth screw via hole, 522 is an interface; 201 is a second transceiver baffle, 202 is a ninth screw via hole, 203 is a ninth screw, 204 is a first mirror mounting position, 205 is a motor mounting hole, 206 is an optical reading head, 207 is a motor via hole; 5091 is a motor mounting hole, 5092 is a sixth screw via hole, 5093 is a first laser transceiver module mounting position, 5094 is a second laser transceiver module mounting position, 5095 is a fifth threaded hole, 5096 is a sixth threaded hole, 5097 is a seventh threaded hole, 5098 is an eighth threaded hole, 5099 is an eleventh screw via hole, 50910 is a twelfth threaded hole. DETAILED DESCRIPTION

[0019] In order for those skilled in the art to better understand the technical solutions of the present application, the laser radar provided by the present application is described in detail below in combination with the drawings.

[0020] In the following, example embodiments will be described more fully with reference to the accompanying drawings, in which example embodiments can be embodied in different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0021] The embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] As used herein, the term "and / or" includes any and all combinations of at least one of the associated listed items.

[0023] The terms used herein are only used to describe specific embodiments and are not intended to limit the present application. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "comprise" and / or "consist of", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0024] The embodiments described herein can be described with reference to plan views and / or cross-sectional views by virtue of the idealized illustrative representations of the embodiments of the present application. Accordingly, the example illustrations are intended to be illustrative only and are not meant to limit the application as described within. Thus, the embodiments are to be understood not to be limited to the illustrated embodiments but rather to include any and all configurations based on the manufacturing process and / or tolerance considerations as would be experienced by those having ordinary skill in the art. Accordingly, the illustrated examples are not meant to limit the embodiments but rather to illustrate the configurations of the embodiments. Thus, the shapes of the regions illustrated in the figures are illustrative and the shapes are not intended to be limiting, but rather the shapes are presented to illustrate the relative location of the elements only. The embodiments are to be understood not to be limited to the illustrated embodiments but rather to include any and all configurations based on the manufacturing process and / or tolerance considerations as would be experienced by those having ordinary skill in the art.

[0025] In the description of the embodiments, unless otherwise clearly specified and limited, the terms "set", "connected", and so on, are to be broadly understood. For example, they can be fixedly connected, or removably connected, or integrally connected; they can be mechanically connected, or electrically connected; they can be directly connected, or connected through intervening media, or be the communication between two elements inside. For those skilled in the art, the above terms can be understood according to the specific circumstances.

[0026] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0027] Figure 1 The composition block diagram of the laser radar provided for an embodiment of the present application is shown in the figure, in which the solid line represents mechanical connection or light path, and the thick solid line represents electrical connection.

[0028] In a first aspect, with reference to Figure 1In an embodiment of the present application, an optical system is provided, comprising: a first laser transceiver module 101 configured to emit a first laser, the first laser being transmitted to one of a first rotating mirror 102 and a second rotating mirror 104; the one of the first rotating mirror 102 and the second rotating mirror 104 being configured to reflect the first laser to obtain a first reflected laser; the first reflected laser being transmitted to a first object to be measured and reflected by the first object to be measured to obtain a second reflected laser, the second reflected laser being transmitted to the one of the first rotating mirror 102 and the second rotating mirror 104; the one of the first rotating mirror 102 and the second rotating mirror 104 being further configured to reflect the second reflected laser to obtain a third reflected laser, the third reflected laser being transmitted to the first laser transceiver module 101; the first laser transceiver module 101 being further configured to receive the third reflected laser; a second laser transceiver module 103 configured to emit a second laser, the second laser being transmitted to the other of the first rotating mirror 102 and the second rotating mirror 104; the other of the first rotating mirror 102 and the second rotating mirror 104 being configured to reflect the second laser to obtain a fourth reflected laser; the fourth reflected laser being transmitted to a second object to be measured and reflected by the second object to be measured to obtain a fifth reflected laser, the fifth reflected laser being transmitted to the other of the first rotating mirror 102 and the second rotating mirror 104; the other of the first rotating mirror 102 and the second rotating mirror 104 being further configured to reflect the fifth reflected laser to obtain a sixth reflected laser, the sixth reflected laser being transmitted to the second laser transceiver module 103; the second laser transceiver module 103 being further configured to receive the sixth reflected laser.

[0029] In some example embodiments, the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 are parallel to each other.

[0030] In some example embodiments, in order to allow the existence of errors, an included angle between the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 can be less than or equal to a preset threshold value.

[0031] The optical system provided by the embodiments of the present application uses two laser transceiver modules and two rotating mirrors to realize scanning measurement, so that two laser transceiver modules can be used to perform two measurements when the two rotating mirrors rotate one circle, the rotating mirror only needs 1 / 2 of the rotation speed at the expected scanning frequency, thereby improving the service life of the motor and reducing the noise; since the reflecting surfaces of the two rotating mirrors are parallel to each other or the included angle between the reflecting surfaces is less than or equal to a preset threshold value, the scanning ranges of the two rotating mirrors have an overlapping area, the scanning blind area is avoided through the overlapping area, and the angle range of scanning is expanded; through the reasonable layout of the two rotating mirrors and the two laser transceiver modules, the volume of the laser radar is reduced.

[0032] In some example embodiments, the first object to be measured and the second object to be measured can be the same object or different objects.

[0033] In some example embodiments, as shown in Figure 2 The first laser transceiver module 101 specifically includes a first reflector 1013 configured to reflect third laser emitted by the first laser 1012 to obtain seventh reflected laser, and the seventh reflected laser is transmitted to a first emission lens 1014; the first emission lens 1014 is configured to collimate the seventh reflected laser to obtain the first laser; and a first receiving lens 1015 is configured to converge the third reflected laser to obtain first convergent laser, and the first convergent laser is transmitted to a first laser receiver 1016.

[0034] Correspondingly, as shown in Figure 3 The second laser transceiver module 103 specifically includes a second reflector 1033 configured to reflect fourth laser emitted by the second laser 1032 to obtain eighth reflected laser, and the eighth reflected laser is transmitted to a second emission lens 1034; the second emission lens 1034 is configured to collimate the eighth reflected laser to obtain the second laser; and a second receiving lens 1035 is configured to converge the sixth reflected laser to obtain second convergent laser, and the second convergent laser is transmitted to a second laser receiver 1036.

[0035] In the above example embodiments, the reflector in the laser transceiver module lengthens the distance between the laser and the emission lens, so that the focal length of the emission lens can be longer, thereby effectively reducing the laser spot transmitted to the object to be measured and improving the measurement accuracy.

[0036] The type of the first laser 1012 and the wavelength range of the third laser emitted by the first laser 1012 are not limited in the example embodiments, and can be determined according to specific application scenarios, which are not used to limit the protection scope of the example embodiments. Correspondingly, the type of the second laser 1032 and the wavelength range of the fourth laser emitted by the second laser 1032 are not limited in the example embodiments, and can be determined according to specific application scenarios, which are not used to limit the protection scope of the example embodiments.

[0037] The type of the first reflector 1013 is not limited in the example embodiments, as long as it can meet the reflection requirement, and the specific type of the first reflector 1013 is not used to limit the protection scope of the example embodiments. Correspondingly, the type of the second reflector 1033 is not limited in the example embodiments, as long as it can meet the reflection requirement, and the specific type of the second reflector 1033 is not used to limit the protection scope of the example embodiments.

[0038] In some example embodiments, the angle between the emission direction of the third laser and the reflecting surface of the first mirror 1013 is 45°. In other example embodiments, in order to allow the existence of errors, the angle between the emission direction of the third laser and the reflecting surface of the first mirror 1013 can be set such that the absolute value of the difference between the angle and 45° is less than or equal to a preset threshold value.

[0039] In some example embodiments, the angle between the emission direction of the fourth laser and the reflecting surface of the second mirror 1033 is 45°. In other example embodiments, in order to allow the existence of errors, the angle between the emission direction of the fourth laser and the reflecting surface of the second mirror 1033 can be set such that the absolute value of the difference between the angle and 45° is less than or equal to a preset threshold value.

[0040] In some example embodiments, the optical axis of the first emission lens 1014 and the optical axis of the first receiving lens 1015 are parallel. In other example embodiments, in order to allow the existence of errors, the angle between the optical axis of the first emission lens 1014 and the optical axis of the first receiving lens 1015 can be set to be less than or equal to a preset threshold value.

[0041] In some example embodiments, the optical axis of the second emission lens 1034 and the optical axis of the second receiving lens 1035 are parallel. In other example embodiments, in order to allow the existence of errors, the angle between the optical axis of the second emission lens 1034 and the optical axis of the second receiving lens 1035 can be set to be less than or equal to a preset threshold value.

[0042] In some example embodiments, the cross sections of the first emission lens 1014 and the first receiving lens 1015 are both circular.

[0043] In some example embodiments, on the basis that the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are circular, the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, that is, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold. When the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are circular, the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015 is at least greater than the sum of the cross-sectional radius of the first transmitting lens 1014 and the cross-sectional radius of the first receiving lens 1015, which is relatively far, so that the spot of the first convergent laser is affected by the paraxial to produce a shift. In order to reduce the shift amount of the spot of the first convergent laser, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 can be set as the shapes shown in FIG. 10, that is, the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, that is, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold, thereby reducing the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015. Figure 4

[0044] In some example embodiments, the cross sections of the second transmitting lens 1034 and the second receiving lens 1035 are circular.

