Laser radar system

Abstract

The invention discloses a laser radar system, which belongs to the technical field of laser radars and comprises a transmitting module, a double-sided oscillating mirror scanning module and a receiving module. The transmitting module and the receiving module are arranged on the two sides of the double-sided oscillating mirror scanning module respectively, transmitting and receiving light paths are completely separated, the problem of internal stray light crosstalk caused by light path overlapping is avoided, and the optical collection efficiency and the system signal-to-noise ratio are improved; through reciprocating swing of the first reflecting mirror and the second reflecting mirror which are perpendicular to each other, an efficient scanning mode of synchronous transmitting and receiving is achieved, the effective time utilization rate of scanning of the laser radar system is improved, more laser transmitting times can be distributed at each detection point position, and therefore the detection accuracy of the laser radar system is improved through the signal accumulation average effect. The maximum distance measurement capability, the distance measurement precision and the detection sensitivity to weak echoes of the system are improved; and meanwhile, the design tolerance requirement is reduced, and the yield of mass production is improved.

Description

Technical Field

[0001] This invention belongs to the field of lidar technology, and specifically relates to a lidar system. Background Technology

[0002] LiDAR is a detection method that uses laser beams to detect the distance, orientation, and shape of targets by emitting laser beams and measuring their reflected signals. Its core working principle is to calculate the time it takes for a laser pulse to travel from emission to reception after being reflected by the target, thereby accurately calculating the distance from the emission point to the target. With its high resolution, high precision, and strong anti-interference capabilities, it has been widely used in fields such as autonomous driving, robot navigation, high-precision mapping, and 3D modeling.

[0003] In existing lidar systems, four-sided rotating mirrors are often used as the core scanning component. However, this scanning architecture has several drawbacks: First, the scanning time utilization of the lidar system is insufficient, with the detection time at a single location not exceeding 55µs. This significantly affects the actual performance of the lidar, including its detection accuracy and maximum range. Second, near the edge of the scanning field of view, the scanning system cannot completely and effectively reflect all the emitted light beams, resulting in a shearing phenomenon. This leads to a lot of stray light (interference light outside the effective detection light) inside the lidar, resulting in a large detection blind zone. Third, from the perspective of process and manufacturing cost, the manufacturing process of using four-sided rotating mirrors is more complex, requiring consideration of the mirror tolerances of each facet. Summary of the Invention

[0004] In view of one or more of the above-mentioned defects or improvement needs of the prior art, the present invention provides a lidar system that can improve the effective scanning time utilization of the lidar system, significantly reduce stray light inside the lidar, and reduce the process complexity of the lidar scanning system.

[0005] To achieve the above objectives, the present invention provides a lidar system, which includes a transmitting module, a double-sided tilting mirror scanning module, and a receiving module;

[0006] The transmitting module is used to emit a probe beam; The double-sided tilting mirror scanning module is disposed between the transmitting module and the receiving module, and includes a tilting mirror motor, a first reflector, and a second reflector. The first reflector and the second reflector are arranged perpendicularly to each other and are mounted on the tilting mirror motor so as to tilt around the axis with the tilting mirror motor. The first reflector is used to reflect the detection beam emitted by the transmitting module to the external detection area to scan the detection area. The second reflector is used to capture the echo beam of the target object in the detection area and reflect it to the receiving module. The receiving module is used to receive the echo beam.

[0007] As a further improvement of the present invention, the tilting mirror motor includes a motor, a tilting mirror bracket and a drive circuit; the motor is fixedly mounted on the base, the drive circuit is electrically connected to the motor, the tilting mirror bracket is fixed to the output end of the motor, and the first reflector and the second reflector are fixedly mounted on the tilting mirror bracket.

[0008] As a further improvement of the present invention, the swing mirror motor further includes a limiting component to limit and buffer the swing of the motor; The limiting assembly includes a first limiting unit and a second limiting unit. The first limiting unit includes a first magnetic block and a second magnetic block. The first magnetic block is disposed on the side of the swing mirror bracket near the first reflector, and the second magnetic block is disposed on the base corresponding to the first magnetic block. The second limiting unit includes a third magnetic block and a fourth magnetic block. The third magnetic block is disposed on the side of the swing mirror bracket near the second reflector, and the fourth magnetic block is disposed on the base corresponding to the third magnetic block, so as to achieve non-contact limitation of motor swing through magnetic damping.

