Laser radar and automatic driving device

Abstract

Embodiments of the present application provide a kind of laser radar and automatic driving equipment.The laser radar includes transceiver module and rotating mirror, and transceiver module includes emitting unit, receiving unit, first shell, second shell and plane mirror;First shell includes receiving cylinder and emitting cylinder, second shell includes first sub-shell and second sub-shell, and emitting cylinder and first sub-shell constitute emitting channel, and receiving cylinder and second sub-shell constitute receiving channel;First sub-shell includes first opening, and second sub-shell includes second opening and first boss, and plane mirror is fixed in first opening, and first boss extends from the first end of second opening to the second end of second opening and forms.Therein, by concentrating the extinction structure on the second shell, the integration of laser radar structure is improved, which is conducive to the miniaturization of laser radar.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and in particular to a lidar and autonomous driving device. Background Technology

[0002] LiDAR, as a high-precision detection instrument, has been widely used in robotics, autonomous driving, and industrial surveying. Its working principle involves a transmitting unit emitting a scanning beam into the detection area. Target objects within the detection area reflect the scanning beam, forming an echo beam. The receiving unit receives the echo beam and obtains the echo signal. The processor then calculates parameters such as the target object's distance, reflectivity, or velocity based on the echo signal.

[0003] In related technologies, the surfaces of internal structural components or optical lenses of lidar typically have a certain reflectivity, and some light beams are reflected or scattered on the surfaces of these components, forming stray light. This stray light entering the transmission channel (the transmission channel of the scanning beam) or the receiving channel (the transmission channel of the echo beam) can affect the signal quality of the echo signal, thereby affecting the detection accuracy of the lidar. Summary of the Invention

[0004] The present invention provides a lidar and an autonomous driving device, which aims to solve at least one defect of existing lidar for autonomous driving devices.

[0005] In a first aspect, the present invention provides a lidar. The lidar includes a transceiver module and a rotating mirror; the transceiver module includes a transmitting unit, a receiving unit, a first housing, a second housing, and a plane mirror.

[0006] The first housing includes a receiving cylinder and a transmitting cylinder, and the second housing includes a first sub-housing and a second sub-housing, wherein the transmitting cylinder and the first sub-housing form a transmitting channel, and the receiving cylinder and the second sub-housing form a receiving channel;

[0007] The first sub-shell includes a first opening, and the second sub-shell includes a second opening and a first protrusion, wherein the plane mirror is fixed to the first opening, and the first protrusion extends from a first end of the second opening to a second end of the second opening.

[0008] In some embodiments, the plane mirror includes a light-transmitting area and a reflective area. The scanning beam emitted from the transmitting unit is transmitted through the transmitting channel and then passes through the light-transmitting area to the rotating mirror. The echo beam corresponding to the scanning beam is reflected by the rotating mirror and then transmitted through the receiving channel to the receiving unit after reflection in the reflective area. Using the plane mirror as a beam-splitting element to achieve near-coaxial propagation of the scanning beam and the echo beam simplifies the optomechanical structure of the system and facilitates the centralized processing of stray light.

[0009] In some embodiments, the edges of the second opening and the first protrusion together form a first light inlet; the echo beam, after being reflected by the reflective area, enters the receiving channel through the first light inlet. The first light inlet is used to transmit the echo beam, and the first protrusion is used to block the propagation path of stray light at the second opening. Suppressing stray light without obstructing the normal propagation of the echo beam is beneficial for improving the detection accuracy of the lidar.

[0010] In some embodiments, the side of the plane mirror facing the rotating mirror includes a first surface, and the other side of the plane mirror away from the rotating mirror includes a second surface, with the first surface parallel to the second surface; the light-transmitting area includes a first light-transmitting area and a second light-transmitting area, with the first surface including the first light-transmitting area and the reflective area, and the second surface including the second light-transmitting area and the anti-reflection area; the scanning beam passes through the second light-transmitting area and the first light-transmitting area in sequence before being directed toward the rotating mirror.

[0011] In some embodiments, the inner wall of the first sub-housing facing the second surface is provided with an anti-reflection pattern. The anti-reflection area and the anti-reflection pattern are used to suppress stray light in the transmission channel to prevent stray light from passing through the light-transmitting area into the receiving channel and affecting the detection accuracy of the lidar.

