A low line count lidar

Abstract

This invention provides a low-line-count lidar, belonging to the field of lidar technology, comprising: a housing, a PCBA, an integrated transceiver module, and a multi-faceted scanning mirror; horizontal scanning of the light beam is achieved by rotating the multi-faceted scanning mirror; after the light beam is reflected by reflective surfaces at different tilt angles, different exit angles are generated in the vertical direction, thereby generating multi-line scanning; the number of lines and vertical field of view of the lidar can be flexibly configured by adjusting the number of reflective surfaces and the tilt angle; the overall architecture of this invention is scientifically simple, safe and reliable in operation, requires only one transceiver module, significantly reducing the number of lasers and detectors; it reduces size and is suitable for vehicle-mounted, robotic, and other scenarios; only single-channel transceiver module calibration and standardization are required, making calibration less difficult than for multi-channel systems.

Description

Technical Field

[0001] This utility model relates to the field of lidar technology, and in particular to a low-line-count lidar with a simple and reliable overall architecture and low manufacturing and maintenance costs. Background Technology

[0002] With the rapid popularization and development of LiDAR in the automotive and consumer fields, the structural design of LiDAR has made great progress and the cost has been greatly reduced. Among them, low-line LiDAR (usually referring to 2-4 lines) is widely used in obstacle avoidance and path planning functions of sweeping robots, service robots, AGVs, etc. due to its low cost, miniaturization and moderate environmental perception capabilities.

[0003] In the existing technology, the architecture of low line count lidar typically adopts a multi-channel independent transceiver module (i.e., multiple laser emitters and receiver groups); combined with rotating mirror scanning or the module rotating 360° to achieve multi-line scanning function.

[0004] For example, when a low-line-count LiDAR has four transceiver channels, a four-line scanning LiDAR can be formed through rotational scanning. However, this existing architecture design has the following insurmountable drawbacks, including: 1. High cost: Each transceiver channel requires an independent laser, detector and matching optical components, and the hardware cost increases significantly with the number of lines.

[0005] 2. Large size: Multi-channel modules require a large space, which is not conducive to miniaturization design. When integrated with finished devices, they often cannot achieve a perfect fit.

[0006] 3. Complex assembly: The multi-channel optical path requires precise calibration, which makes the manufacturing process difficult.

[0007] 4. Complex maintenance: During later maintenance, multi-channel modules require a large amount of human resources and spare parts reserves. Utility Model Content

[0008] To address the aforementioned technical issues, this invention provides a low-line-count lidar that employs an integrated single transceiver module and multi-faceted scanning mirror architecture to achieve a low-cost lidar solution. Specifically, it uses only a single-channel transceiver module, and achieves a multi-line scanning scheme through the vertical tilt differences of the multi-faceted scanning mirrors. The scientifically ingenious structural design significantly reduces hardware complexity and overall cost, making it suitable for widespread adoption.

[0009] A low-line-count lidar includes: a housing, a PCBA, and further includes: Integrated transceiver module: It adopts a combination structure of a single-channel laser transmitter and a single-channel receiver to realize the ranging function; Multi-faceted scanning mirror: It adopts a structure in which multiple reflective surfaces rotate around a central axis, and each reflective surface has a slight difference in tilt angle in the vertical direction; As an example, the multiple reflective surfaces refer to 2, 3, or 4 surfaces.

[0010] As an example, when the multiple reflective surfaces have a two-sided structure, the top view of the multi-faceted scanning mirror is rectangular and the front view is trapezoidal.

[0011] As an example, when the multiple reflective surfaces have a three-sided structure, the top view of the multi-faceted scanning mirror is triangular.

[0012] As an example, when the multiple reflective surfaces have a four-sided structure, the top view of the multi-faceted scanning mirror is square.

[0013] As an example, the slight tilt angle difference refers to the fact that each reflecting surface has a tilt angle difference of 0.5° to 2° relative to other reflecting surfaces in the vertical direction.

[0014] Furthermore, by rotating the multi-faceted scanning mirror, horizontal scanning of the light beam is achieved; after the light beam is reflected by reflective surfaces with different tilt angles, different exit angles are generated in the vertical direction, thereby generating multi-line scanning; by adjusting the number of reflective surfaces and the tilt angle, the number of lines and the vertical field of view of the lidar can be flexibly configured.

[0015] As an example, when the multi-faceted scanning mirror has a 3-faceted structure, a 3-line lidar is formed.

[0016] The integrated transceiver module, PCBA, and multi-faceted scanning mirror are disposed inside the housing; the ranging module is disposed to the left of the multi-faceted scanning mirror, and the integrated transceiver module and the multi-faceted scanning mirror are disposed below the PCBA.

[0017] The integrated transceiver module is electrically connected to the PCBA; As an example, the central axis is linked to a motor, which controls the rotation of the multi-faceted scanning mirror.

