An optical scanning system, a lidar and a mobile device

Abstract

The application relates to the technical field of laser detection, and provides an optical scanning system, a laser radar and a mobile device, the optical scanning system comprising a transceiving module and a scanning module, the transceiving module being used for emitting laser and receiving echo signals of a target. The scanning module has at least one reflecting surface, and the at least one reflecting surface is located on a laser path emitted by the transceiving module and is used for reflecting laser. The transceiving module and the scanning module are rotationally arranged, the rotating speeds of the transceiving module and the scanning module are different, and an included angle is arranged between the laser emitted by the transceiving module and the rotating shaft of the transceiving module. The optical scanning system of the application realizes three-dimensional scanning by using a simple structure and reduces the cost.

Description

Technical Field

[0001] This application relates to the field of radar detection technology, and in particular to an optical scanning system, lidar, and mobile device. Background Technology

[0002] In recent years, LiDAR has been widely used in various fields such as autonomous vehicles, industry, drones, robots, and 3D mapping to obtain parameters such as the attitude, distance, orientation, and shape of targets, enabling 3D modeling of targets for tracking and identification.

[0003] While traditional two-dimensional lidar can provide some distance measurement capabilities, its vertical resolution is typically low, making it difficult to meet the requirements of three-dimensional perception in complex scenes. To address the perception requirements in complex scenes, related technologies utilize mechanical lidar to perform detection tasks.

[0004] However, mechanical lidar structures are relatively complicated and costly in related technologies. Utility Model Content

[0005] This application provides an optical scanning system, a lidar, and a mobile device. The optical scanning system can achieve three-dimensional scanning with a simple structure, reducing costs.

[0006] The first aspect of this application provides an optical scanning system, including a transceiver module and a scanning module, wherein the transceiver module is used to emit laser light. The scanning module has at least one reflective surface, and at least one reflective surface is located on the path of the laser light emitted by the transceiver module for reflecting the laser light. Both the transceiver module and the scanning module are rotatably configured, and the transceiver module and the scanning module rotate at different speeds. An angle is formed between the laser light emitted by the transceiver module and the rotation axis of the transceiver module.

[0007] According to the laser transceiver system of the first aspect of this application, the laser emitted by the transceiver module can illuminate the reflective surface of the scanning module. The reflective surface reflects the laser, changing its propagation path and creating an angle between the reflected laser and the original laser, thus enabling laser propagation in different directions. This application also allows the laser propagating in different directions to rotate by rotating the transceiver module and the scanning module, thereby achieving three-dimensional laser scanning. Therefore, this application achieves three-dimensional laser scanning with only a single transceiver module. Compared to related technologies that use multiple transceiver modules stacked together for three-dimensional scanning, this application's solution has a simpler structure and can significantly reduce costs.

[0008] In addition, the laser emitted by the transceiver module of this application and the rotating shaft of the transceiver module have an angle between them. This allows the laser to be deflected at a certain angle in advance, and after being reflected by the reflective surface, it can be deflected at another certain angle. This not only increases the scanning dimension of the laser and achieves a better three-dimensional laser scanning effect, but also increases the horizontal and vertical scanning areas of the laser, and makes the laser scanning effect even better.

[0009] In one possible implementation, the angle between the laser beam path emitted by the transceiver module and the transceiver module's rotation axis is 10°-46°. If the angle is too small, the vertical scanning range of the lidar is relatively small, reducing the radar's ability to perceive the external environment. If the angle is too large, and the laser beam undergoes both refraction and reflection when passing through the scanning module, total internal reflection is likely to occur, causing the laser beam to propagate only inside the scanning module and preventing the light from escaping. By setting the angle between the laser beam path emitted by the transceiver module and the transceiver module's rotation axis to 10°-46°, both sensing capability can be guaranteed while avoiding total internal reflection.

[0010] In one possible implementation, the axes of the transceiver module and the scanning module coincide. When the axes of the transceiver module and the scanning module coincide, the distance between the transceiver module and the scanning module in the direction perpendicular to the axis can be reduced, thus reducing the size in the direction perpendicular to the axis.

[0011] In one possible implementation, the axes of the transceiver module and the scanning module do not coincide, and the included angle between their axes is greater than 0° and less than or equal to 15°. When the axes of the transceiver module and the scanning module cannot coincide, if there is an angle between their axes, ensuring that the angle is greater than 0° and less than or equal to 15° can minimize the increase in the size of the LiDAR.