[0012] In some embodiments, the anti-reflective area is coated with an anti-reflective film; or the anti-reflective area is treated with ink.

[0013] In some embodiments, the second sub-housing further includes an extinction step; the extinction step is located on the side of the second sub-housing near the rotating mirror, and the extinction step includes an arc-shaped extinction surface inclined toward the direction away from the rotating mirror.

[0014] In some embodiments, the transceiver module further includes a first transmitting lens, a second transmitting lens, and a receiving lens; the first transmitting lens is fixed inside the transmitting cylinder, the receiving lens is fixed inside the receiving cylinder, and the second transmitting lens is fixed inside the first sub-housing; the optical axis of the first transmitting lens is parallel to the optical axis of the receiving lens, and the optical axis of the second transmitting lens is perpendicular to the optical axis of the receiving lens.

[0015] In some embodiments, the projection of the first protrusion onto a plane perpendicular to the optical axis of the receiving lens is a first projection, and the projection of the light-transmitting area onto a plane perpendicular to the optical axis of the receiving lens is a second projection, wherein the first projection and the second projection at least partially overlap.

[0016] Secondly, the present invention provides an autonomous driving device. The autonomous driving device includes a vehicle body and the aforementioned lidar.

[0017] The lidar provided in this embodiment of the invention includes a transceiver module and a rotating mirror. The transceiver module includes a transmitting unit, a receiving unit, a first housing, a second housing, and a plane mirror. The first housing includes a receiving cylinder and a transmitting cylinder, and the second housing includes a first sub-housing and a second sub-housing. The transmitting cylinder and the first sub-housing form a transmitting channel, and the receiving cylinder and the second sub-housing form a receiving channel. The plane mirror is fixed to the first sub-housing. By concentrating extinction structures such as extinction patterns, extinction surfaces, and protrusions on the second housing, the propagation path of stray light is changed or the energy dissipation of stray light at the extinction structures is increased, thereby suppressing stray light. While meeting the requirements for stray light suppression, the detection accuracy of the lidar is improved. In addition, this centralized processing of stray light can also improve the integration of the lidar, which is beneficial for the miniaturization of the lidar. Attached Figure Description

[0018] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are designated as the same elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 This is a schematic diagram of the structure of a lidar provided in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of a lidar provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of a lidar provided in an embodiment of the present invention;

[0022] Figure 4 A perspective view of the transceiver module and rotating mirror provided in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the transceiver module and rotating mirror provided in an embodiment of the present invention;

[0024] Figure 6 A cross-sectional view of the transceiver module and rotating mirror provided in an embodiment of the present invention;

[0025] Figure 7 A perspective view of a plane mirror provided in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the second housing provided in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the top shell provided in an embodiment of the present invention.

[0028] Figure label:

[0029] 100. LiDAR; 11. Transmitting unit; 12. Receiving unit; 13. First housing; 131. Receiving cylinder; 1311. Second light inlet; 1312. Third light inlet; 132. Transmitting cylinder; 1321. First light outlet; 14. Second housing; 141. First sub-housing; 142. Second sub-housing; 1411. Fourth light inlet; 15. Plane mirror; 152. Reflective area; 1503. Anti-reflective area; 1511 1. First light-transmitting area; 1512. Second light-transmitting area; 16. First emitting lens; 17. Second emitting lens; 18. Receiving lens; 1421. Second opening; 1422. First boss; 1423. Extinction step; 1424. Extinction pattern; 2. Rotating mirror; 201. Reflecting surface; 3. Top shell; 301. Light-blocking boss; 3011. Second extinction surface; 4. Bottom shell; 5. Window; 200. Scanning beam; 300. Echo beam. Detailed Implementation

[0030] The present invention will now be described in detail with reference to specific embodiments. It should be emphasized that the following description is merely exemplary and is not intended to limit the scope and application of the present invention.

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments. In the embodiments of this application, the specific shape, structure, and size of the "LiDAR and autonomous driving equipment" are not limited; those skilled in the art can selectively use any suitable implementation method according to actual needs.