[0045] ​In some example embodiments, the lower edge of the second transmitting mirror 1034 is cut straight, and the upper edge of the second receiving mirror 1035 is cut straight, i.e., the cross sections of the second transmitting mirror 1034 and the second receiving mirror 1035 are both cut-edge circular, so that the lower edge of the second transmitting mirror 1034 and the upper edge of the second receiving mirror 1035 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the second transmitting mirror 1034 and the upper edge of the second receiving mirror 1035 is less than or equal to a preset threshold. When the cross sections of the second transmitting mirror 1034 and the second receiving mirror 1035 are both circular, the distance between the optical axis of the second transmitting mirror 1034 and the optical axis of the second receiving mirror 1035 is at least greater than the sum of the cross-sectional radii of the second transmitting mirror 1034 and the second receiving mirror 1035, which is relatively far, so that the spot of the second converging laser is affected by the off-axis and deviated. In order to reduce the deviation of the spot of the second converging laser, the cross sections of the second transmitting mirror 1034 and the second receiving mirror 1035 can be shaped as shown in Figure 4 , i.e., the lower edge of the second transmitting mirror 1034 is cut straight, and the upper edge of the second receiving mirror 1035 is cut straight, i.e., the cross sections of the second transmitting mirror 1034 and the second receiving mirror 1035 are both cut-edge circular, so that the lower edge of the second transmitting mirror 1034 and the upper edge of the second receiving mirror 1035 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the second transmitting mirror 1034 and the upper edge of the second receiving mirror 1035 is less than or equal to a preset threshold, thereby reducing the distance between the optical axis of the second transmitting mirror 1034 and the optical axis of the second receiving mirror 1035.

[0046] In some example embodiments, the first rotating mirror 102 and the second rotating mirror 104 can be a double-sided mirror. In other example embodiments, the first rotating mirror 102 and the second rotating mirror 104 can also be two separate mirrors.

[0047] In some example embodiments, the reflecting film of the first rotating mirror 102 and the second rotating mirror 104 can be a metal film, and the reflectivity of the metal film does not fluctuate with the change of the scanning angle during the scanning measurement, so as not to affect the scanning measurement result. The metal film can be, for example, a gold film, a silver film, an aluminum film, a copper film, etc.

[0048] In some example embodiments, as shown in Figure 1 , the first rotating mirror 102 and the second rotating mirror 104 can both rotate around the rotation axis.

[0049] In some example embodiments, as shown in Figure 1As shown, the first rotating mirror 102 and the second rotating mirror 104 can rotate 360° around the rotation axis.

[0050] The type of the first rotating mirror 102 is not limited in the embodiments of the present application, as long as the reflection requirement can be met, and the specific type of the first rotating mirror 102 is not used to limit the protection scope of the embodiments of the present application. Correspondingly, the type of the second rotating mirror 104 is not limited in the embodiments of the present application, as long as the reflection requirement can be met, and the specific type of the second rotating mirror 104 is not used to limit the protection scope of the embodiments of the present application.

[0051] In some example embodiments, the angle between the emission direction of the first laser and the symmetry axis of the lidar is 45°. Correspondingly, the angle between the emission direction of the second laser and the symmetry axis of the lidar is 45°.

[0052] In some example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the first laser and the symmetry axis of the lidar and 45° can be less than or equal to a preset threshold. Correspondingly, the absolute value of the difference between the angle between the emission direction of the second laser and the symmetry axis of the lidar and 45° can be less than or equal to a preset threshold.

[0053] In some example embodiments, the angle between the emission direction of the first laser and the emission direction of the second laser is 90°. In some example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the first laser and the emission direction of the second laser and 90° can be less than or equal to a preset threshold.

[0054] In some example embodiments, the reflection surfaces of the first rotating mirror 102 and the second rotating mirror 104 are arranged oppositely. That is, the surface of the first rotating mirror 102 and the second rotating mirror 104 arranged oppositely is a non-reflection surface, and the surface arranged oppositely is a reflection surface.

[0055] In some example embodiments, one of the first rotating mirror 102 and the second rotating mirror 104 includes a first emission part and a first receiving part; the first emission part is used to reflect the first laser to obtain the first reflected laser; and the first receiving part is used to reflect the second reflected laser to obtain the third reflected laser. Correspondingly, the other of the first rotating mirror 102 and the second rotating mirror 104 includes a second emission part and a second receiving part; the second emission part is used to reflect the second laser to obtain the fourth reflected laser; and the second receiving part is used to reflect the fifth reflected laser to obtain the sixth reflected laser.

[0056] In some exemplary embodiments, the rotation axes of the first rotating mirror 102 and the second rotating mirror 104 are parallel to the reflecting surface, or in order to allow for the existence of errors, the angle between the rotation axes of the first rotating mirror 102 and the second rotating mirror 104 and the reflecting surface may be set to be less than or equal to a preset threshold.

[0057] In some exemplary embodiments, such as Figure 1 As shown, it also includes: an inner optical path reflector 105, used to reflect the first reflected laser to obtain a ninth reflected laser; the inner optical path reflector 105 is also used to reflect the ninth reflected laser to obtain a tenth reflected laser; one of the first rotating reflector 102 and the second rotating reflector 104 is also used to reflect the tenth reflected laser to obtain an eleventh reflected laser; the first laser transceiver module 101 is also used to receive the eleventh reflected laser.

[0058] In some exemplary embodiments, such as Figure 1 As shown, it also includes: an inner optical path reflector 105, used to reflect the first reflected laser to obtain a ninth reflected laser; the inner optical path reflector 105 is also used to reflect the ninth reflected laser to obtain a tenth reflected laser; the other of the first rotating reflector 102 and the second rotating reflector 104 is also used to reflect the tenth reflected laser to obtain an eleventh reflected laser; the second laser transceiver module 103 is also used to receive the eleventh reflected laser.

[0059] In some exemplary embodiments, such as Figure 1 As shown, the internal optical path reflector 105 includes a third emitting part and a third receiving part; the third emitting part is used to reflect the first reflected laser to obtain a ninth reflected laser; the third receiving part is used to reflect the ninth reflected laser to obtain a tenth reflected laser.

[0060] Secondly, referring to Figure 1In another embodiment of the present application, a laser radar is provided, which comprises: a first laser transceiver module 101 configured to emit a first laser, the first laser being transmitted to one of a first rotating mirror 102 and a second rotating mirror 104; the one of the first rotating mirror 102 and the second rotating mirror 104 is configured to reflect the first laser to obtain a first reflected laser; the first reflected laser is transmitted to a first object to be measured and reflected by the first object to be measured to obtain a second reflected laser, the second reflected laser being transmitted to the one of the first rotating mirror 102 and the second rotating mirror 104; the one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the second reflected laser to obtain a third reflected laser, the third reflected laser being transmitted to the first laser transceiver module 101; the first laser transceiver module 101 is further configured to receive the third reflected laser and convert the third reflected laser into first measurement data; a second laser transceiver module 103 is configured to emit a second laser, the second laser being transmitted to the other of the first rotating mirror 102 and the second rotating mirror 104; the other of the first rotating mirror 102 and the second rotating mirror 104 is configured to reflect the second laser to obtain a fourth reflected laser; the fourth reflected laser is transmitted to a second object to be measured and reflected by the second object to be measured to obtain a fifth reflected laser, the fifth reflected laser being transmitted to the other of the first rotating mirror 102 and the second rotating mirror 104; the other of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the fifth reflected laser to obtain a sixth reflected laser, the sixth reflected laser being transmitted to the second laser transceiver module 103; the second laser transceiver module 103 is further configured to receive the sixth reflected laser and convert the sixth reflected laser into second measurement data; a motor 106 is configured to control rotation of the first rotating mirror 102 and the second rotating mirror 104, and the relative positions between a rotor 106-2 of the motor 106, the first rotating mirror 102 and the second rotating mirror 104 remain unchanged during the rotation; a ranging circuit board 109 is configured to receive the first measurement data and the second measurement data; and a core circuit board 110 is configured to control operation of the ranging circuit board 109.

[0061] In some example embodiments, the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 are parallel to each other.

[0062] In some example embodiments, in order to allow the existence of errors, an included angle between the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 can be less than or equal to a preset threshold value.

[0063] The laser radar provided by the embodiments of the present application adopts two laser transceiving modules and two rotating mirrors to realize scanning measurement, so that two rotations of the two rotating mirrors can be measured twice by using the two laser transceiving modules, the rotating mirror only needs 1 / 2 of the rotation speed at the expected scanning frequency, thereby the service life of the motor is improved and the noise is reduced; since the reflecting surfaces of the two rotating mirrors are parallel to each other or the included angle between the reflecting surfaces is less than or equal to a preset threshold, the scanning ranges of the two rotating mirrors have an overlapping area, the scanning blind area is avoided through the overlapping area, and the angle range of scanning is expanded at the same time; through the reasonable layout of the two rotating mirrors and the two laser transceiving modules, the volume of the laser radar is reduced.

[0064] In some example embodiments, the first object to be measured and the second object to be measured can be the same object or different objects.

[0065] In some example embodiments, as shown in Figure 2 The first laser transceiving module 101 specifically includes: a first laser emission circuit board 1011, configured to drive the first laser 1012 to emit third laser; the first laser 1012, configured to emit the third laser; a first mirror 1013, configured to reflect the third laser emitted by the first laser 1012 to obtain seventh reflected laser, and the seventh reflected laser is transmitted to a first emission lens 1014; the first emission lens 1014, configured to collimate the seventh reflected laser to obtain the first laser; a first receiving lens 1015, configured to converge the third reflected laser to obtain first converged laser, and the first converged laser is transmitted to a first laser receiver 1016; the first laser receiver 1016, configured to convert the first converged laser into a first electric signal; and a first laser receiving circuit board 1017, configured to convert the first electric signal into first measurement data.