[0012] In one possible implementation, the scanning module further includes at least one refractive surface located in the path of the laser emitted by the transceiver module. By setting the refractive surface, the cooperation between the refractive and reflective surfaces allows for better control of the laser propagation range.

[0013] In one possible implementation, the scanning module includes a first refractive surface and a second refractive surface. The first refractive surface is located between the reflecting surface and the transceiver module, and the second refractive surface is located on the path of the laser light reflected by the reflecting surface. The cooperation of the first refractive surface, the reflecting surface, and the second refractive surface facilitates control of the laser propagation range.

[0014] In one possible implementation, the transceiver module and the scanning module rotate in the same or opposite directions. By setting the rotation directions of the transceiver module and the scanning module, the rotation of the transceiver module and the scanning module can be flexibly controlled to achieve a coordinated solution according to actual conditions.

[0015] In one possible implementation, both the transceiver module and the scanning module can rotate in opposite directions, with a rotational speed of 300 rpm to 18,000 rpm. By adjusting the rotational speeds of the transceiver and scanning modules, the coverage of the laser beam can be guaranteed.

[0016] In one possible implementation, the scanning module is a mirror or prism with a polygonal reflective surface. The longest side of the reflective surface is less than or equal to 18 cm, and the shortest side is greater than or equal to 1 cm. By setting the size of the reflective surface, its area can be limited, ensuring that the laser emitted by the transceiver module is fully received, as well as the echo laser reflected from the target object.

[0017] In one possible implementation, the transceiver module includes a transmitter, a reflector, a receiver, and a lens. The transmitter is used to emit laser light, the reflector is located in the propagation path of the laser light emitted by the transmitter and is used to reflect the laser light to the lens. The laser light is then directed to the scanning module via the lens, and the receiver is used to receive the laser light reflected by an obstacle.

[0018] A second aspect of this application provides a lidar, including a lidar body and an optical scanning system as described above. The lidar body is provided with a control module and a drive unit, which is used to drive the transceiver module and the scanning module to rotate.

[0019] A third aspect of this application provides a mobile device, including a device body and the aforementioned lidar. Attached Figure Description

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

[0021] Figure 1 This is a schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0022] Figure 2 This is a schematic diagram of the structure of an optical scanning system provided in an embodiment of this application;

[0023] Figure 3 This is another structural schematic diagram of the optical scanning system provided in the embodiments of this application;

[0024] Figure 4 This is another structural schematic diagram of the optical scanning system provided in the embodiments of this application;

[0025] Figure 5 These are stereoscopic images and distribution maps of the point cloud of the lidar provided in this application embodiment at different angles when the integration time is 0.2s;

[0026] Figure 6 These are stereoscopic images and distribution maps of the point cloud of the lidar provided in this application embodiment at different angles when the integration time is 0.4s;

[0027] Figure 7 These are stereoscopic images and distribution maps of the point cloud of the lidar provided in this application embodiment at different angles when the integration time is 1 second;

[0028] Figure 8 This is a graph showing the change in point cloud coverage over integration time in this application.

[0029] Figure label:

[0030] 10. Transceiver module; 11. Transmitter; 12. Receiver; 13. Reflector; 14. Lens;

[0031] 20. Scanning module; 21. Scanning body; 22. Reflective surface; 23. First refractive surface; 24. Second refractive surface;

[0032] 100. Optical scanning system; 200. Control module; 300. Drive unit. Detailed Implementation

[0033] LiDAR mainly consists of an optical scanning system and an information processing structure. The optical scanning system includes a transmitter that can emit laser light and a receiver that can receive laser light. LiDAR uses a laser as the emission source to emit detection light towards the target. When the light encounters an obstacle, it will be reflected. The reflected light can be received by the receiving system. After the reflected light is processed by the information processing structure, parameters such as the target's attitude, distance, orientation, and shape can be obtained, so as to achieve target tracking and identification.

[0034] Existing LiDAR systems capable of 3D scanning can be broadly categorized into two types: mechanical LiDAR and solid-state LiDAR. Mechanical LiDAR achieves horizontal scanning by rotating the entire sensor or some of its components, while vertical scanning relies on multiple layers of laser emitters. While this method can improve data acquisition density to some extent, the stacking of numerous lasers significantly increases structural complexity and substantially raises hardware costs.