[0009] As a further improvement of the present invention, the tilting mirror motor further includes a counterweight, which is disposed on the side of the tilting mirror bracket away from the first reflector and the second reflector.

[0010] As a further improvement of the present invention, the unidirectional swing angle of the swing mirror motor is greater than 60°.

[0011] As a further improvement of the present invention, the unidirectional swing angle includes an effective angle and a buffer angle. The effective angle is the uniform swing angle of the swing mirror motor, forming a linear swing region. The scanning field of view of the double-sided swing mirror scanning module on the detection area is twice the effective angle. Nonlinear regions for acceleration and deceleration of the swing mirror motor or extended regions of the available radar horizontal field of view are provided on both sides of the linear swing region. The sum of the angles of the nonlinear regions or the extended regions on both sides is the buffer angle.

[0012] As a further improvement of the present invention, the vertical diaphragm angle between the first reflector and the second reflector, and the inter-face angle between the first reflector and the second reflector, must all meet the system design matching redundancy value.

[0013] As a further improvement of the present invention, the emission module includes a laser and an emission component, the laser being used to generate the laser beam, and the emission component being used to optically shape the probe beam and emit it to the first reflector; The receiving module includes a receiving component and a receiving detector. The receiving component is used to receive the echo beam reflected by the second reflector and to converge the echo beam and transmit it to the receiving detector.

[0014] As a further improvement of the present invention, the emitting component includes a first optical device configured to shape the probe beam emitted by the laser and emit the shaped probe beam to the first reflector; Alternatively, the reflective assembly includes a first optical element and a third reflector, wherein the first optical element is configured to shape the probe beam emitted by the laser and emit the shaped probe beam to the third reflector, and the third reflector is configured to reflect the shaped probe beam back to the first reflector.

[0015] As a further improvement of the present invention, the receiving component includes a second optical device, which is configured to converge the echo beam reflected by the second reflector and then transmit it to the receiving detector; Alternatively, the receiving component includes a second optical element and a fourth reflector, the fourth reflector being configured to reflect the echo beam reflected by the second reflector to the second optical element, the second optical element converging the echo beam and transmitting it to the receiving detector.

[0016] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0017] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: (1) The lidar system of the present invention sets the transmitting module and the receiving module on both sides of the double-sided mirror scanning module to form a physically isolated opposing layout, which completely separates the transmitting and receiving optical paths, fundamentally avoids the problem of internal stray light crosstalk caused by optical path overlap, and makes the receiving path complete and unobstructed, thereby significantly improving the optical collection efficiency and system signal-to-noise ratio; at the same time, through the first and second reflectors set perpendicular to each other, a high-efficiency scanning method of synchronous transmission and reception is realized, which effectively improves the effective time utilization of lidar system scanning, so that more laser emission times can be allocated at each detection point, thereby significantly improving the system's maximum ranging capability, ranging accuracy and detection sensitivity to weak echoes through the signal accumulation averaging effect.

[0018] (2) The lidar system of the present invention can repeatedly scan the detection area by simply swinging two emitting mirrors, which effectively simplifies the optical structure and significantly reduces the complexity and cost of the manufacturing process. Compared with the traditional four-sided rotating mirror, which requires precise control of the relative position and surface shape tolerance between the four reflective surfaces, the present invention only needs to control the accuracy of two reflective surfaces, which greatly reduces the cumulative tolerance and assembly difficulty between multiple mirrors, fundamentally reduces the processing, testing and assembly costs of the core scanning components, effectively improves the mass production yield, and thus greatly improves the manufacturability and economy of the product while ensuring high performance.