[0066] Correspondingly, as shown in Figure 3 The second laser transceiving module 103 specifically includes: a second laser emission circuit board 1031, configured to drive the second laser 1032 to emit fourth laser; the second laser 1032, configured to emit the fourth laser; a second mirror 1033, configured to reflect the fourth laser emitted by the second laser 1032 to obtain eighth reflected laser, and the eighth reflected laser is transmitted to a second emission lens 1034; the second emission lens 1034, configured to collimate the eighth reflected laser to obtain the second laser; a second receiving lens 1035, configured to converge the sixth reflected laser to obtain second converged laser, and the second converged laser is transmitted to a second laser receiver 1036; the second laser receiver 1036, configured to convert the second converged laser into a second electric signal; and a second laser receiving circuit board 1037, configured to convert the second electric signal into second measurement data.

[0067] In the above example embodiment, the mirror is added in the laser transceiver module to lengthen the distance between the laser and the transmitting mirror, so that the focal length of the transmitting mirror can be longer, thereby effectively reducing the laser spot transmitted to the object to be measured and improving the measurement accuracy.

[0068] The type of the first laser 1012 and the wavelength range of the third laser emitted by the first laser 1012 are not limited in the embodiments of the present application, and can be determined according to specific application scenarios, which are not used to limit the protection scope of the embodiments of the present application. Correspondingly, the type of the second laser 1032 and the wavelength range of the fourth laser emitted by the second laser 1032 are not limited in the embodiments of the present application, and can be determined according to specific application scenarios, which are not used to limit the protection scope of the embodiments of the present application.

[0069] The type of the first mirror 1013 is not limited in the embodiments of the present application, as long as it can meet the reflection requirement, and the specific type of the first mirror 1013 is not used to limit the protection scope of the embodiments of the present application. Correspondingly, the type of the second mirror 1033 is not limited in the embodiments of the present application, as long as it can meet the reflection requirement, and the specific type of the second mirror 1033 is not used to limit the protection scope of the embodiments of the present application.

[0070] In some example embodiments, the angle between the emission direction of the third laser and the reflecting surface of the first mirror 1013 is 45°. In other example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the third laser and the reflecting surface of the first mirror 1013 and 45° can be less than or equal to a preset threshold.

[0071] In some example embodiments, the angle between the emission direction of the fourth laser and the reflecting surface of the second mirror 1033 is 45°. In other example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the fourth laser and the reflecting surface of the second mirror 1033 and 45° can be less than or equal to a preset threshold.

[0072] In some example embodiments, the optical axis of the first transmitting mirror 1014 and the optical axis of the first receiving mirror 1015 are parallel. In other example embodiments, in order to allow the existence of errors, the angle between the optical axis of the first transmitting mirror 1014 and the optical axis of the first receiving mirror 1015 can be less than or equal to a preset threshold.

[0073] In some example embodiments, the optical axis of the second transmitting lens 1034 and the optical axis of the second receiving lens 1035 are parallel. In other example embodiments, in order to allow the existence of errors, the included angle between the optical axis of the second transmitting lens 1034 and the optical axis of the second receiving lens 1035 can be less than or equal to a preset threshold value.

[0074] In some example embodiments, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are both circular.

[0075] In some example embodiments, on the basis that the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are both circular, the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, i.e. the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are both cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold value. When the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are both circular, the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015 is at least greater than the sum of the cross-sectional radii of the first transmitting lens 1014 and the first receiving lens 1015, which is relatively far, so that the spot of the first converging laser is affected by the paraxial to produce a shift. In order to reduce the shift amount of the spot of the first converging laser, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 can be set as shown in the shape, i.e. the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, i.e. the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are both cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold value, thereby reducing the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015. Figure 4

[0076] In some example embodiments, the cross sections of the second transmitting lens 1034 and the second receiving lens 1035 are both circular.

[0077] ​In some example embodiments, as shown in FIG. 10, the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both circular, and the lower edge of the second transmitting lens 1034 is cut straight, and the upper edge of the second receiving lens 1035 is cut straight, i.e., the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both cut-edge circular, so that the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 is less than or equal to a preset threshold. When the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both circular, the distance between the optical axis of the second transmitting lens 1034 and the optical axis of the second receiving lens 1035 is at least greater than the sum of the cross-sectional radius of the second transmitting lens 1034 and the cross-sectional radius of the second receiving lens 1035, which is relatively far, so that the spot of the second converging laser is affected by the paraxial and produces a shift. In order to reduce the shift amount of the spot of the second converging laser, the cross section of the second transmitting lens 1034 and the second receiving lens 1035 can be set as shown in FIG. 10, i.e., the lower edge of the second transmitting lens 1034 is cut straight, and the upper edge of the second receiving lens 1035 is cut straight, i.e., the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both cut-edge circular, so that the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 is less than or equal to a preset threshold, thereby reducing the distance between the optical axis of the second transmitting lens 1034 and the optical axis of the second receiving lens 1035. Figure 4

[0078] In some example embodiments, the first rotating mirror 102 and the second rotating mirror 104 can be a double-sided mirror. In other example embodiments, the first rotating mirror 102 and the second rotating mirror 104 can also be two separate mirrors.

[0079] In some example embodiments, as shown in FIG. 9, the first rotating mirror 102 and the second rotating mirror 104 can both rotate around the rotation axis. Figure 1

[0080] In some example embodiments, as shown in FIG. 11, the first rotating mirror 102 and the second rotating mirror 104 can both rotate 360° around the rotation axis. Figure 1

[0081] ​​​The embodiments of the present application do not limit the type of the first rotating mirror 102 as long as the reflection requirement is met, and the specific type of the first rotating mirror 102 is not used to limit the protection scope of the embodiments of the present application. Correspondingly, the embodiments of the present application do not limit the type of the second rotating mirror 104 as long as the reflection requirement is met, and the specific type of the second rotating mirror 104 is not used to limit the protection scope of the embodiments of the present application.

[0082] In some example embodiments, the angle between the emission direction of the first laser and the symmetry axis of the lidar is 45°. Correspondingly, the angle between the emission direction of the second laser and the symmetry axis of the lidar is 45°.

[0083] In some example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the first laser and the symmetry axis of the lidar and 45° can be less than or equal to a preset threshold. Correspondingly, the absolute value of the difference between the angle between the emission direction of the second laser and the symmetry axis of the lidar and 45° can be less than or equal to a preset threshold.

[0084] In some example embodiments, the angle between the emission direction of the first laser and the emission direction of the second laser is 90°. In some example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the first laser and the emission direction of the second laser and 90° can be less than or equal to a preset threshold.

[0085] In some example embodiments, the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 are arranged oppositely. That is, the surface of the first rotating mirror 102 and the second rotating mirror 104 arranged oppositely is a non-reflecting surface, and the surface arranged oppositely is a reflecting surface.

[0086] In some example embodiments, one of the first rotating mirror 102 and the second rotating mirror 104 includes a first emission part and a first receiving part; the first emission part is used to reflect the first laser to obtain the first reflected laser; and the first receiving part is used to reflect the second reflected laser to obtain the third reflected laser. Correspondingly, the other of the first rotating mirror 102 and the second rotating mirror 104 includes a second emission part and a second receiving part; the second emission part is used to reflect the second laser to obtain the fourth reflected laser; and the second receiving part is used to reflect the fifth reflected laser to obtain the sixth reflected laser.

[0087] In some example embodiments, the first measurement data can include measured distance information.

[0088] In some example embodiments, the second measurement data can include measured distance information.

[0089] In some example embodiments, the distance measuring device further comprises: a motor code disc 108; and a motor reading head circuit board 107, configured to measure the angle information of the rotation of the motor 106 in combination with the motor code disc 108, and send the angle information of the rotation of the motor 106 to the distance measuring circuit board 109.

[0090] The distance measuring circuit board 109 is further configured to incorporate the angle information of the rotation of the motor 106 into the first measurement data and the second measurement data.

[0091] In some example embodiments, the distance measuring device further comprises: an inner optical path mirror 105, configured to reflect the first reflected laser to obtain a ninth reflected laser; the inner optical path mirror 105 is further configured to reflect the ninth reflected laser to obtain a tenth reflected laser; one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser; the first laser transceiver module 101 is further configured to receive the eleventh reflected laser; or, the other of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser, and convert the eleventh reflected laser into third measurement data, the third measurement data being used to calibrate the temperature drift; the second laser transceiver module 103 is further configured to receive the eleventh reflected laser, and convert the eleventh reflected laser into third measurement data, the third measurement data being used to calibrate the temperature drift.

[0092] In some example embodiments, as shown in FIG. 1, the inner optical path mirror 105 comprises a third transmitting part and a third receiving part; the third transmitting part is configured to reflect the first reflected laser to obtain a ninth reflected laser; and the third receiving part is configured to reflect the ninth reflected laser to obtain a tenth reflected laser. Figure 1

[0093] In some example embodiments, when the third measurement data is used to calibrate the temperature drift, at least one third measurement data can be obtained simultaneously in one measurement period, the difference between the distance information measured at the current temperature and the actual distance information is obtained through the third measurement data, and then the first measurement data and the second measurement data are calibrated based on the difference.