[0035] Based on the above problems, the optical scanning system provided in this application has a relatively simple structure. It can process laser light by only using the cooperation of the scanning module and the transceiver module, so that the laser light can be emitted in different directions. Furthermore, by rotating the scanning module and the transceiver module, the laser light can be rotated for scanning, thereby realizing multi-dimensional scanning function.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] Figure 1 This is a schematic diagram of the structure of the lidar provided in the embodiments of this application. Figure 2 This is a schematic diagram of the structure of an optical scanning system 100 provided in an embodiment of this application.

[0038] See Figure 1 As shown, this application provides a lidar and a mobile device using the lidar. A lidar is a sensor based on laser technology. Specifically, it emits a laser beam through a transmitter, illuminating a target object. The target object reflects the laser beam, and the lidar receives the reflected laser beam to calculate the distance and position of the target object, thus achieving distance measurement and target detection. Mobile devices using lidar can detect targets or their locations. The mobile devices described in this application include, but are not limited to, intelligent transportation systems, drones, and industrial automation equipment.

[0039] Combination Figure 2 As shown, this application provides an optical scanning system 100 for use in lidar, used to transmit and receive lasers. The optical scanning system 100 of this application includes a transceiver module 10 and a scanning module 20. The transceiver module 10 is used to transmit lasers, and the transceiver module 10 can also be used to receive lasers reflected by a target object, the lasers reflected by the target object being echo signals.

[0040] Specifically, the transceiver module 10 includes a transmitter 11, a reflector 13, a receiver 12, and a lens 14. The transmitter 11 emits laser light. The reflector 13 is located in the propagation path of the laser light emitted by the transmitter 11 and reflects the laser light to the lens 14. The laser light is then directed through the lens 14 to the scanning module 20, and after processing by the scanning module 20, it illuminates the target object. The target object can reflect the laser light. The reflected laser light is processed by the scanning module 20 and then directed to the lens 14. After being processed by the lens 14, the reflected laser light is received by the receiver 12.

[0041] The scanning module 20 of this application has at least one reflective surface 22, and at least one reflective surface 22 is located on the propagation path of the laser emitted by the transceiver module 10. When the laser irradiates the target object, it first irradiates the reflective surface 22. The reflective surface 22 is used to reflect the laser, and the laser reflected by the reflective surface 22 can change the propagation path.

[0042] In this application, both the transceiver module 10 and the scanning module 20 are rotatable. The rotational speed of the transceiver module 10 is different from that of the scanning module 20. For example, in actual settings, the rotational speed of the transceiver module 10 can be set to be greater than that of the scanning module 20, or vice versa. This application does not impose any limitations on this. However, in this application, the rotational speeds of both the transceiver module 10 and the scanning module 20 do not exceed 600 revolutions per second. Furthermore, the ratio of the rotational speed of the transceiver module 10 to that of the scanning module 20 is not an integer value. This setting is to ensure the precision of the coordination between the lens 14 and the scanning module 20, thereby ensuring the consistency of the scanning trajectory, data synchronization, and overall working efficiency of the optical scanning system 100.

[0043] An angle is provided between the laser emitted by the transceiver module 10 and the rotating shaft of the transceiver module 10. In this way, the laser emitted by the transceiver module 10 is deflected by a certain angle before illuminating the reflecting surface 22, and then reflected out by the reflecting surface 22.

[0044] It should be noted that the lidar includes a lidar body, and the optical scanning system 100 of this application is disposed within the lidar body. To control the rotation of the transceiver module 10 and the scanning module 20, a control module 200 and a drive unit 300 are also disposed within the lidar body. The control module 200 is used to control the opening and closing of the drive unit 300 and to control the rotation speed and direction of the drive unit 300. The output end of the drive unit 300 is connected to the transceiver module 10 and the scanning module 20, and the drive unit 300 is used to drive the transceiver module 10 and the scanning module 20 to rotate.

[0045] It is worth mentioning that the transceiver module 10 and the scanning module 20 can share a single drive unit 300, and the transceiver module 10 and the scanning module 20 are respectively connected to the drive unit 300 through different transmission structures. Alternatively, as in the embodiment of this application, two drive units 300 are provided, and the two drive units 300 are respectively connected to the transceiver module 10 and the scanning module 20, so that the transceiver module 10 and the scanning module 20 can be driven by different drive units 300.