[0032] The surfaces of internal structural components or optical lenses in a lidar system typically possess a certain reflectivity, such as the transmitting lens, receiving lens, receiving cylinder, transmitting cylinder, and lidar housing. Some light rays are reflected or scattered at the surfaces of these components, forming stray light. Stray light entering the transmitting channel (the transmission channel of the scanning beam) or receiving channel (the transmission channel of the echo beam) can affect the signal quality of the echo signal, thus impacting the lidar's detection accuracy. To reduce the interference of stray light on the echo signal, existing technologies involve fabricating bosses, extinction surfaces, and apertures on the surfaces of different components to limit the transmission path of stray light. However, this dispersed stray light suppression scheme increases the processing difficulty of each structural component and the overall structural complexity of the system, also increasing the overall cost.

[0033] To address the aforementioned issues, in this embodiment, by centrally arranging the various extinction structures on a subset of components, the processing accuracy of the extinction structure of a single component only needs to be controlled during the manufacturing process. This achieves stray light suppression while improving the processing efficiency of the lidar, reducing the complexity of the overall structure, and facilitating the miniaturization and cost reduction of the lidar.

[0034] In one embodiment, see Figures 1 to 9 This application discloses a lidar. The lidar 100 includes a housing and a window 5 fixedly mounted on the housing. The housing includes a top shell 3 and a bottom shell 4, which together form the internal cavity of the lidar 100 for housing the internal transceiver module and scanning elements. The window 5 is used to transmit scanning beams and echo beams, and works with the housing to separate the internal cavity of the lidar 100 from the external environment, preventing rain, fog, dust, etc. from entering the internal cavity and affecting the normal operation of the lidar 100.

[0035] In one embodiment, combined Figure 1 and Figure 2 The lidar 100 includes a housing, a transceiver module, a scanning element, and a window 5. The scanning element is a galvanometer, a tilting mirror, or a rotating mirror. The transceiver module includes a transmitting unit 11, a receiving unit 12, a first housing 13, a second housing 14, and a plane mirror 15. The plane mirror 15 includes a reflective area and a light-transmitting area.

[0036] In one embodiment, the scanning element is a rotating mirror 2, and the lidar 100 also includes a motor. The rotating mirror 2 includes multiple reflective surfaces 201, which are used to deflect the propagation direction of the scanning beam and the propagation direction of the echo beam. The rotating mirror 2 rotates around a rotation axis under the drive of the motor to control the deflection direction of the scanning beam and the echo beam.

[0037] In one embodiment, combined Figure 2 and Figure 3In the internal chamber of the lidar, the transceiver module and the rotating mirror 2 are arranged sequentially along the Y-axis, while the first housing 13, the second housing 14, and the window 5 are arranged sequentially along the Z-axis. The first housing 13 includes a receiving cylinder 131 and a transmitting cylinder 132. The receiving cylinder 131 is located between the rotating mirror 2 and the transmitting cylinder 132. The second housing 14 includes a first sub-housing 141 and a second sub-housing 142. The first sub-housing 141 includes a first opening, and the plane mirror 15 is fixedly installed in the first opening.

[0038] In one embodiment, the receiving cylinder 131 and the transmitting cylinder 132 are either integrally formed parts or separate connecting parts. The separate connecting methods include screws, clips, welding, or overlapping. The first sub-shell 141 and the second sub-shell 142 are either integrally formed parts or separate connecting parts. The separate connecting methods include screws, clips, welding, or overlapping.

[0039] In one embodiment, combined Figures 3 to 6 The first sub-shell 141 and the second sub-shell 142 are integrally molded parts. The transmitting cylinder 132 and the first sub-shell 141 are fixedly connected and form a transmitting channel. The receiving cylinder 131 and the second sub-shell 142 are fixedly connected and form a receiving channel. The scanning beam emitted from the transmitting unit 11 is transmitted through the transmitting channel and then passes through the light-transmitting area to the rotating mirror 2. After being reflected by one of the reflecting surfaces 201 of the rotating mirror 2, it is transmitted through the window 5 and directed towards the detection area. The target object located in the detection area reflects the scanning beam to form an echo beam. The echo beam passes through the window 5 and reaches the surface of the rotating mirror 2. After being reflected by one of the reflecting surfaces 201 of the rotating mirror 2, it is directed towards the reflective area 152. After being reflected by the reflective area 152, it is transmitted through the receiving channel to the receiving unit 12. Using the plane mirror 15, which includes the light-transmitting area and the reflective area, as a beam splitting element is used to achieve near coaxial propagation of the scanning beam and the echo beam. This simplifies the optomechanical structure of the system, reduces the volume of the transceiver module, and is beneficial for the centralized processing of stray light and the miniaturization of the lidar.