[0094] ​In some example embodiments, the temperature drift refers to the change value of the true value of the distance information measured by the laser radar relative to the change of temperature. This is because the circuit delay of the laser radar has sensitivity to temperature, and the amount of drift of the circuit delay to temperature is not linearly changed with the change of temperature, thereby affecting the time difference between the first laser 1012 and the second laser 1032 from triggering laser emission to the real emission of laser, and the time for the first laser receiver 1016 and the second laser receiver 1036 to convert the received optical signal into an electrical signal, and the processing time of the first laser receiving circuit board 1017 and the second laser receiving circuit board 1037.

[0095] In some example embodiments, the actual distance information can be calculated according to the relative positional relationship between the inner optical path mirror 105 and the first rotating mirror 102. In other example embodiments, the actual distance information can also be calculated according to the relative positional relationship between the inner optical path mirror 105 and the second rotating mirror 102.

[0096] In some example embodiments, when the first measurement data is calibrated based on the difference value, the distance information corresponding to the first measurement data can be subtracted by the difference value to obtain the calibrated distance information corresponding to the first measurement data.

[0097] In some example embodiments, when the second measurement data is calibrated based on the difference value, the distance information corresponding to the second measurement data can be subtracted by the difference value to obtain the calibrated distance information corresponding to the second measurement data.

[0098] In some example embodiments, the power supply 111 is further included for supplying power to the core circuit board 110.

[0099] In some example embodiments, the core circuit board 110 has an interface, and the core circuit board 110 is electrically connected to the power supply 111 through the interface.

[0100] In some example embodiments, the interface can be a type-C interface, or any other interface that can electrically connect the core circuit board 110 and the power supply 111, and the present application does not limit the interface.

[0101] Figure 5 A perspective view of the laser radar is provided for another embodiment of the present application; Figure 6 An exploded view of the laser radar is provided for an embodiment of the present application.

[0102] In a third aspect, referring to Figure 5 and Figure 6In another embodiment of the present application, a laser radar is provided, comprising: a shell 501; a bottom cover 502 fixedly connected with the shell 501; a transmissive cover 503 fixedly installed on the shell 501, the transmissive cover 503 being capable of transmitting laser; and a containing space formed by the shell 501, the bottom cover 502 and the transmissive cover 503, wherein the containing space is provided with: a base 509 fixedly connected with the bottom cover 502; a core circuit board 110, a motor rotor assembly 200, a first laser transceiver module 101, a second laser transceiver module 103, a first transceiver baffle 505 and a ranging circuit board 109 fixedly connected with the base 509. Figure 5

[0103] The laser radar provided by the embodiment of the present application adopts two laser transceiver modules and two rotating mirrors to realize scanning measurement, so that two rotating mirrors can be measured twice by using two laser transceiver modules in one rotation, and the rotating mirror only needs 1 / 2 of the rotation speed at the expected scanning frequency, thereby improving the service life of the motor and reducing the noise; since the reflecting surfaces of the two rotating mirrors are parallel to each other or the included angle between the reflecting surfaces is less than or equal to a preset threshold, the scanning ranges of the two rotating mirrors have an overlapping area, and the scanning blind area is avoided through the overlapping area, and the angle range of scanning is expanded; through the reasonable layout of the two rotating mirrors and the two laser transceiver modules, the volume of the laser radar is reduced.

[0104] In some example embodiments, the shell 501 and the bottom cover 502 can be fixedly connected by using a fixed connection method commonly used by those skilled in the art. For example, as shown in FIG. 5, the shell 501 has a third screw through hole 510, and the bottom cover 502 has a first threaded hole (not labeled in the figure), and the shell 501 and the bottom cover 502 can be fixedly connected by using a first screw 511 through the third screw through hole 510 and the first threaded hole. Figure 6

[0105] In some example embodiments, the transmissive cover 503 can be fixedly installed on the shell 501 by using a fixed installation method commonly used by those skilled in the art. For example, the transmissive cover 503 can be fixedly installed on the shell 501 by using a dispensing fixing method.

[0106] In some example embodiments, the bottom cover 502 and the base 509 can be fixedly connected by using a fixed connection method commonly used by those skilled in the art. For example, as shown in FIG. 5, the bottom cover 502 has a fourth screw through hole 521, and the base 509 has a second threaded hole 517, and the bottom cover 502 and the base 509 can be fixedly connected by using a second screw 520 through the fourth screw through hole 521 and the second threaded hole 517. Figure 6

[0107] ​​​In some example embodiments, the base 509 and the core circuit board 110 can be fixedly connected by a fixing connection manner commonly used by those skilled in the art. For example, as shown in Figure 6 , the core circuit board 110 has a fifth screw through hole 507, and the base 509 has a third threaded hole 516. The base 509 and the core circuit board 110 can be fixedly connected by a third screw 519 through the fifth screw through hole 507 and the third threaded hole 516.

[0108] In some example embodiments, the motor rotor assembly 200 and the base 509 can be fixedly connected by a fixing connection manner commonly used by those skilled in the art. For example, as shown in Figure 12 , the base 509 has a motor mounting hole 5091, the base 509 has a sixth screw through hole 5092, and the motor rotor assembly 200 has a fourth threaded hole (not shown in the figure). The motor rotor assembly 200 can be fixedly connected to the motor mounting hole 5091 on the base 509 by a fourth screw 518 through the sixth screw through hole 5092 and the fourth threaded hole.

[0109] In some example embodiments, the first laser transceiver module 101 and the base 509 can be fixedly connected by a fixing connection manner commonly used by those skilled in the art. For example, as shown in Figure 12 , the base 509 has a first laser transceiver module mounting position 5093, the first laser transceiver module 101 has a first screw through hole 1021 (as shown in Figure 9 ), and the base 509 has a fifth threaded hole 5095. The first laser transceiver module 101 and the base 509 can be fixedly connected by a fifth screw 513 through the first screw through hole 1021 and the fifth threaded hole 5095.

[0110] In some example embodiments, the second laser transceiver module 103 and the base 509 can be fixedly connected by a fixing connection manner commonly used by those skilled in the art. For example, as shown in Figure 12 , the base 509 has a second laser transceiver module mounting position 5094, the second laser transceiver module 103 has a second screw through hole (not shown in the figure), and the base 509 has a sixth threaded hole 5096. The second laser transceiver module 103 and the base 509 can be fixedly connected by a sixth screw (not shown in the figure) through the second screw through hole and the sixth threaded hole 5096.

[0111] In some example embodiments, the first transceiver baffle 505 and the base 509 can be fixedly connected by a fixing connection manner commonly used by those skilled in the art. For example, as shown in Figure 12 , the base 509 has a seventh threaded hole 5097 and a twelfth threaded hole 50910, and the first transceiver baffle 505 has a first screw through hole 5051 (as shown in Figure 6As shown in the figure, the first transceiver baffle 505 has a seventh screw through hole (not labeled in the figure) and a twelfth screw through hole (not labeled in the figure), and the first transceiver baffle 505 and the base 509 can be fixedly connected by the seventh screw 512 through the seventh screw through hole, the twelfth screw through hole, the seventh threaded hole 5097 and the twelfth threaded hole.

[0112] In some example embodiments, the ranging circuit board 109 and the base 509 can be fixedly connected by a fixing connection manner commonly used by those skilled in the art. For example, as shown in the figure, Figure 6 As shown in the figure, the ranging circuit board 109 has an eighth screw through hole (not labeled in the figure), and as shown in the figure, Figure 12 As shown in the figure, the base 509 has an eighth threaded hole 5098, and the ranging circuit board 109 and the base 509 can be fixedly connected by the eighth screw 514 through the eighth screw through hole and the eighth threaded hole 5098.

[0113] In some example embodiments, the first object to be measured and the second object to be measured can be the same object or different objects.

[0114] In some example embodiments, as shown in the figure, Figure 8 As shown in the figure, the motor rotor assembly 200 includes: a motor 106, the motor 106 including a motor stator 106-1 and a motor rotor 106-2 installed on the motor stator 106-1; a first rotating mirror 102 and a second rotating mirror 104 fixedly installed on the motor rotor 106-2; a second transceiver baffle 201 sleeved outside the motor rotor 106-2 and fixedly connected with the motor rotor 106-2, the second transceiver baffle 201 dividing one of the first rotating mirror 102 and the second rotating mirror 104 into a first transmitting part and a first receiving part, and dividing the other of the first rotating mirror 102 and the second rotating mirror 104 into a second transmitting part and a second receiving part.

[0115] The embodiments of the present application do not limit the specific type of the motor 106, and the specific motor type does not limit the protection scope of the embodiments of the present application.

[0116] In some example embodiments, as shown in the figure, Figure 8 As shown in the figure, the motor rotor 106-2 has a motor mounting hole 205, and the motor rotor 106-2 is installed on the motor stator 106-1 through the motor mounting hole 205.

[0117] In some example embodiments, the motor rotor 106-2 can be installed on the motor mounting hole 205 by a commonly used installation manner in the art. For example, the motor rotor 106-2 can be installed on the motor mounting hole 205 by a point gluing fixing manner.