[0019] (3) The lidar system of the present invention, by setting a counterweight balance block on the opposite side of the first reflector and the second reflector, keeps the center of mass of the motor always stable on the swing shaft, thereby improving the stability of the motor swing and extending the service life of the motor. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the lidar system in an embodiment of the present invention; Figure 2 This is a schematic diagram of the optoelectronic architecture of the lidar system in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the optoelectronic architecture of the lidar system in Embodiment 2 of the present invention; Figure 4 This is a schematic diagram of the optoelectronic architecture of the lidar system in Embodiment 3 of the present invention; Figure 5 This is a schematic diagram of the structure of the double-sided pendulum mirror module in an embodiment of the present invention; Figure 6 This is a graph showing the difference in ranging capability between the lidar system in this invention embodiment and the lidar system with a four-sided rotating mirror scanning architecture in the prior art at different integration times. In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1, laser; 2, transmitting assembly; 201, first optical device; 202, third reflector; 3, double-sided tilting mirror module; 301, tilting mirror motor; 3011, motor; 3012, tilting mirror bracket; 3013, drive circuit; 3014, counterweight; 3015, first magnetic block; 3016, second magnetic block; 3017, third magnetic block; 3018, fourth magnetic block; 3019, base; 302, first reflector; 303, second reflector; 4, receiving assembly; 401, second optical device; 402, fourth reflector; 5, receiving detector; 6, target object; L1, detection beam; L2, echo beam. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] In the description of this invention, it should be understood that, unless otherwise expressly specified and limited, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0024] Furthermore, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] Example: Please see Figures 1-6 The lidar system in a preferred embodiment of the present invention includes a transmitting module, a double-sided mirror module 3, and a receiving module. The transmitting module emits a detection beam L1, and the double-sided mirror module 3 reflects the beam emitted by the transmitting module to an external detection area to scan the external detection area. The receiving module also reflects the echo beam L2 reflected by the target object 6 in the external detection area to the receiving module.

[0028] Specifically, such as Figure 2 As shown, the preferred embodiment of the transmitting module includes a transmitter 1 and a transmitting component 2, wherein the laser 1 is used to generate a probe beam L1, and the transmitting component 2 is used to optically shape the probe beam L1 generated by the laser 1 and transmit the shaped probe beam L1 to the double-sided tilting mirror module 3.

[0029] Preferably, such as Figure 2 As shown, the transmitting component 2 includes a first optical device 201, which is configured to shape the probe beam L1 emitted by the laser 1 to shape the divergent beam emitted by the laser 1 into a collimated beam, and to emit the shaped probe beam L1 to the double-sided tilting mirror module 3.

[0030] Preferably, the first optical device 201 is a shaping lens such as a microlens, metasurface, aspherical mirror, or cylindrical mirror.

[0031] In another preferred embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the emitting assembly 2 includes a first optical device 201 and a third reflector 202. The first optical device 201 is configured to shape the probe beam L1 emitted by the laser 1 and emit the shaped probe beam L1 to the third reflector 202. The third reflector 202 is configured to reflect the shaped probe beam L1 to the double-sided tilting mirror module 3, so as to change the emission path of the probe beam L1 through the third reflector 202. The relative positions of the laser 1, the first optical device 201 and the double-sided tilting mirror module 3 can be adjusted according to the design requirements. Compared with the traditional design of beam deflection inside the mirror tube, this design makes the optical size smaller, has better control over stray light, no beam obstruction edge, and higher energy utilization.

[0032] Furthermore, such as Figure 1 As shown, in the preferred embodiment, the double-sided tilting mirror module 3 is disposed between the transmitting module and the receiving module, including a tilting mirror motor 301, a first reflector 302, and a second reflector 303; wherein, the first reflector 302 and the second reflector 303 are arranged perpendicularly to each other and mounted on the tilting mirror motor 301 so as to tilt around the axis with the tilting mirror motor 301; at the same time, the first reflector 302 is configured to emit the detection beam L1 emitted by the transmitting module to the external detection area to scan the detection area, and the second reflector 303 is configured to reflect the echo beam L2 of the target object captured in the detection area to the receiving module, thereby realizing the rapid scanning of the detection area by the detection beam L1.

[0033] More specifically, such as Figure 5 As shown, the oscillating mirror motor 301 includes a motor 3011, an oscillating mirror bracket 3012, and a drive circuit 3013. The motor 3011 and the drive circuit 3013 are fixedly mounted on the base 3019. The motor 3011 is electrically connected to the drive circuit 3013 to control the oscillation speed and oscillation frequency of the motor 3011. The oscillating mirror bracket 3012 is fixedly connected to the output end of the motor 3011. The first reflector 302 and the second reflector 303 are fixedly connected to the oscillating mirror bracket 3012, thereby realizing the connection and installation between the first reflector 302, the second reflector 303 and the oscillating mirror motor 301.