[0046] The optical scanning system 100 of this application allows the laser emitted by the transceiver module 10 to illuminate the reflective surface 22 of the scanning module 20. The reflective surface 22 reflects the laser, changing its propagation path and creating an angle between the reflected and unreflected laser beams, thus enabling laser propagation in different directions. Furthermore, by rotating the transceiver module 10 and the scanning module 20, the laser beams propagating in different directions can rotate, achieving three-dimensional laser scanning. Therefore, this application achieves three-dimensional laser scanning with only a single transceiver module 10. Compared to related technologies that utilize multiple stacked transceiver modules 10 for three-dimensional scanning, this application's solution has a simpler structure and significantly reduces costs.

[0047] In addition, the laser emitted by the transceiver module 10 of this application has an angle with the rotating axis of the transceiver module 10. This allows the laser to be deflected at a certain angle in advance, and after being reflected by the reflective surface 22, it can be deflected at a certain angle again. This not only increases the scanning dimension of the laser and achieves a better three-dimensional laser scanning effect, but also increases the horizontal and vertical scanning areas of the laser, and makes the laser scanning effect better.

[0048] It should be noted that the rotation directions of the transceiver module 10 and the scanning module 20 in this application can be the same or opposite. When the rotation directions of the transceiver module 10 and the scanning module 20 are the same, both the transceiver module 10 and the scanning module 20 can rotate clockwise or counterclockwise around the axis. When the rotation directions of the transceiver module 10 and the scanning module 20 are opposite, one of the transceiver module 10 and the scanning module 20 rotates clockwise and the other rotates counterclockwise.

[0049] In some embodiments, the rotation speed of both the transceiver module 10 and the scanning module 20 is 300 rpm to 18,000 rpm. Specifically, the rotation speed of the transceiver module 10 and the scanning module 20 can be 300 rpm or 18,000 rpm, or any rotation speed within the range of 300 rpm to 18,000 rpm, such as 1,000 rpm, 5,000 rpm, 10,000 rpm or 15,000 rpm.

[0050] In some embodiments, the scanning module 20 is a mirror or prism, and the shape of the reflecting surface 22 is not limited. For example, the reflecting surface 22 can be circular or elliptical, or it can be a polygon. This application uses a polygonal reflecting surface 2 as an example for illustration. The edge of the reflecting surface 22 includes multiple straight line segments connected end to end. Among these straight line segments on the edge of the reflecting surface 22, the longest straight line segment has a dimension of less than or equal to 18 cm, and the shortest straight line segment has a dimension of greater than or equal to 1 cm.

[0051] In some feasible implementations, the angle between the laser beam path emitted by the transceiver module 10 and the axis of rotation of the transceiver module 10 is 10°-46°, for example, the angle can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45° or 46°.

[0052] It should be noted that when a lidar uses laser scanning, it has a horizontal scanning range and a vertical scanning range. The horizontal scanning range is the horizontal field of view of the lidar, and the vertical scanning range is the vertical field of view of the lidar. Taking this application as an example, the laser in this application is reflected by the reflective surface 22 and then illuminates the target object. The range scanned by the reflected laser in the direction of the rotation axis of the transceiver module 10 is the vertical field of view. When the transceiver module 10 and the scanning module 20 rotate, the range scanned by the laser in the direction of rotation is the horizontal field of view.

[0053] In this application, the path of the laser beam emitted by the transceiver module 10 and the angle between the transceiver module 10's rotation axis affect the vertical scanning angle range (the size of the vertical field of view) of the lidar. For example, if the angle is less than 10°, the vertical scanning range of the lidar is relatively small, reducing the lidar's ability to perceive the external environment; if the angle is greater than 46°, and the laser beam is both refracted and reflected when it passes through the scanning module 20, total internal reflection is very likely to occur, causing the laser beam to propagate only inside the scanning module 20, resulting in the light not being able to exit from the scanning module 20.