[0018] The beneficial effects of this utility model are: The overall architecture of this utility model is scientifically simple, and its operation is safe and reliable. It also has the following advantages, including but not limited to: ①Low cost: Only one transceiver module is needed, which greatly reduces the number of lasers and detectors.

[0019] ② Miniaturization: Integrated design reduces size, making it suitable for automotive, robotic and other scenarios.

[0020] ③ Easy to mass produce: The processing technology of multi-faceted mirrors is mature, requiring only calibration and standardization of a single-channel transceiver module, making calibration less difficult than for multi-channel systems. Attached Figure Description

[0021] Figure 1 This is a top view schematic diagram of the overall structure of a low-line-count lidar embodiment 1 of this utility model.

[0022] Figure 2 This is a front view schematic diagram of the double-sided scanning mirror structure of Embodiment 1 of a low-line-count lidar according to this utility model.

[0023] Figure 3 This is a top view schematic diagram of the overall structure of a low-line-count lidar embodiment 2 of this utility model.

[0024] Figure 4 This is a top view schematic diagram of the overall structure of a low-line-count lidar embodiment 3 of this utility model. Detailed Implementation

[0025] 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. Figures 1 to 4 As shown.

[0026] A low-line-count lidar includes: a housing 101, a PCBA 102, and further includes: Integrated transceiver module 103: It adopts a combination structure of a single-channel laser transmitter and a single-channel receiver to realize the ranging function; Multi-faceted scanning mirror: It adopts a structure in which multiple reflective surfaces rotate around a central axis, and each reflective surface has a slight difference in tilt angle in the vertical direction; As an example, the multiple reflective surfaces refer to 2, 3, or 4 surfaces.

[0027] As an example, when the multiple reflective surfaces have a two-sided structure, the top view of the multi-faceted scanning mirror is rectangular and the front view is trapezoidal.

[0028] As an example, when the multiple reflective surfaces have a three-sided structure, the top view of the multi-faceted scanning mirror is triangular.

[0029] As an example, when the multiple reflective surfaces have a four-sided structure, the top view of the multi-faceted scanning mirror is square.

[0030] As an example, the slight tilt angle difference refers to the fact that each reflecting surface has a tilt angle difference of 0.5° to 2° relative to other reflecting surfaces in the vertical direction.

[0031] Furthermore, by rotating the multi-faceted scanning mirror, horizontal scanning of the light beam is achieved; after the light beam is reflected by reflective surfaces with different tilt angles, different exit angles are generated in the vertical direction, thereby generating multi-line scanning; by adjusting the number of reflective surfaces and the tilt angle, the number of lines and the vertical field of view of the lidar can be flexibly configured.

[0032] As an example, when the multi-faceted scanning mirror has a 3-faceted structure, a 3-line lidar is formed.

[0033] The integrated transceiver module 103, PCBA 102, and multi-faceted scanning mirror are disposed inside the housing 101; the integrated transceiver module 103 is disposed to the left of the multi-faceted scanning mirror 104, and the integrated transceiver module 103 and the multi-faceted scanning mirror are disposed below the PCBA 102.

[0034] As an example, the central shaft is linked to a motor 105, which controls the rotation of the multi-faceted scanning mirror.

[0035] To better illustrate the design principle of this utility model, specific embodiments are provided below: Example 1: As Figure 1 As shown; A low-line-count lidar includes an integrated transceiver module 103 (range measuring module), a double-sided scanning mirror 104, a central shaft, a motor 105, a PCBA 102, and a housing 101. The ranging module emits a horizontal laser, which is reflected by a double-sided scanning mirror and strikes the target. A portion of the light reflected from the target returns along the same path to the ranging module, which then obtains the target's distance information based on the TOF principle.

[0036] A double-sided scanning mirror is used to reflect the light beam. The two reflecting surfaces make angles of 0° and -1° with the vertical direction, respectively, as shown in the reference. Figure 2 As shown.

[0037] The horizontal laser emitted by the ranging module remains horizontal after being reflected by the first reflecting surface. Driven by a motor, the double-sided scanning mirror rotates continuously at a constant speed. The laser, after being reflected by the first reflecting surface of the double-sided scanning mirror, scans horizontally. When the laser hits the second reflecting surface, because the second reflecting surface has a downward tilt angle of 1° (its angle with the vertical direction is -1°), the laser, after being reflected by the second reflecting surface, tilts downward by 2° and is scanned horizontally by the second reflecting surface; thus forming a two-line lidar: one line is horizontal, and the other line is tilted downward by 2°.

[0038] This type of angled two-line LiDAR can be used in scenarios such as mobile robots. The horizontal LiDAR scanning line is used for mapping and localization, while the downward-tilted scanning line at 2° is used to detect whether there are low obstacles in front of the robot, thus enabling obstacle avoidance.

[0039] As an example, the angle between the two light rays and the horizontal plane can be adjusted by setting the angle between the double-sided scanning mirror 104 and the vertical plane.