[0040] In one embodiment, a main control circuit board is fixedly installed inside the lidar 100. The main control circuit board includes a processor, which controls the period and emission time of the scanning beam emitted by the transmitting unit 11. The receiving unit 12 is used to obtain the echo signal based on the received echo beam and transmit the echo signal to the processor inside the lidar 100. The processor is also used to measure the time interval between the emission time of the scanning beam and the reception time of the echo beam based on the echo signal, and calculate the distance between the lidar 100 and the target object by combining the speed of light. By deflecting the scanning beam at different angles based on the scanning element and receiving the echo beams of targets located at different positions within the detection area, a three-dimensional point cloud map of the detection area is constructed.

[0041] In one embodiment, combined Figures 3 to 6The transmitting tube 132 includes a first light-emitting port 1321, the receiving tube 131 includes a second light-inlet port 1311 and a third light-inlet port 1312, the first sub-shell 141 also includes a fourth light-inlet port 1411, and the second sub-shell 142 includes a second opening 1421. The scanning beam 200 emitted from the transmitting unit 11 passes sequentially through the first light-emitting port 1321 and the fourth light-inlet port 1411 before entering the first sub-shell 141. After being transmitted within the first sub-shell 141, it is directed through the light-transmitting area of ​​the transmission plane mirror 15 to the rotating mirror 2, and after being reflected by one of the reflecting surfaces 201 of the rotating mirror 2, it is directed through the transmission window 5 to the detection area. The target object located within the detection area reflects the scanning beam 200 to form an echo beam 300. The echo beam 300 passes through the window 5 and is directed towards the rotating mirror 2. After being reflected by one of the reflecting surfaces 201 of the rotating mirror 2, it reaches the reflective area of ​​the plane mirror 15. After being reflected by the reflective area of ​​the plane mirror 15, it passes through the second opening 1421, the second light inlet 1311 and the third light inlet 1312 in sequence and reaches the photosensitive surface of the receiving unit 12.

[0042] In one embodiment, combined Figures 3 to 6 The transceiver module also includes at least one transmitting lens and at least one receiving lens. The at least one transmitting lens includes a first transmitting lens 16 and a second transmitting lens 17, and the at least one receiving lens includes a receiving lens 18. The first transmitting lens 16 is fixed inside the transmitting cylinder 132, the receiving lens is fixed inside the receiving cylinder 131, and the second transmitting lens 17 is fixed inside the first sub-housing 141. The optical axes of the first transmitting lens 16 and the receiving lens 18 are both parallel to the Z-axis, and the optical axis of the second transmitting lens 17 is parallel to the Y-axis. That is, the optical axis of the first transmitting lens 16 is parallel to the optical axis of the receiving lens 18, and the optical axis of the second transmitting lens 17 is perpendicular to the optical axis of the receiving lens 18. The first transmitting lens 16 and the second transmitting lens 17 are both disposed on the propagation path of the scanning beam 200 and are used for one or more combinations of optical processing such as collimation, focusing, and beam expansion of the scanning beam 200. The receiving lens 18 is disposed on the propagation path of the echo beam 300 and is used for one or more combinations of optical processing such as collimation, focusing, and beam expansion of the echo beam 300.

[0043] During the transmission of the scanning beam 200 within the first sub-housing 141, a portion of the beam may strike the inner wall of the first sub-housing 141 near the plane mirror 15. Parts of the scanning beam or echo beam reflected from the surfaces of other structural components within the lidar 100 (such as the rotating mirror 2, the inner wall of the outer casing, and the receiving cylinder 131) may also penetrate the light-transmitting area and strike the inner wall of the first sub-housing 141 near the plane mirror 15. These various portions of the beam collectively form a first type of stray light at the inner wall of the first sub-housing 141 near the plane mirror 15. This first type of stray light will again penetrate from the light-transmitting area of ​​the plane mirror 15 into the propagation path of the echo beam 300 and be received by the receiving unit 12, thereby affecting the accuracy of the echo signal.