[0054] Therefore, by reasonably setting the angle between the rotating shaft of the transceiver module 10 and the direction of the emitted laser, this application can avoid the problem of small vertical scanning range of the laser radar, and also make the laser emitted by the transceiver module 10 of this application compatible with different scanning modules 20, ensuring that the laser can be smoothly emitted from the scanning module 20 when propagating the laser using different scanning modules 20.

[0055] In some feasible implementations, the axes of the transceiver module 10 and the scanning module 20 may or may not coincide. Ideally, the axes of the transceiver module 10 and the scanning module 20 should coincide, which helps to reduce the dimensions in the direction perpendicular to the axes of rotation, and thus helps to reduce the overall size of the lidar.

[0056] In some examples, the axes of the transceiver module 10 and the scanning module 20 may not coincide. When their axes do not coincide, they can be parallel or at an angle. Because an excessively large angle would result in an excessively large distance between the transceiver module 10 and the scanning module 20 in the direction perpendicular to the axes, thus increasing the size of the LiDAR in that direction, the angle between the axes of the transceiver module 10 and the scanning module 20 is set to be greater than 0° and less than or equal to 15° to avoid increasing the size of the LiDAR.

[0057] In some feasible implementations, the reflective surface 22 of the scanning module 20 is located on the propagation path of the laser. In order to ensure that the reflective surface 22 can reflect the laser and not reflect it along the original path, the angle between the reflective surface 22 and the propagation path of the laser needs to be set to be greater than 0° and less than 90°. This ensures that the laser is neither perpendicular to nor parallel to the reflective surface 22, and that the reflective surface 22 can successfully reflect the laser in different directions.

[0058] It should be noted that, in some feasible implementations, the scanning module 20 of this application can be a reflector, thus making the scanning module 20 of this application have only one reflective surface 22. When the scanning module 20 of this application is a reflector, the reflective surface 22 of the scanning module 20 can be a polygonal surface, the length of which is less than 37cm.

[0059] In other possible implementations, the scanning module 20 of this application can also be a prism structure, which not only has a reflecting surface 22, but also includes at least one refractive surface located on the path of the laser emitted by the transceiver module 10.

[0060] Specifically, the refractive surface can be positioned before the laser enters the reflective surface 22, so that the laser is first refracted by the refractive surface before being transmitted to the reflective surface 22; or the refractive surface can be positioned on the laser propagation path after being reflected by the reflective surface 22, so that the laser is reflected by the reflective surface 22 and then irradiates the refractive surface, and then irradiates the target object after being refracted by the refractive surface.

[0061] By setting the scanning module 20 as a prism structure, the laser can not only be reflected by the reflecting surface 22, but also refracted by at least one refracting surface, which is beneficial for controlling the laser propagation path.

[0062] In this embodiment, the scanning module 20 includes a first refractive surface 23 and a second refractive surface 24. The first refractive surface 23 is located between the reflecting surface 22 and the transceiver module 10, and the second refractive surface 24 is located on the path of the laser light reflected by the reflecting surface 22. The laser light emitted from the transceiver module 10 is first refracted by the first refractive surface 23, then reflected by the reflecting surface 22, and finally refracted by the second refractive surface 24 before being emitted from the scanning module 20.

[0063] In this application, the scanning module 20 can be, for example, a prism structure, specifically a right-angled prism. This prism structure has a perpendicular first refractive surface 23 and a second refractive surface 24. A reflecting surface 22, which is the inclined plane of the right-angled prism, connects the first refractive surface 23 and the second refractive surface 24. When the scanning module 20 is a prism structure, the first refractive surface 23 can be relatively perpendicular to the rotation axis of the transceiver module 10. The first refractive surface 23 has a polygonal structure, and the longest side of the first refractive surface 23 is less than 18 cm.

[0064] It is worth mentioning that, as described above, only one scanning module 20 can be set in this application. In other possible implementations, multiple scanning modules 20 can also be set, for example, see [link to relevant documentation]. Figure 3 As shown, two scanning modules 20 can be configured to work together, with the two scanning modules 20 spaced apart, and one scanning module 20 located between the transceiver module 10 and the other scanning module 20. In this case, a reflective surface 22 or a refracting surface can be provided on both scanning modules 20, or a reflective surface 22 can be provided on one scanning module 20 and a refracting surface on the other scanning module 20, or both scanning modules 20 can have a reflective surface 22 and a refracting surface.