[0118] In some potential value embodiments, as shown in FIG. 2, the motor rotor 106-2 has a first mirror mounting position 204 and a second mirror mounting position (not shown in the figure, located on the back of the first mirror mounting position 204), one of the first rotating mirror 102 and the second rotating mirror 104 is fixedly mounted on the first mirror mounting position 204, and the other of the first rotating mirror 102 and the second rotating mirror 104 is fixedly mounted on the second mirror mounting position. Figure 8

[0119] In some example embodiments, one of the first rotating mirror 102 and the second rotating mirror 104 can be fixedly mounted on the first mirror mounting position 204 by using a common fixing mounting method of those skilled in the art. For example, one of the first rotating mirror 102 and the second rotating mirror 104 can be fixedly mounted on the first mirror mounting position 204 by using a point fixing method.

[0120] In some example embodiments, the other of the first rotating mirror 102 and the second rotating mirror 104 can be fixedly mounted on the second mirror mounting position by using a common fixing mounting method of those skilled in the art. For example, the other of the first rotating mirror 102 and the second rotating mirror 104 can be fixedly mounted on the second mirror mounting position by using a point fixing method.

[0121] In some example embodiments, the second transceiving shutter 201 can be fixedly connected with the motor rotor 106-2 by using a common fixing connection method of those skilled in the art. For example, as shown in FIG. 3, the second transceiving shutter 201 has a ninth screw through hole 202, the motor rotor 106-2 has a ninth threaded hole (not shown in the figure), and the second transceiving shutter 201 can be fixedly connected with the motor rotor 106-2 by using a ninth screw 203 through the ninth screw through hole 202 and the ninth threaded hole. Figure 8

[0122] ​​In some example embodiments, the first laser transceiver module 101 is configured to emit a first laser, the first laser is transmitted to one of the first rotating mirror 102 and the second rotating mirror 104; one of the first rotating mirror 102 and the second rotating mirror 104 is configured to reflect the first laser to obtain a first reflected laser; the first reflected laser is transmitted to the first object to be measured through the transmission cover 503 and reflected by the first object to be measured to obtain a second reflected laser, the second reflected laser is transmitted to one of the first rotating mirror 102 and the second rotating mirror 104 through the transmission cover 503; one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the second reflected laser to obtain a third reflected laser, the third reflected laser is transmitted to the first laser transceiver module 101; the first laser transceiver module 101 is further configured to receive the third reflected laser and convert the third reflected laser into first measurement data; the second laser transceiver module 103 is configured to emit a second laser, the second laser is transmitted to the other one of the first rotating mirror 102 and the second rotating mirror 104; the other one of the first rotating mirror 102 and the second rotating mirror 104 is configured to reflect the second laser to obtain a fourth reflected laser; the fourth reflected laser is transmitted to the second object to be measured through the transmission cover 503 and reflected by the second object to be measured to obtain a fifth reflected laser, the fifth reflected laser is transmitted to the other one of the first rotating mirror 102 and the second rotating mirror 104; the other one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the fifth reflected laser to obtain a sixth reflected laser, the sixth reflected laser is transmitted to the second laser transceiver module 103 through the transmission cover 503; the second laser transceiver module 103 is further configured to receive the sixth reflected laser and convert the sixth reflected laser into second measurement data; the motor 106 is configured to control the rotation of the first rotating mirror 102 and the second rotating mirror 104, and the relative positions between the motor rotor 106-2, the first rotating mirror 102 and the second rotating mirror 104 remain unchanged during the rotation; the distance measuring circuit board 109 is configured to receive the first measurement data and the second measurement data; and the core circuit board 110 is configured to control the distance measuring circuit board 109 to work.

[0123] In some example embodiments, the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 are parallel to each other.

[0124] In some example embodiments, in order to allow the existence of errors, the included angle between the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 is less than or equal to a preset threshold.

[0125] In some exemplary embodiments, such as Figure 8 As shown, the motor rotor assembly 200 further includes: a motor encoder 108 fixedly connected to or integrally formed with the motor rotor 106-2; a motor read head circuit board 107 fixedly mounted on the base 509; and the motor stator 106-1 fixedly mounted on the motor read head circuit board 107.

[0126] In some exemplary embodiments, when the motor encoder 108 is fixedly connected to the motor rotor 106-2, the relative position between the motor encoder 108 and the motor rotor 106-2 remains unchanged during the rotation of the motor rotor 106-2.

[0127] In some exemplary embodiments, the motor reader circuit board 107 has a motor through hole 207, through which the motor 106 is fixedly connected to the base 509.

[0128] In some exemplary embodiments, the motor 106 and the base 509 can be fixedly connected using a method commonly used by those skilled in the art. For example, as... Figure 12 As shown, the base 509 has a motor mounting hole 5091 and a sixth screw through hole 5092. The motor 106 has a fourth threaded hole (not marked in the figure). The motor 106 can be fixedly connected to the motor mounting hole 5091 on the base 509 by the fourth screw 518 through the sixth screw through hole 5092 and the fourth threaded hole.

[0129] In some exemplary embodiments, the motor reading head circuit board 107 is used to combine with the motor encoder 108 to measure the angle information of the rotation of the motor 106, and send the angle information of the rotation of the motor 106 to the ranging circuit board 109; the ranging circuit board 109 is used to merge the angle information of the rotation of the motor 106 into the first measurement data and the second measurement data.

[0130] In some exemplary embodiments, such as Figure 8 As shown, the motor read head circuit board 107 has a photoelectric read head 206, which is used to measure the angle information of the rotation of the motor 106 in conjunction with the motor encoder 108.

[0131] In some exemplary embodiments, the photoelectric read head 206 can be fixedly mounted onto the motor read head circuit board 107 using a mounting method known to those skilled in the art. For example, the photoelectric read head 206 can be fixedly mounted onto the motor read head circuit board 107 using an adhesive dispensing method.

[0132] In some example embodiments, the motor read head circuit board 107 can be fixedly mounted on the base 509 in a manner known to those skilled in the art. For example, the motor read head circuit board 107 can be fixedly mounted on the base 509 by means of point fixing.

[0133] In some example embodiments, the first laser transceiver module 101 includes a first lens holder 1018, a first laser transmitter circuit board 1011, a first mirror 1013, a first transmitting lens 1014, a first receiving lens 1015, and a first laser receiver circuit board 1017 fixedly mounted on the first lens holder 1018, a first laser 1012 fixedly mounted on the first laser transmitter circuit board 1011, and a first laser receiver 1016 fixedly mounted on the first laser receiver circuit board 1017. The second laser transceiver module 103 includes a second lens holder, a second laser transmitter circuit board 1031, a second mirror 1033, a second transmitting lens 1034, a second receiving lens 1035, and a second laser receiver circuit board 1037 fixedly mounted on the second lens holder, a second laser 1032 fixedly mounted on the second laser transmitter circuit board 1031, and a second laser receiver 1036 fixedly mounted on the second laser receiver circuit board 1037.

[0134] In some example embodiments, as shown in Figure 6 As shown in Figure 9 and Figure 10 As shown in Figure 6 As shown in

[0135] As shown in Figure 12 As shown in Figure 6 As shown in

[0136] In some example embodiments, as shown in Figure 11As shown, the first lens holder 1018 has a first laser receiving circuit board mounting position 1022, and the first laser receiving circuit board 1017 is fixedly mounted on the first laser receiving circuit board mounting position 1022. Correspondingly, the second lens holder has a second laser receiving circuit board mounting position, and the second laser receiving circuit board 1037 is fixedly mounted on the second laser receiving circuit board mounting position.

[0137] In some example embodiments, the first laser receiving circuit board 1017 can be fixedly mounted on the first laser receiving circuit board mounting position 1022 by using a fixing and mounting method commonly used by those skilled in the art. For example, the first laser receiving circuit board 1017 can be fixedly mounted on the first laser receiving circuit board mounting position 1022 by using a dispensing fixing method. Correspondingly, the second laser receiving circuit board 1037 can be fixedly mounted on the second laser receiving circuit board mounting position by using a fixing and mounting method commonly used by those skilled in the art. For example, the second laser receiving circuit board 1037 can be fixedly mounted on the second laser receiving circuit board mounting position by using a dispensing fixing method.

[0138] In some example embodiments, as shown in Figure 11 As shown, the first lens holder 1018 has a first mirror mounting position 1023, and the first mirror 1013 is fixedly mounted on the first mirror mounting position 1023. Correspondingly, the second lens holder has a second mirror mounting position, and the second mirror 1033 is fixedly mounted on the second mirror mounting position.

[0139] In some example embodiments, the first mirror 1013 can be fixedly mounted on the first mirror mounting position 1023 by using a fixing and mounting method commonly used by those skilled in the art. For example, the first mirror 1013 can be fixedly mounted on the first mirror mounting position 1023 by using a dispensing fixing method. Correspondingly, the second mirror 1033 can be fixedly mounted on the second mirror mounting position by using a fixing and mounting method commonly used by those skilled in the art. For example, the second mirror 1033 can be fixedly mounted on the second mirror mounting position by using a dispensing fixing method.

[0140] In some example embodiments, as shown in Figure 11 As shown, the first lens holder 1018 has a first laser emitting circuit board mounting position 1024, and the first laser emitting circuit board 1011 is fixedly mounted on the first laser emitting circuit board mounting position 1024. Correspondingly, the second lens holder has a second laser emitting circuit board mounting position, and the second laser emitting circuit board 1031 is fixedly mounted on the second laser emitting circuit board mounting position.