[0044] Due to the rotation of mirror 2, scattered light from the internal structural components of the lidar at large angles is deflected by mirror 2 and reaches the surface of the second sub-housing 142 near mirror 2. This second type of stray light is reflected from the surface of the second sub-housing 142 near mirror 2, forming a second type of stray light. This second type of stray light is reflected from the reflective area of ​​plane mirror 15 into the propagation path of the echo beam 300 and is received by receiving unit 12. Furthermore, since both mirror 2 and plane mirror 15 are close to window 5, some beams are reflected or scattered from the gap between mirror 2 and window 5 onto the inner wall of the top housing 3, forming a third type of stray light. This third type of stray light is reflected or scattered from the surfaces of the internal components of the lidar before entering the propagation path of the echo beam 300. These three types of stray light are only described illustratively.

[0045] To suppress the impact of stray light on the detection accuracy of lidar, in one embodiment, combined with Figures 3 to 6 The second sub-shell 142 also includes a first protrusion 1422. The first protrusion 1422 extends along the Y-axis from the first end of the second opening 1421 (the end of the second opening 1421 closer to the rotating mirror 2) to the second end of the second opening 1421 (the end of the second opening 1421 farther from the rotating mirror 2). The edge of the second opening 1421 and the edge of the first protrusion 1422 together form a first light inlet, and the first light inlet and the second light inlet 1311 are connected. After being reflected by the reflective area of ​​the plane mirror 15, the echo beam 300 enters the receiving cylinder 131 sequentially through the first light inlet and the second light inlet 1311. That is, the first protrusion 1422 is used to block the propagation path of stray light at the second opening 1421. Without blocking the normal propagation of the echo beam, the suppression of stray light incident on the second opening 1421 is achieved, which is beneficial to improving the detection accuracy of the lidar.

[0046] In one embodiment, the contour and size of the first protrusion 1422 are designed based on the optical simulation results of stray light spots incident on the second opening 1421. The optical simulation results include the shape and size of the stray light spots incident on the second opening 1421. This contour-following design can better suppress various types of stray light without obstructing the propagation path of the echo beam 300, thereby preventing various types of stray light from entering the receiving channel and affecting the detection accuracy of the lidar.

[0047] In one embodiment, combined Figure 3 , Figure 5 and Figure 8 The second sub-housing 142 also includes an extinction step 1423. The extinction step 1423 is located at the end of the second opening 1421 near the rotating mirror 2 (i.e., the side of the second sub-housing 142 near the rotating mirror 2), adjacent to the first boss 1422. The first boss 1422 and the extinction step 1423 are arranged sequentially along the Y-axis. The extinction step 1423 also includes a first extinction surface inclined away from the rotating mirror 2. The first extinction surface reflects stray light, causing stray light (such as second-type stray light) propagating to the extinction step 1423 to deflect away from the first light inlet, thereby preventing second-type stray light from entering the receiving channel through the first light inlet and affecting the detection accuracy of the lidar. In some embodiments, the first extinction surface of the extinction step 1423 is an arc-shaped extinction surface or a plane.

[0048] In one embodiment, the light-transmitting area is located on the side of the plane mirror 15 closest to the window piece 5 (i.e., the side of the plane mirror 15 furthest from the second opening 1421). The projection of the first protrusion 1422 onto a plane perpendicular to the optical axis of the receiving lens 18 is a first projection, and the projection of the light-transmitting area onto a plane perpendicular to the optical axis of the receiving lens 18 is a second projection. The first projection and the second projection at least partially overlap. The light-transmitting area and the first protrusion 1422 are correspondingly arranged to ensure that the first protrusion 1422 suppresses stray light transmitted from the light-transmitting area.

[0049] In one embodiment, combined Figures 1 to 7 The plane mirror 15 has a first surface (not shown) on the side facing the rotating mirror 2, and a second surface (not shown) on the other side away from the rotating mirror 2. The first surface is parallel to the second surface, and the angle between the normal of the first surface and the Y-axis is 45 degrees, and the angle between the normal of the first surface and the Z-axis is also 45 degrees. The first surface is parallel to the X-axis. The light-transmitting area includes a first light-transmitting area 1511 and a second light-transmitting area 1512. The first surface includes the first light-transmitting area 1511 and a reflective area 152, and the second surface includes the second light-transmitting area 1512 and an anti-reflection area 1503. The scanning beam 200 passes through the second light-transmitting area 1512 and the first light-transmitting area 1511 in sequence before being directed towards the rotating mirror 2.