[0065] Figure 4 This is another structural schematic diagram of the optical scanning system 100 provided in the embodiments of this application.

[0066] See Figure 4 As shown, when the scanning module 20 of this application is a prism structure, the laser has multiple propagation paths within the scanning module 20. The propagation paths of the laser will be explained below using a prism as the scanning module 20.

[0067] First, the rotating shaft of the scanning module 20 and the rotating shaft of the transceiver module 10 are aligned so that both the transceiver module 10 and the scanning module 20 rotate around the rotating shaft H. The transceiver module 10 emits a laser towards the scanning module 20, and the position from which the laser is emitted from the transceiver module 10 is set as the light-emitting origin O. For ease of explanation, an XYZ rectangular coordinate system is established with the origin of light emission O as the center, with the rotation axis H coinciding with the Z-axis. The laser is emitted from point O, and the direction of the laser illumination has an angle θ1 with the Z-axis. The position where the laser illuminates the first refractive surface 23 is A, so that light OA is formed between the transceiver module 10 and the first refractive surface 23. After being refracted by the first refractive surface 23, the laser illuminates the reflective surface 22, and the position of the laser on the reflective surface 22 is B, so that light AB is formed between the first refractive surface 23 and the reflective surface 22. The laser is then reflected by the reflective surface 22 to the second refractive surface 24, where the position where the laser illuminates the second refractive surface 24 is C, so that light BC is formed between the reflective surface 22 and the second refractive surface 24. Finally, after being refracted by the second refractive surface 24, the laser is emitted from the scanning module 20 along the CD direction.

[0068] If the angular velocity of the transceiver module 10 is ω1 and the rotation time is t, then the rotation angle of the transceiver module 10 is . If the angular velocity of the scanning module 20 is ω2 and the rotation time is t, then the rotation angle of the scanning module 20 is . According to the law of refraction, the spatial normal vector of the ray OA emitted from the origin O is:

[0069]

[0070] The unit vector of the refracted ray AB between the first refractive surface 23 of the scanning module 20 and the reflecting surface 22 is:

[0071]

[0072] in This represents the normal vector of the first refractive surface 23.

[0073] Light ray AB is reflected by reflecting surface 22, and the reflected ray propagates towards the second refractive surface 24 along the path BC. The unit vector of the reflected ray BC is:

[0074]

[0075] in This represents the normal vector of the reflecting surface 22.

[0076] Light ray BC is refracted by the second refractive surface 24, and the refracted light ray propagates along the CD direction. The unit vector of the refracted light ray CD is:

[0077]

[0078] in This represents the normal vector of the second refractive surface 24.

[0079] The following specific embodiments illustrate the three-dimensional point cloud stereoscopic images and point cloud distribution maps under different integration times when using the lidar scanning of this application.

[0080] Figure 5 These are stereoscopic images and distribution maps of the point cloud of the lidar provided in this application embodiment at different angles when the integration time is 0.2s. Figure 6 These are stereoscopic images and distribution maps of the point cloud of the lidar provided in this application embodiment at different angles when the integration time is 0.4s. Figure 7 These are stereoscopic images and distribution maps of the point cloud of the lidar provided in this application embodiment at different angles when the integration time is 1 second. The grayscale values ​​in the stereoscopic images and distribution maps represent the density of the point cloud.

[0081] In the transceiver module 10 of this application, the light source is a single-line laser diode with a emission frequency of 20kHz. Assuming the rotation speed of the transceiver module 10 is v1 (2946 rpm in this embodiment), and the rotation speed of the scanning module 20 is v2 (11472 rpm in this embodiment), both rotate in the same direction, counterclockwise, and their axes of rotation coincide. The angle θ1 between the emitted light from the transceiver module 10 and its rotation axis is 25°. The scanning module 20 uses a right-angle prism, with the inclined surface of the prism serving as the reflecting surface 22, and the angle between the reflecting surface 22 and the rotation axis of the scanning module 20 is 50°. Both the lens 14 and the scanning module 20 are made of H-ZlaF90, which has a refractive index of approximately 1.9736 at a wavelength of 905nm.