[0034] In actual setup, the mirror bracket 3012 and the outer rotor of the motor 3011 can be integrated, or the mirror bracket 3012 can be fixedly mounted on the outer rotor of the motor 3011 via a connector.

[0035] Preferably, the motor 3011 is a high-precision resonant galvanometer motor, a brushless DC motor, or a voice coil motor, etc., with a unidirectional swing angle greater than 60°. This unidirectional swing angle includes an effective angle and a buffer angle. The effective angle is the unidirectional uniform swing angle of the galvanometer motor 301, forming a linear swing region. The scanning field of view of the double-sided galvanometer module 3 on the detection area is twice the effective angle. On both sides of the linear swing region, there are nonlinear regions for the acceleration and deceleration of the galvanometer motor 301 or extended regions of the available radar horizontal field of view. The sum of the angles of the nonlinear regions or extended regions on both sides of the linear swing region is the buffer angle.

[0036] In a specific embodiment of the present invention, the unidirectional swing angle of the pendulum mirror motor is 70°, of which the effective angle is 60°, and the corresponding scanning field of view of the detection area is 120°. Within this effective angle range, its swing is required to be a high-precision uniform swing with an angle accuracy of 0.025° and an equivalent linearity of less than 10%. The buffer angle is 10°, which is used for acceleration and deceleration on both sides of the pendulum mirror motor 301 and for swing direction.

[0037] Of course, the acceleration and deceleration patterns on both sides of the swing motor 301 can also be combined with the corresponding algorithm to extend the usable field of view, so as to make full use of the acceleration and deceleration areas on both sides.

[0038] Preferably, the mirror support 3012 is provided with an adhesive limiting scale, which is used to position the installation position of the two reflectors when the first reflector 302 and the second reflector 303 are adhered to the mirror support 3012.

[0039] Preferably, the vertical turret angle of the first reflector 302, the vertical turret angle of the second reflector 303, and the inter-surface angle between the first reflector 302 and the second reflector 303 must all meet the system design matching redundancy value to ensure the installation accuracy of the first reflector 302 and the second reflector 303.

[0040] It is known that in the production process of existing radar systems with a four-sided rotating mirror architecture, four reflectors need to be bonded together, and the opposing architecture requires high tolerance design, making it difficult to achieve a production yield of over 90%. However, the double-sided rotating mirror scanning module of this invention only sets two reflectors for scanning. In actual production, only two reflectors need to be bonded together, which has lower tolerance requirements and can improve the production yield to over 99%, effectively improving the mass production yield and enhancing the reliability of the rotating mirror system.

[0041] Preferably, the swing mirror motor 301 further includes a counterweight balance block 3014, which is disposed on the side of the swing mirror bracket 3012 away from the first reflector 302 and the second reflector 303, so as to keep the center of mass of the swing mirror motor 301 always on the output axis, ensuring that the swing mirror motor 301 is always in a relatively balanced state during the swing process, thereby improving the swing stability and extending the service life of the motor.

[0042] Preferably, the pendulum mirror motor 301 further includes a limiting component to limit and buffer the swing of the pendulum mirror motor 301. Specifically, as shown in the figure... Figure 5 As shown, the limiting assembly includes a first limiting unit and a second limiting unit. The first limiting unit is disposed on the side of the swing mirror bracket 3012 near the first reflector 302, and includes a first magnetic block 3015 and a second magnetic block 3016. The first magnetic block 3015 is fixedly connected to the swing mirror bracket 3012 to swing with the swing mirror bracket 3012, and the second magnetic block 3016 is disposed on the base 3019 corresponding to the first magnetic block 3015. Correspondingly, the second limiting unit is disposed on the side of the swing mirror bracket 3012 near the second reflector 303, and includes a third magnetic block 3017 and a fourth magnetic block 3018. The third magnetic block 3017 is fixedly connected to the swing mirror bracket 3012 to swing with the swing mirror bracket 3012, and the fourth magnetic block 3018 is disposed on the base 3019 corresponding to the third magnetic block 3017. Thus, non-contact limitation of the motor swing is achieved through magnetic damping.