[0050] In one embodiment, the reflective area 152 is coated with a reflective film, which may include an aluminum-plated reflective film or a silver-plated reflective film. Anti-reflective films are provided on both the first light-transmitting area 1511 and the second light-transmitting area 1512 to improve the transmittance of the scanning beam 200, reduce energy loss of the scanning beam 200 when it passes through the light-transmitting area, and improve detection performance and energy utilization. A specular reflective film is provided on the reflective area 152 to improve the reflectivity of the echo beam 300, reduce the loss of the echo beam 300 in the reflective area 152, and improve detection performance.

[0051] In some embodiments, the antireflective coating is a combination of one or more thin films having a specific refractive index, which can reduce energy loss during light transmission and improve the transmittance of the light-transmitting area of ​​the plane mirror 15 to the scanning beam 200.

[0052] In one embodiment, the anti-reflective region 1503 is coated with an anti-reflective film. The anti-reflective film is one or more materials with different refractive indices, such as silicon dioxide, aluminum oxide, magnesium fluoride, or silicon nitride. In another embodiment, the anti-reflective region 1503 is ink-coated. This ink-coating process improves the absorption rate of stray light, thereby suppressing stray light.

[0053] By providing an anti-reflection zone 1503 on the second surface of the plane mirror 15, the reflection intensity of the scanning beam 200 on the other surfaces of the second surface of the plane mirror 15, excluding the second light-transmitting zone 1512, is effectively reduced, thereby reducing the intensity of stray light in the first sub-shell 141.

[0054] In one embodiment, combined Figure 4 and Figure 6 The inner wall of the first sub-shell 141 facing the second side is provided with an extinction pattern 1424. The extinction pattern 1424 includes multiple bosses and multiple grooves, with one groove located between two bosses. When stray light of the first type propagates to the extinction pattern 1424, multiple reflections will occur on the surface of the uneven structure formed by the multiple bosses and multiple grooves. During the multiple reflections, the energy of the stray light will continuously attenuate, thereby suppressing the stray light incident on the region where this extinction structure is located.

[0055] In the above embodiments, by concentrating the extinction structures such as the first protrusion 1422, the extinction step 1423, and the extinction texture 1424 on the second housing 14, the propagation path of stray light is changed or the energy dissipation of stray light at the extinction structure is increased, thereby suppressing stray light. While meeting the stray light suppression requirements, the detection accuracy of the lidar 100 is improved. This centralized processing of stray light can also improve the integration of the lidar 100, which is beneficial for lidar miniaturization.

[0056] In one embodiment, to suppress the influence of third-type stray light, such as Figure 9 As shown, the top shell 3 is also provided with a light-blocking protrusion 301, and the light-blocking protrusion 301 has a second extinction surface 3011 with a preset tilt angle. The second extinction surface 3011 is parallel to the X-axis direction and is tilted away from the window plate 5. The second extinction surface 3011 is used to deflect the third type of stray light toward the window plate 5, so that the third type of stray light can pass through the window plate 5 and prevent it from entering the propagation path of the echo beam 300, thereby further improving the detection accuracy of the lidar 100.

[0057] In some embodiments, the transmitting unit 11 includes a planar or linear transmitting array composed of multiple lasers, wherein the lasers are one or more combinations of laser diodes, fiber lasers, vertical-cavity surface-emitting lasers (VCSELs), or edge-emitting lasers (EELs). The receiving unit 12 includes a planar or linear receiving array composed of multiple photosensitive elements. The photosensitive elements are single-photon avalanche diodes (SPADs) or silicon photomultipliers (SiPMs).