[0141] In some example embodiments, the first laser emitting circuit board 1011 can be fixedly installed on the first laser emitting circuit board installation site 1024 by using a fixing installation method commonly used by those skilled in the art. For example, the first laser emitting circuit board 1011 can be fixedly installed on the first laser emitting circuit board installation site 1024 by using a point gluing fixing installation method. Correspondingly, the second laser emitting circuit board 1031 can be fixedly installed on the second laser emitting circuit board installation site by using a fixing installation method commonly used by those skilled in the art. For example, the second laser emitting circuit board 1031 can be fixedly installed on the second laser emitting circuit board installation site by using a point gluing fixing installation method.

[0142] In some example embodiments, as shown in FIG. 10, the first lens holder 1018 has a first receiving lens installation site 1026, and the first receiving lens 1015 is fixedly installed on the first receiving lens installation site 1026. Correspondingly, the second lens holder has a second receiving lens installation site, and the second receiving lens 1035 is fixedly installed on the second receiving lens installation site. Figure 11

[0143] In some example embodiments, the first receiving lens 1015 can be fixedly installed on the first receiving lens installation site 1026 by using a fixing installation method commonly used by those skilled in the art. For example, the first receiving lens 1015 can be fixedly installed on the first receiving lens installation site 1026 by using a point gluing fixing installation method. Correspondingly, the second receiving lens 1035 can be fixedly installed on the second receiving lens installation site by using a fixing installation method commonly used by those skilled in the art. For example, the second receiving lens 1035 can be fixedly installed on the second receiving lens installation site by using a point gluing fixing installation method.

[0144] In some example embodiments, as shown in FIG. 10, the first lens holder 1018 has a first receiving lens installation site 1026, and the first receiving lens 1015 is fixedly installed on the first receiving lens installation site 1026. Correspondingly, the second lens holder has a second receiving lens installation site, and the second receiving lens 1035 is fixedly installed on the second receiving lens installation site. Figure 11

[0145] In some example embodiments, the first receiving lens 1015 can be fixedly installed on the first receiving lens installation site 1026 by using a fixing installation method commonly used by those skilled in the art. For example, the first receiving lens 1015 can be fixedly installed on the first receiving lens installation site 1026 by using a point gluing fixing installation method. Correspondingly, the second receiving lens 1035 can be fixedly installed on the second receiving lens installation site by using a fixing installation method commonly used by those skilled in the art. For example, the second receiving lens 1035 can be fixedly installed on the second receiving lens installation site by using a point gluing fixing installation method. ​​

[0146] In some exemplary embodiments, such as Figure 9 As shown, the first lens holder 1018 has a first screw through hole 1021, and the first lens holder 1018 is fixedly connected to the base 509 through the first screw through hole 1021; the second lens holder has a second screw through hole, and the second lens holder is fixedly connected to the base 509 through the second screw through hole.

[0147] In some exemplary embodiments, the first lens holder 1018 and the base 509 can be fixedly connected using a method commonly used by those skilled in the art. For example, as... Figure 12 As shown, the base 509 has a first laser transceiver module mounting position 5093, and the first lens holder 1018 has a first screw through hole 1021 (as shown). Figure 9 As shown), the base 509 has a fifth threaded hole 5095, which can be used to fix the first lens holder 1018 and the base 509 through the first screw through hole 1021 and the fifth threaded hole 5095 using a fifth screw 513.

[0148] In some exemplary embodiments, the second lens holder and the base 509 can be fixedly connected using a method commonly used by those skilled in the art. For example, as... Figure 12 As shown, the base 509 has a second laser transceiver module mounting position 5094, the second lens holder has a second screw through hole (not marked in the figure), and the base 509 has a sixth threaded hole 5096. The second lens holder and the base 509 can be fixedly connected by a sixth screw (not marked in the figure) through the second screw through hole and the sixth threaded hole 5096.

[0149] In some exemplary embodiments, such as Figure 9 and Figure 11 As shown, the first lens holder 1018 has a first spring adjustment mounting hole 1020, as... Figure 6 As shown, the first laser transceiver module 101 further includes a first spring 5061 disposed in the first spring adjustment mounting hole 1020; the second lens holder has a second spring adjustment mounting hole, and the second laser transceiver module 103 further includes a second spring 5062 disposed in the second spring adjustment mounting hole.

[0150] Since the first spring 5061 has elasticity, the first lens holder 1018 can rotate around the first adjustment rotation axis 508, and thus the inclination angle, i.e. the pitch angle, of the first lens holder 1018 relative to the base 509 can be adjusted by adjusting the tightness of the fifth screw 513. Correspondingly, since the second spring 5062 has elasticity, the second lens holder can rotate around the second adjustment rotation axis, and thus the inclination angle, i.e. the pitch angle, of the second lens holder relative to the base 509 can be adjusted by adjusting the tightness of the sixth screw.

[0151] In some example embodiments, as shown in FIG. 1, the first laser emission circuit board 1011 is configured to drive the first laser 1012 to emit third laser; the first laser 1012 is configured to emit the third laser; the first mirror 1013 is configured to reflect the third laser emitted by the first laser 1012 to obtain seventh reflected laser, and the seventh reflected laser is transmitted to the first emission lens 1014; the first emission lens 1014 is configured to collimate the seventh reflected laser to obtain the first laser; the first receiving lens 1015 is configured to converge the third reflected laser to obtain first converged laser, and the first converged laser is transmitted to the first laser receiver 1016; the first laser receiver 1016 is configured to convert the first converged laser into first electric signal; and the first laser receiving circuit board 1017 is configured to convert the first electric signal into the first measurement data. Figure 2 In some example embodiments, as shown in FIG. 1, the first laser emission circuit board 1011 is configured to drive the first laser 1012 to emit third laser; the first laser 1012 is configured to emit the third laser; the first mirror 1013 is configured to reflect the third laser emitted by the first laser 1012 to obtain seventh reflected laser, and the seventh reflected laser is transmitted to the first emission lens 1014; the first emission lens 1014 is configured to collimate the seventh reflected laser to obtain the first laser; the first receiving lens 1015 is configured to converge the third reflected laser to obtain first converged laser, and the first converged laser is transmitted to the first laser receiver 1016; the first laser receiver 1016 is configured to convert the first converged laser into first electric signal; and the first laser receiving circuit board 1017 is configured to convert the first electric signal into the first measurement data. Figure 3 In some example embodiments, as shown in FIG. 1, the first laser emission circuit board 1011 is configured to drive the first laser 1012 to emit third laser; the first laser 1012 is configured to emit the third laser; the first mirror 1013 is configured to reflect the third laser emitted by the first laser 1012 to obtain seventh reflected laser, and the seventh reflected laser is transmitted to the first emission lens 1014; the first emission lens 1014 is configured to collimate the seventh reflected laser to obtain the first laser; the first receiving lens 1015 is configured to converge the third reflected laser to obtain first converged laser, and the first converged laser is transmitted to the first laser receiver 1016; the first laser receiver 1016 is configured to convert the first converged laser into first electric signal; and the first laser receiving circuit board 1017 is configured to convert the first electric signal into the first measurement data.

[0152] In the above example embodiments, the reflection mirror is added in the laser transceiver module, which lengthens the distance between the laser and the emission lens, so that the focal length of the emission lens can be longer, thereby effectively reducing the laser spot transmitted to the object to be measured and improving the measurement accuracy.

[0153] The type of the first laser 1012 and the wavelength range of the third laser emitted by the first laser 1012 are not limited in the embodiments of the present application, and can be determined according to specific application scenarios, and are not used to limit the protection scope of the embodiments of the present application. Correspondingly, the type of the second laser 1032 and the wavelength range of the fourth laser emitted by the second laser 1032 are not limited in the embodiments of the present application, and can be determined according to specific application scenarios, and are not used to limit the protection scope of the embodiments of the present application.

[0154] The type of the first mirror 1013 is not limited in the embodiments of the present application, as long as the reflection requirement can be met, and the specific type of the first mirror 1013 is not used to limit the protection scope of the embodiments of the present application. Correspondingly, the type of the second mirror 1033 is not limited in the embodiments of the present application, as long as the reflection requirement can be met, and the specific type of the second mirror 1033 is not used to limit the protection scope of the embodiments of the present application.

[0155] In some example embodiments, the included angle between the emission direction of the third laser and the reflecting surface of the first mirror 1013 is 45°. In other example embodiments, in order to allow the existence of errors, the absolute value of the difference between the included angle between the emission direction of the third laser and the reflecting surface of the first mirror 1013 and 45° can be less than or equal to a preset threshold.

[0156] In some example embodiments, the included angle between the emission direction of the fourth laser and the reflecting surface of the second mirror 1033 is 45°. In other example embodiments, in order to allow the existence of errors, the absolute value of the difference between the included angle between the emission direction of the fourth laser and the reflecting surface of the second mirror 1033 and 45° can be less than or equal to a preset threshold.

[0157] In some example embodiments, the optical axis of the first emission lens 1014 and the optical axis of the first receiving lens 1015 are parallel. In other example embodiments, in order to allow the existence of errors, the included angle between the optical axis of the first emission lens 1014 and the optical axis of the first receiving lens 1015 can be less than or equal to a preset threshold.

[0158] In some example embodiments, the optical axis of the second emission lens 1034 and the optical axis of the second receiving lens 1035 are parallel. In other example embodiments, in order to allow the existence of errors, the included angle between the optical axis of the second emission lens 1034 and the optical axis of the second receiving lens 1035 can be less than or equal to a preset threshold.

[0159] In some example embodiments, the cross sections of the first emission lens 1014 and the first receiving lens 1015 are both circular.