[0043] Furthermore, in the preferred embodiment, the receiving module includes a receiving component 4 and a receiving detector 5, wherein the receiving component 4 is used to focus the light beam reflected by the second reflector 303 onto the receiving detector 5.

[0044] Specifically, such as Figure 2 and Figure 3 As shown in the figure, in a specific embodiment of the present invention, the receiving component 4 includes a second optical device 401, which is a shaping lens such as a microlens, metasurface, aspherical mirror, or cylindrical mirror. The second optical device 401 is configured to converge the echo beam L2 reflected by the second reflecting mirror 303 and then transmit it to the receiving detector 5.

[0045] like Figure 4 As shown, in another specific embodiment of the present invention, the receiving component 4 includes a second optical device 401 and a fourth reflector 402; wherein, the fourth reflector 402 is configured to reflect the echo beam L2 reflected by the second reflector 303 to the second optical device 401, and the second optical device 401 converges the echo beam L2 and transmits it to the receiving detector 5.

[0046] During single-point detection, based on the direct time-of-flight (dToF) measurement principle, the main control unit (MCU / CPLD) sends a trigger signal (TRIG) to control laser 1 to emit laser pulses. At the same time, the system generates a time reference feedback signal (FB) as the starting point for laser time-of-flight timing. When the laser echo reflected by the target object 6 is converged by the receiving component 4 to the receiving detector 5, the receiving detector 5 outputs an echo signal. By measuring the time interval between the reference signal FB and the echo signal, the time of flight of the laser can be accurately calculated, thereby accurately determining the actual distance of the measured object.

[0047] During global detection using the lidar system of this invention, the double-sided tilting mirror module operates at a scanning frequency of 5Hz, which is mapped to a refresh frequency of 10Hz on the lidar. The single-row tilting angle is designed to be 70° or other angles. In actual use, only a 60° scanning angle is needed to cover a 120° scanning field of view. It can be calculated that the effective scanning time utilization rate of the lidar using the double-sided tilting mirror architecture can reach more than 85%, so the effective light output time of one frame scan is more than 85ms. To meet the 120° detection field of view, 1200 SLOTs are required, so the light output time of each SLOT is more than 70us. This is more than 20us faster than the integration time of a conventional lidar using a four-sided rotating mirror.

[0048] The ranging capabilities of the lidar system in this invention and the lidar system with a four-sided rotating mirror scanning architecture in the prior art were simulated using mathematical models at different integration times. The results are as follows: Figure 6 As shown in the figure, point A represents the ranging result of the lidar system with a four-sided rotating mirror scanning architecture, with an integration time of approximately 55 μs and a ranging distance of 226.7 m. Point B represents the ranging result of the lidar system in this invention, with an integration time of up to 75 μs and a ranging distance of up to 258.8 m. This improves the ranging capability of the lidar by more than 30 m, significantly enhancing the system's maximum ranging capability, ranging consistency, and overall measurement accuracy and stability.

[0049] The lidar system of this invention completely separates the transmitting and receiving optical paths in physical space, which not only eliminates the internal stray crosstalk problem inherent in coaxial schemes due to shared optical paths, but also ensures that the receiving system path is complete and unobstructed. This allows the receiving module to capture the weak echo signal from the target object to the maximum extent, effectively improving the utilization efficiency of optical energy, thereby significantly improving the optical collection efficiency and the system signal-to-noise ratio, enabling it to have a longer-range detection capability.

[0050] The lidar system of this invention achieves a highly efficient scanning optical path for transmission and reception by using a first reflecting surface to deflect the detection beam and a second reflecting surface to capture and deflect the echo beam, thus forming a more compact optical system and laying a theoretical foundation for system miniaturization and high stability.

[0051] The lidar system in this invention improves the effective scanning time utilization rate of the system to a higher level of 80% through the forward and reverse scanning motion of the double-sided mirror. This allows more detection resources to be allocated to each detection unit within the limited effective light emission time of each frame, and enables each detection point to be allocated more laser emission times (shots). Thus, through the signal accumulation and averaging effect, the maximum ranging capability, ranging accuracy, and sensitivity to weak echoes of the system are significantly improved.