[0058] In one embodiment, this application discloses an autonomous driving device, which includes a central controller, a vehicle body, and a LiDAR 100 as described in the above embodiment, mounted on the vehicle body. The central controller is used to perform autonomous driving tasks such as path planning, target recognition, and obstacle avoidance based on the three-dimensional point cloud map obtained by the LiDAR 100. In some embodiments, the processor or central controller can be a Field-Programmable Gate Array (FPGA), a System on Chip (SoC), a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processing Circuit, a Micro Controller Unit (MCU), an Application-Specific Integrated Circuit (ASIC), or any combination thereof for implementing the relevant functions.

[0059] The above description, in conjunction with specific / preferred embodiments, provides a further detailed explanation of the present invention, but it should not be construed as limiting the specific implementation of the invention to these descriptions. Those skilled in the art will recognize that various modifications and improvements can be made without departing from the concept of the present invention, and all such modifications and improvements fall within the scope of protection of the present invention.

[0060] It should be noted that, unless otherwise expressly specified and limited, the terms "perpendicular to," "parallel to," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. The terms "installation," "fitting," "connection," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixing" can be bolted, clipped, or glued. 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, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. "A plurality" or "several" means two or more. In addition, "and / or" includes any and all combinations of one or more of the related listed items. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A lidar, characterized in that, It includes a transceiver module and a rotating mirror. The transceiver module includes a transmitting unit, a receiving unit, a first housing, a second housing, and a plane mirror. The first housing includes a receiving cylinder and a transmitting cylinder, and the second housing includes a first sub-housing and a second sub-housing, wherein the transmitting cylinder and the first sub-housing form a transmitting channel, and the receiving cylinder and the second sub-housing form a receiving channel; The first sub-shell includes a first opening, and the second sub-shell includes a second opening and a first boss, wherein the plane mirror is fixed to the first opening, and the first boss extends from a first end of the second opening to a second end of the second opening.

2. The lidar according to claim 1, characterized in that, The plane mirror includes a light-transmitting area and a light-reflecting area, wherein the scanning beam emitted by the emitting unit is transmitted through the emitting channel and then passes through the light-transmitting area to be directed toward the rotating mirror; The echo beam corresponding to the scanning beam is reflected by the rotating mirror and directed toward the reflective area. After being reflected by the reflective area, it is transmitted through the receiving channel to the receiving unit.

3. The lidar according to claim 2, characterized in that, The edge of the second opening and the edge of the first protrusion together form the first light inlet. The echo beam is reflected in the reflective area and enters the receiving channel through the first light inlet.

4. The lidar according to claim 2, characterized in that, The side of the plane mirror facing the rotating mirror includes a first surface, and the other side of the plane mirror away from the rotating mirror includes a second surface, with the first surface parallel to the second surface; The light-transmitting area includes a first light-transmitting area and a second light-transmitting area. The first surface includes the first light-transmitting area and the reflective area, and the second surface includes the second light-transmitting area and the anti-reflective area. The scanning beam passes through the second and first light-transmitting areas in sequence before being directed toward the rotating mirror.

5. The lidar according to claim 4, characterized in that, The inner wall of the first sub-shell facing the second side is provided with a matte texture.

6. The lidar according to claim 4, characterized in that, The anti-reflective area is coated with an anti-reflective film; or The anti-reflective zone is treated with ink.

7. The lidar according to claim 1, characterized in that, The second sub-shell also includes matte steps; The matting step is located on the side of the second sub-shell near the rotating mirror, and the matting step includes an arc-shaped matting surface that is inclined in a direction away from the rotating mirror.

8. The lidar according to claim 2, characterized in that, The transceiver module also includes a first transmitting lens, a second transmitting lens, and a receiving lens; The first transmitting lens is fixed inside the transmitting cylinder, the receiving lens is fixed inside the receiving cylinder, and the second transmitting lens is fixed inside the first sub-shell. The optical axis of the first emitting lens is parallel to the optical axis of the receiving lens, and the optical axis of the second emitting lens is perpendicular to the optical axis of the receiving lens.

9. The lidar according to claim 8, characterized in that, The projection of the first protrusion onto a plane perpendicular to the optical axis of the receiving lens is the first projection, and the projection of the light-transmitting area onto a plane perpendicular to the optical axis of the receiving lens is the second projection, wherein the first projection and the second projection at least partially overlap.

10. An autonomous driving device, characterized in that, Includes the vehicle body and the lidar as described in any one of claims 1 to 9.

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