[0082] In this embodiment, the horizontal scanning range of the lidar is 0°-360°, requiring the transceiver module 10 and the scanning module 20 to rotate 360° around their axis. By setting the angle θ1 between the emitted light from the transceiver module 10 and its rotation axis to 25°, and the angle between the reflective surface 22 and the rotation axis of the scanning module 20 to 50°, the vertical scanning range of the lidar can be -4.74° to 48.78° when the scanning module 20 and the transceiver module 10 rotate simultaneously.

[0083] See Figures 5 to 7 As shown, by setting the specific parameters mentioned above, the following can be obtained: Figure 5-7 The image shows stereoscopic views and distribution maps of the point cloud from the lidar at different integration times and angles. Figure 5Figure a shows the 3D point cloud image with an integration time of 0.2s, and Figure b shows the point cloud distribution with an integration time of 0.2s. Figure 6 Figure a shows the 3D point cloud image with an integration time of 0.4s, and Figure b shows the point cloud distribution with an integration time of 0.4s. Figure 7 Figure a shows the 3D point cloud image with an integration time of 1 second, and Figure b shows the point cloud distribution with an integration time of 1 second. From Figures 5 to 7 As can be seen, the transceiver module 10 and the scanning module 20 of this application can achieve the effect of three-dimensional scanning, and the integration time can be determined according to the actual situation. When the integration time is 1 second, the coverage of the point cloud is relatively high.

[0084] Figure 8 This is a graph showing the change in point cloud coverage over integration time in this application, combined with... Figure 8 It can be seen that the point cloud coverage of the lidar under the above specific parameters reaches 89.27%, and the average angular resolution of the point cloud is 0.332° and the average vertical angular resolution is 0.464°.

[0085] In the description of this application, it should be understood that the terms "comprising" and "having" and any variations thereof used in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0086] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An optical scanning system, characterized in that, include: A transceiver module, which is used to transmit laser signals and receive echo signals from the target; as well as A scanning module, wherein the scanning module has at least one reflective surface, and at least one of the reflective surfaces is located on the laser path emitted by the transceiver module for reflecting the laser; Both the transceiver module and the scanning module are rotatable, and the transceiver module and the scanning module rotate at different speeds. An angle is formed between the laser emitted by the transceiver module and the rotating shaft of the transceiver module.

2. The optical scanning system according to claim 1, characterized in that, The angle between the laser beam path emitted by the transceiver module and the rotating shaft of the transceiver module is 10°-46°.

3. The optical scanning system according to claim 1, characterized in that, The rotating shafts of the transceiver module and the scanning module coincide.

4. The optical scanning system according to claim 3, characterized in that, The axes of the transceiver module and the scanning module do not coincide, and the included angle between the axes of the transceiver module and the scanning module is greater than 0° and less than or equal to 15°.

5. The optical scanning system according to claim 1, characterized in that, The scanning module also includes at least one refractive surface located on the path of the laser emitted by the transceiver module.

6. The optical scanning system according to claim 5, characterized in that, The scanning module includes a first refractive surface and a second refractive surface. The first refractive surface is located between the reflective surface and the transceiver module, and the second refractive surface is located on the path of the laser light reflected by the reflective surface.

7. The optical scanning system according to any one of claims 1-6, characterized in that, The transceiver module and the scanning module rotate in the same or opposite directions.

8. The optical scanning system according to claim 7, characterized in that, Both the transceiver module and the scanning module can rotate in two opposite directions, and the rotation speed of both the transceiver module and the scanning module is 300 rpm to 18000 rpm.

9. The optical scanning system according to any one of claims 1-6, characterized in that, The scanning module is a reflector or prism, the reflecting surface is a polygonal surface, the longest side of the reflecting surface is less than or equal to 18cm, and the shortest side of the reflecting surface is greater than or equal to 1cm.

10. The optical scanning system according to any one of claims 1-6, characterized in that, The transceiver module includes a transmitter, a reflector, a receiver, and a lens. The transmitter is used to emit laser light. The reflector is located in the propagation path of the laser light emitted by the transmitter and is used to reflect the laser light to the lens. The laser light is then directed to the scanning module via the lens. The receiver is used to receive the laser light reflected by an obstacle.

11. A lidar, characterized in that, The system includes a radar body and an optical scanning system as described in any one of claims 1-10. The radar body is provided with a control module and a drive unit, the drive unit being used to drive the transceiver module and the scanning module to rotate.

12. A mobile device, characterized in that, It includes the main body of the device and the lidar as described in claim 11.

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