[0052] The lidar system of this invention significantly reduces manufacturing complexity and cost by simplifying the optical structure. Compared with the traditional four-sided rotating mirror which requires precise control of the relative position and surface shape tolerances between the four reflective surfaces, the double-sided rotating mirror of this invention only needs to control the accuracy of two reflective surfaces, greatly reducing the cumulative tolerances and assembly difficulty between multiple mirrors. This fundamentally reduces the processing, testing and assembly costs of the core scanning components, thereby greatly improving the manufacturability and economy of the product while ensuring high performance.

[0053] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lidar system, characterized in that, It includes a transmitting module, a double-sided tilting mirror scanning module, and a receiving module; The transmitting module is used to emit a probe beam; The double-sided tilting mirror scanning module is disposed between the transmitting module and the receiving module, and includes a tilting mirror motor, a first reflector, and a second reflector. The first reflector and the second reflector are arranged perpendicularly to each other and are mounted on the tilting mirror motor so as to tilt around the axis with the tilting mirror motor. The first reflector is used to reflect the detection beam emitted by the transmitting module to the external detection area to scan the detection area. The second reflector is used to capture the echo beam of the target object in the detection area and reflect it to the receiving module. The receiving module is used to receive the echo beam.

2. The lidar system according to claim 1, wherein the mirror motor includes a motor, a mirror support, and a drive circuit; the motor is fixedly mounted on the base, the drive circuit is electrically connected to the motor, the mirror support is fixed to the output end of the motor, and the first reflector and the second reflector are fixedly mounted on the mirror support.

3. The lidar system according to claim 2, characterized in that, The swing mirror motor also includes a limiting component to limit and buffer the swing of the motor; The limiting assembly includes a first limiting unit and a second limiting unit. The first limiting unit includes a first magnetic block and a second magnetic block. The first magnetic block is disposed on the side of the swing mirror bracket near the first reflector, and the second magnetic block is disposed on the base corresponding to the first magnetic block. The second limiting unit includes a third magnetic block and a fourth magnetic block. The third magnetic block is disposed on the side of the swing mirror bracket near the second reflector, and the fourth magnetic block is disposed on the base corresponding to the third magnetic block, so as to achieve non-contact limitation of motor swing through magnetic damping.

4. The lidar system according to claim 2, characterized in that, The mirror motor also includes a counterweight, which is disposed on the side of the mirror bracket away from the first and second reflectors.

5. The lidar system according to claim 1, characterized in that, Its features are, The unidirectional swing angle of the swing mirror motor is greater than 60°.

6. The lidar system according to claim 5, characterized in that, The unidirectional swing angle includes an effective angle and a buffer angle. The effective angle is the uniform swing angle of the swing mirror motor, forming a linear swing region. The scanning field of view of the double-sided swing mirror scanning module for the detection area is twice the effective angle. Nonlinear regions for acceleration and deceleration of the swing mirror motor or extended regions of the available radar horizontal field of view are set on both sides of the linear swing region. The sum of the angles of the nonlinear regions or the extended regions on both sides is the buffer angle.

7. The lidar system according to claim 1, characterized in that, The vertical axial angle between the first and second reflectors, and the inter-face angle between the first and second reflectors, both satisfy the system design matching redundancy value.

8. The lidar system according to any one of claims 1 to 7, characterized in that, The emitting module includes a laser and an emitting component. The laser is used to generate the laser beam, and the emitting component is used to optically shape the probe beam and emit it to the first reflector. The receiving module includes a receiving component and a receiving detector. The receiving component is used to receive the echo beam reflected by the second reflector and to converge the echo beam and transmit it to the receiving detector.

9. The lidar system according to claim 8, characterized in that, The emitting assembly includes a first optical device configured to shape the probe beam emitted by the laser and emit the shaped probe beam to the first reflector. Alternatively, the reflective assembly includes a first optical element and a third reflector, wherein the first optical element is configured to shape the probe beam emitted by the laser and emit the shaped probe beam to the third reflector, and the third reflector is configured to reflect the shaped probe beam back to the first reflector.

10. The lidar system according to claim 8, characterized in that, The receiving component includes a second optical device configured to converge the echo beam reflected by the second reflector and then transmit it to the receiving detector. Alternatively, the receiving component includes a second optical element and a fourth reflector, the fourth reflector being configured to reflect the echo beam reflected by the second reflector to the second optical element, the second optical element converging the echo beam and transmitting it to the receiving detector.

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