[0160] In some example embodiments, on the basis that the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are circular, the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, i.e., the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold. When the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are circular, the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015 is at least greater than the sum of the cross-sectional radius of the first transmitting lens 1014 and the cross-sectional radius of the first receiving lens 1015, which is relatively far, so that the spot of the first converging laser is affected by the paraxial effect and is offset. In order to reduce the offset amount of the spot of the first converging laser, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 can be set as the shapes shown in FIG. 10, i.e., the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, i.e., the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold, thereby reducing the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015. Figure 4 In some example embodiments, on the basis that the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are circular, the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, i.e., the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold. When the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are circular, the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015 is at least greater than the sum of the cross-sectional radius of the first transmitting lens 1014 and the cross-sectional radius of the first receiving lens 1015, which is relatively far, so that the spot of the first converging laser is affected by the paraxial effect and is offset. In order to reduce the offset amount of the spot of the first converging laser, the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 can be set as the shapes shown in FIG. 10, i.e., the lower edge of the first transmitting lens 1014 is cut into a straight edge, and the upper edge of the first receiving lens 1015 is cut into a straight edge, i.e., the cross sections of the first transmitting lens 1014 and the first receiving lens 1015 are cut-edge circular, so that the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the first transmitting lens 1014 and the upper edge of the first receiving lens 1015 is less than or equal to a preset threshold, thereby reducing the distance between the optical axis of the first transmitting lens 1014 and the optical axis of the first receiving lens 1015.

[0161] In some example embodiments, the cross sections of the second transmitting lens 1034 and the second receiving lens 1035 are circular.

[0162] In some example embodiments, as shown in FIG. 10, the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both circular, and the lower edge of the second transmitting lens 1034 is cut straight, and the upper edge of the second receiving lens 1035 is cut straight, i.e., the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both cut-edge circular, so that the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 is less than or equal to a preset threshold. When the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both circular, the distance between the optical axis of the second transmitting lens 1034 and the optical axis of the second receiving lens 1035 is at least greater than the sum of the cross-sectional radius of the second transmitting lens 1034 and the cross-sectional radius of the second receiving lens 1035, which is relatively far, so that the spot of the second converging laser is affected by the off-axis and produces a shift. In order to reduce the shift amount of the spot of the second converging laser, the cross section of the second transmitting lens 1034 and the second receiving lens 1035 can be set as shown in FIG. 10, i.e., the lower edge of the second transmitting lens 1034 is cut straight, and the upper edge of the second receiving lens 1035 is cut straight, i.e., the cross section of the second transmitting lens 1034 and the second receiving lens 1035 are both cut-edge circular, so that the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 are parallel to each other, or in order to allow the existence of errors, so that the included angle between the lower edge of the second transmitting lens 1034 and the upper edge of the second receiving lens 1035 is less than or equal to a preset threshold, thereby reducing the distance between the optical axis of the second transmitting lens 1034 and the optical axis of the second receiving lens 1035. Figure 4

[0163] In some example embodiments, the first rotating mirror 102 and the second rotating mirror 104 can be a double-sided mirror. In other example embodiments, the first rotating mirror 102 and the second rotating mirror 104 can also be two separate mirrors.

[0164] In some example embodiments, as shown in FIG. 9, the first rotating mirror 102 and the second rotating mirror 104 can both rotate around the rotation axis. Figure 1

[0165] In some example embodiments, as shown in FIG. 9, the first rotating mirror 102 and the second rotating mirror 104 can both rotate 360° around the rotation axis. Figure 1

[0166] ​​​The embodiments of the present application do not limit the type of the first rotating mirror 102 as long as the reflection requirement is met, and the specific type of the first rotating mirror 102 is not used to limit the protection scope of the embodiments of the present application. Correspondingly, the embodiments of the present application do not limit the type of the second rotating mirror 104 as long as the reflection requirement is met, and the specific type of the second rotating mirror 104 is not used to limit the protection scope of the embodiments of the present application.

[0167] In some example embodiments, the angle between the emission direction of the first laser and the rotation axis of the lidar is 45°. Correspondingly, the angle between the emission direction of the second laser and the rotation axis of the lidar is 45°.

[0168] In some example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the first laser and the rotation axis of the lidar and 45° can be less than or equal to a preset threshold. Correspondingly, the absolute value of the difference between the angle between the emission direction of the second laser and the rotation axis of the lidar and 45° can be less than or equal to a preset threshold.

[0169] In some example embodiments, the angle between the emission direction of the first laser and the emission direction of the second laser is 90°. In some example embodiments, in order to allow the existence of errors, the absolute value of the difference between the angle between the emission direction of the first laser and the emission direction of the second laser and 90° can be less than or equal to a preset threshold.

[0170] In some example embodiments, the reflecting surfaces of the first rotating mirror 102 and the second rotating mirror 104 are arranged oppositely. That is, the surface of the first rotating mirror 102 and the second rotating mirror 104 arranged oppositely is a non-reflecting surface, and the surface arranged oppositely is a reflecting surface.

[0171] In some example embodiments, one of the first rotating mirror 102 and the second rotating mirror 104 includes a first emission part and a first receiving part; the first emission part is used to reflect the first laser to obtain the first reflected laser; and the first receiving part is used to reflect the second reflected laser to obtain the third reflected laser. Correspondingly, the other of the first rotating mirror 102 and the second rotating mirror 104 includes a second emission part and a second receiving part; the second emission part is used to reflect the second laser to obtain the fourth reflected laser; and the second receiving part is used to reflect the fifth reflected laser to obtain the sixth reflected laser.

[0172] In some example embodiments, the first measurement data can include measured distance information.

[0173] In some example embodiments, the second measurement data can include measured distance information.

[0174] In some example embodiments, further comprising: an inner optical path assembly fixedly connected with the base 509; wherein the inner optical path assembly comprises: an inner optical path mirror frame 504 fixedly connected with the base 509; and an inner optical path mirror 105 fixedly installed on the inner optical path mirror frame 504.

[0175] In some example embodiments, the base 509 and the inner optical path mirror frame 504 can be fixedly connected by using a fixing connection manner commonly used by those skilled in the art. For example, as shown in Figure 12 the base 509 has a twelfth threaded hole 50910, and the inner optical path mirror frame 504 has a twelfth screw through hole (not shown in the figure), and a twelfth screw can be used to fixedly connect the base 509 and the inner optical path mirror frame 504 through the twelfth threaded hole 50910 and the twelfth screw through hole.

[0176] In some example embodiments, the inner optical path mirror 105 can be fixedly installed on the inner optical path mirror frame 504 by using a fixing installation manner commonly used by those skilled in the art. For example, the inner optical path mirror 105 can be fixedly installed on the inner optical path mirror frame 504 by using a dispensing fixing manner.

[0177] In some example embodiments, the inner optical path mirror 105 is configured to reflect the first reflected laser to obtain a ninth reflected laser; the inner optical path mirror 105 is further configured to reflect the ninth reflected laser to obtain a tenth reflected laser; one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser; the first laser transceiver module 101 is further configured to receive the eleventh reflected laser; or, the other one of the first rotating mirror 102 and the second rotating mirror 104 is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser, and the eleventh reflected laser is converted into third measurement data, and the third measurement data is used for calibrating temperature drift; the second laser transceiver module 103 is further configured to receive the eleventh reflected laser, and the eleventh reflected laser is converted into third measurement data, and the third measurement data is used for calibrating temperature drift.

[0178] In some example embodiments, as shown in Figure 1 the inner optical path mirror 105 comprises a third emitting portion and a third receiving portion; the third emitting portion is configured to reflect the first reflected laser to obtain a ninth reflected laser; and the third receiving portion is configured to reflect the ninth reflected laser to obtain a tenth reflected laser.

[0179] In some example embodiments, when the third measurement data is used to calibrate the temperature drift, at least one third measurement data can be obtained simultaneously in one measurement period, a difference between the distance information measured at the current temperature and the actual distance information is obtained through the third measurement data, and then the first measurement data and the second measurement data are calibrated based on the difference.

[0180] In some example embodiments, the temperature drift refers to a change value of the actual value of the distance information measured by the laser radar relative to the temperature change. This is because the circuit delay of the laser radar has sensitivity to the temperature, and the drift amount of the circuit delay to the temperature is not linearly changed with the change of the temperature, thereby affecting the time difference between the first laser 1012 and the second laser 1032 from triggering the laser emission to the real laser emission, the time for the first laser receiver 1016 and the second laser receiver 1036 to convert the received optical signal into an electrical signal, and the processing time of the first laser receiving circuit board 1017 and the second laser receiving circuit board 1037.

[0181] In some example embodiments, the actual distance information can be calculated according to the relative positional relationship between the inner optical path mirror 105 and the first rotating mirror 102. In other example embodiments, the actual distance information can also be calculated according to the relative positional relationship between the inner optical path mirror 105 and the second rotating mirror 102.

[0182] In some example embodiments, when the first measurement data is calibrated based on the difference, the distance information corresponding to the first measurement data can be subtracted by the difference to obtain the calibrated distance information corresponding to the first measurement data.

[0183] In some example embodiments, when the second measurement data is calibrated based on the difference, the distance information corresponding to the second measurement data can be subtracted by the difference to obtain the calibrated distance information corresponding to the second measurement data.

[0184] In some example embodiments, the power supply 111 is further included for supplying power to the core circuit board 110.