[0040] PCBA102 is used to receive ranging data from transceiver module 103, and housing 101 is used to enclose and protect the entire structure.

[0041] As an example, this utility model is a design modification of a low line count structure, and does not involve modification of the control chip or algorithm design. The PCBAs used are all existing technologies.

[0042] Example 2: Refer to Figure 3 As shown; The three-line lidar uses a three-sided scanning mirror 201 with reflector tilt angles relative to the vertical direction of 0°, +0.5°, and -0.5° respectively.

[0043] During rotation, the single laser beam is reflected by different surfaces to form three vertically spaced scanning lines. The angles between these three scanning lines and the horizontal plane are 0°, +1°, and -1°, respectively.

[0044] This type of three-line LiDAR can be used in scenarios such as mobile robots. The horizontal and upward-tilted 1° scanning lines can be used for mapping and localization functions, while the downward-tilted 1° scanning lines are used to detect whether there are low obstacles in front of the robot, thus enabling obstacle avoidance. The upward-tilted 1° scanning lines are also used to detect whether there are suspended obstacles in front of the robot, thus enabling the robot to determine whether it can pass under the suspended obstacles.

[0045] Example 3: Reference Figure 4 As shown; The four faces form an angle with the vertical direction (motor shaft). The angles between faces 1, 2, 3, and 4 and the vertical direction are 0°, +0.5°, -0.5°, and -1°, respectively. During rotation, the single laser beam is reflected by different faces to form four vertically spaced scanning lines. The angles between these three scanning lines and the horizontal plane are 0°, +1°, -1°, and -2°, respectively.

[0046] This type of 4-line LiDAR can be used in scenarios such as mobile robots. The horizontal and +1° LiDAR scanning lines are used for mapping and localization functions, the -1° and -2° scanning lines are used to detect whether there are low obstacles in front of the robot, which can be used for obstacle avoidance functions, and the +1° scanning line is used to detect whether there are suspended obstacles in front of the robot, which can be used to determine whether the robot can pass under the suspended obstacles.

[0047] The above description is only a preferred embodiment of the present utility model. It should be understood that the above description of the embodiments is only used to help understand the method and core idea of ​​the present utility model, and is not intended to limit the protection scope of the present utility model. Any modifications, equivalent substitutions, etc. made within the idea and principle of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A low line count lidar, comprising: The housing and PCBA are characterized by further comprising: Integrated transceiver module: It adopts a combination structure of a single-channel laser transmitter and a single-channel receiver to realize the ranging function; Multi-faceted scanning mirror: It adopts a structure in which multiple reflective surfaces rotate around a central axis, and each reflective surface has a slight difference in tilt angle in the vertical direction; By rotating the multi-faceted scanning mirror, the horizontal scanning of the light beam is achieved; after the light beam is reflected by the reflective surfaces at different tilt angles, different exit angles are generated in the vertical direction, thereby generating multi-line scanning; by adjusting the number of reflective surfaces and the tilt angle, the vertical field of view of the lidar can be flexibly configured. The integrated transceiver module, PCBA, and multi-faceted scanning mirror are disposed inside the housing; the integrated transceiver module is disposed to the left of the multi-faceted scanning mirror, and the integrated transceiver module and the multi-faceted scanning mirror are disposed below the PCBA.

2. A low-line laser radar according to claim 1, characterized in that The multiple reflective surfaces refer to one of two, three, or four surfaces.

3. A low-line laser radar according to claim 1, wherein When multiple reflective surfaces have a two-sided structure, the top view of the multi-faceted scanning mirror is rectangular, and the front view is trapezoidal.

4. A low-line laser radar according to claim 1, wherein When the multiple reflective surfaces have a three-sided structure, the top view of the multi-faceted scanning mirror is triangular.

5. A low-line laser radar according to claim 1, wherein When the multiple reflective surfaces have a four-sided structure, the top view of the multi-faceted scanning mirror is square.

6. A low-line-count lidar according to claim 1, characterized in that, The slight tilt angle difference refers to the fact that each reflecting surface has a tilt angle difference of 0.5° to 2° relative to other reflecting surfaces in the vertical direction.

7. A low-line laser radar according to claim 1, wherein When the multi-faceted scanning mirror has a 3-faceted structure, a 3-line lidar is formed.

8. A low-line-count lidar according to claim 1, characterized in that, The central axis is linked to a motor, which controls the rotation of the multi-faceted scanning mirror.

9. A low-line laser radar according to claim 1, wherein The slight tilt angle difference refers to: When multiple reflective surfaces have a two-sided structure, the angles between the two reflective surfaces and the vertical direction are 0° and -1°, respectively. When multiple reflective surfaces have a three-sided structure, the angles between the three reflective surfaces and the vertical direction are 0°, +0.5°, and -0.5°, respectively. When multiple reflective surfaces form a four-sided structure, the angles between the four reflective surfaces and the vertical direction are 0°, +0.5°, -0.5°, and +1°, respectively.

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