[0185] In some example embodiments, as shown in Figure 7 the core circuit board 110 has an interface 522, and the core circuit board 110 is electrically connected to the power supply 111 through the interface 522.

[0186] In some example embodiments, the interface 522 can be a type-C interface, or any other interface that can electrically connect the core circuit board 110 and the power supply 111, and the embodiments of the present application do not limit this.

[0187] Those of ordinary skill in the art will realize and understand that all or some of the steps in the methods disclosed above and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, it is common knowledge to those of ordinary skill in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

[0188] Example embodiments have been disclosed herein and, although the use of specific terms is expressly used herein, they are intended in a generic sense only and are not intended to limit the scope of the present application. In some instances, it will be apparent to those of ordinary skill in the art that features, components, and / or elements described with a specific embodiment can be utilized singularly or in combination with other embodiments unless otherwise specifically noted. Therefore, it will be understood that various changes can be made in the form, details, and / or proportions of what is specifically set forth without departing from the scope of the application set forth in the following claims.

Claims

1. A laser radar, comprising: a housing (501) ; a bottom cover (502) fixedly connected with the housing (501) ; a transmissive cover (503) fixedly installed on the housing (501), the transmissive cover (503) being capable of transmitting laser; a containing space surrounded by the housing (501), the bottom cover (502) and the transmissive cover (503), wherein: a base (509) fixedly connected with the bottom cover (502) ; a core circuit board (110), a motor rotor assembly (200), a first laser transceiver module (101), a second laser transceiver module (103), a first transceiver baffle (505) and a ranging circuit board (109) fixedly connected with the base (509).

2. The lidar of claim 1, wherein, The motor rotor assembly (200) comprises: a motor (106) comprising a motor stator (106-1) and a motor rotor (106-2) installed on the motor stator (106-1) ; a first rotating mirror (102) and a second rotating mirror (104) fixedly installed on the motor rotor (106-2) ; a second transceiver baffle (201) sleeved on the motor rotor (106-2) and fixedly connected with the motor rotor (106-2), the second transceiver baffle (201) dividing one of the first rotating mirror (102) and the second rotating mirror (104) into a first transmitting part and a first receiving part, and dividing the other of the first rotating mirror (102) and the second rotating mirror (104) into a second transmitting part and a second receiving part. 3.The laser radar of claim 2, wherein: the first laser transceiver module (101) is configured to emit first laser, the first laser being transmitted to one of the first rotating mirror (102) and the second rotating mirror (104) ; one of the first rotating mirror (102) and the second rotating mirror (104) is configured to reflect the first laser to obtain first reflected laser, the first reflected laser being transmitted to a first object to be measured through the transmissive cover (503) and reflected by the first object to be measured to obtain second reflected laser, the second reflected laser being transmitted to one of the first rotating mirror (102) and the second rotating mirror (104) through the transmissive cover (503) ; one of the first rotating mirror (102) and the second rotating mirror (104) is further configured to reflect the second reflected laser to obtain third reflected laser, the third reflected laser being transmitted to the first laser transceiver module (101) ; the first laser transceiver module (101) is further configured to receive the third reflected laser and convert the third reflected laser into first measurement data; the second laser transceiver module (103) is configured to emit second laser, the second laser being transmitted to the other of the first rotating mirror (102) and the second rotating mirror (104). The other one of the first rotating mirror (102) and the second rotating mirror (104) is used for reflecting the second laser to obtain fourth reflected laser; the fourth reflected laser is transmitted to a second object to be measured through the transmission cover (503) and reflected by the second object to be measured to obtain fifth reflected laser, and the fifth reflected laser is transmitted to the other one of the first rotating mirror (102) and the second rotating mirror (104); the other one of the first rotating mirror (102) and the second rotating mirror (104) is also used for reflecting the fifth reflected laser to obtain sixth reflected laser, and the sixth reflected laser is transmitted to the second laser transceiver module (103) through the transmission cover (503); the second laser transceiver module (103) is also used for receiving the sixth reflected laser and converting the sixth reflected laser into second measurement data; The motor (106) is used for controlling rotation of the first rotating mirror (102) and the second rotating mirror (104), and the relative positions among the motor rotor (106-2), the first rotating mirror (102) and the second rotating mirror (104) are unchanged during rotation; The distance measuring circuit board (109) is used for receiving the first measurement data and the second measurement data; The core circuit board (110) is used for controlling work of the distance measuring circuit board (109); The reflecting surfaces of the first rotating mirror (102) and the second rotating mirror (104) are parallel to each other, or the included angle between the reflecting surfaces of the first rotating mirror (102) and the second rotating mirror (104) is less than or equal to a preset threshold value.

4. The laser radar of claim 2, wherein the motor rotor assembly (200) further comprises: A motor code disc (108) fixedly connected with the motor rotor (106-2) or integrally formed with the motor rotor (106-2); A motor reader circuit board (107) fixedly installed on the base (509); The motor stator (106-1) is fixedly installed on the motor reader circuit board (107).

5. The laser radar of claim 4, wherein: The motor reader circuit board (107) is used for measuring angle information of rotation of the motor (106) in combination with the motor code disc (108) and sending the angle information of rotation of the motor (106) to the distance measuring circuit board (109); The distance measuring circuit board (109) is used for merging the angle information of rotation of the motor (106) into the first measurement data and the second measurement data.

6. The lidar of claim 1, wherein, The first laser transceiver module (101) comprises: A first lens holder (1018); A first laser transmitting circuit board (1011), a first reflecting mirror (1013), a first transmitting lens (1014), a first receiving lens (1015) and a first laser receiving circuit board (1017) fixedly installed on the first lens holder (1018); A first laser (1012) fixedly installed on the first laser transmitting circuit board (1011); A first laser receiver (1016) fixedly installed on the first laser receiving circuit board (1017); The second laser transceiver module (103) comprises: A second lens holder; A second laser transmitting circuit board (1031), a second reflecting mirror (1033), a second transmitting lens (1034), a second receiving lens (1035) and a second laser receiving circuit board (1037) fixedly installed on the second lens holder; A second laser (1032) fixedly installed on the second laser transmitting circuit board (1031); A second laser receiver (1036) fixedly installed on the second laser receiving circuit board (1037).

7. The lidar of claim 6, wherein, The first lens holder (1018) has a first screw through hole (1021), and the first lens holder (1018) is fixedly connected with the base (509) through the first screw through hole (1021); The second lens holder has a second screw through hole, and the second lens holder is fixedly connected with the base (509) through the second screw through hole.

8. The lidar of claim 6, wherein, The first lens holder (1018) has a first spring adjusting mounting hole (1020), and the first laser transceiver module (101) further comprises a first spring (5061) arranged in the first spring adjusting mounting hole (1020); The second lens holder has a second spring adjusting mounting hole, and the second laser transceiver module (103) further comprises a second spring (5062) arranged in the second spring adjusting mounting hole.

9. The lidar of claim 6, wherein, a first laser transmitting circuit board (1011) for driving the first laser (1012) to emit third laser; a first laser (1012) for emitting the third laser; a first reflecting mirror (1013) for reflecting the third laser emitted by the first laser (1012) to obtain seventh reflected laser, and the seventh reflected laser is transmitted to a first transmitting lens (1014); the first transmitting lens (1014) for collimating the seventh reflected laser to obtain first laser; a first receiving lens (1015) for converging the third reflected laser to obtain first converging laser, and the first converging laser is transmitted to a first laser receiver (1016); the first laser receiver (1016) for converting the first converging laser into a first electric signal; a first laser receiving circuit board (1017) for converting the first electric signal into the first measurement data; a second laser transmitting circuit board (1031) for driving the second laser (1032) to emit fourth laser; the second laser (1032) for emitting the fourth laser; a second reflecting mirror (1033) for reflecting the fourth laser emitted by the second laser (1032) to obtain eighth reflected laser, and the eighth reflected laser is transmitted to a second transmitting lens (1034); the second transmitting lens (1034) for collimating the eighth reflected laser to obtain second laser; A second receiving lens (1035) is configured to converge the sixth reflected laser to obtain a second converged laser, and the second converged laser is transmitted to a second laser receiver (1036); The second laser receiver (1036) is configured to convert the second converged laser into a second electric signal; A second laser receiving circuit board (1037) is configured to convert the second electric signal into the second measurement data.

10. The lidar of any of claims 1-9, further comprising: An inner optical path assembly fixedly connected with the base (509); The inner optical path assembly comprises: An inner optical path mirror frame (504) fixedly connected with the base (509); An inner optical path mirror (105) fixedly installed on the inner optical path mirror frame (504).

11. The lidar according to claim 10, wherein, The inner optical path mirror (105) is configured to reflect the first reflected laser to obtain a ninth reflected laser; The inner optical path mirror (105) is further configured to reflect the ninth reflected laser to obtain a tenth reflected laser; One of the first rotating mirror (102) and the second rotating mirror (104) is further configured to reflect the tenth reflected laser to obtain an eleventh reflected laser; the first laser transceiver module (101) is further configured to receive the eleventh reflected laser; or, the other one of the first rotating mirror (102) and the second rotating mirror (104) is further configured to reflect the tenth reflected laser to obtain the eleventh reflected laser, and convert the eleventh reflected laser into third measurement data, wherein the third measurement data is used for calibrating temperature drift; the second laser transceiver module (103) is further configured to receive the eleventh reflected laser, and convert the eleventh reflected laser into the third measurement data, wherein the third measurement data is used for calibrating temperature drift.

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