CN115639565A

CN115639565A - Laser radar system

Info

Publication number: CN115639565A
Application number: CN202110817708.6A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Ruifu Technology Beijing Co ltd
Current assignee: Ruifu Technology Beijing Co ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2023-01-24

Abstract

There is provided a lidar system comprising: the device comprises a light emitting unit array, a light receiving unit array, a light scanning unit and a processor. The light scanning unit at least comprises a polygonal cylindrical mirror component which is provided with at least two mirror surfaces and moves on a first dimension around a first axis, wherein a virtual regular polygonal prism with the maximum volume and taking the first axis as the center can be accommodated in the polygonal cylindrical mirror component, any one mirror surface of the polygonal cylindrical mirror component and a corresponding surface of the virtual regular polygonal prism respectively form a first deflection angle and a second deflection angle in two different directions, and the predetermined deflection angle rule of at least one deflection angle of the first deflection angle and the second deflection angle of the at least two mirror surfaces of the polygonal cylindrical mirror component is different.

Description

Laser radar system

Technical Field

The present application relates to the field of lidar, and more particularly to a multi-declination scanning lidar system.

Background

Laser radar (Lidar) is a commonly used distance measuring sensor, has characteristics such as detection distance is far away, resolution ratio is high, receive environmental disturbance little, and the wide application is in fields such as intelligent robot, unmanned aerial vehicle, unmanned driving.

Lidar generally performs ranging based on Time of flight (TOF), by transmitting a laser pulse to an external scene in a transmitting direction, and receiving an echo generated by the reflection of the laser pulse from an object in the external scene. By measuring the time delay of the echo, the distance between the object and the laser radar in the transmitting direction can be calculated. By dynamically adjusting the emitting direction of the laser, the distance information between the laser radar and the objects in different directions can be measured, and therefore modeling of a three-dimensional space is achieved.

In the laser radar, how to dynamically adjust the laser emitting direction of the laser radar affects the spatial range (view field) which can be detected by a system, the fineness (resolution) of the obtained spatial information, the anti-interference capability and the like.

The lidar system includes transmitting, scanning, and receiving. A typical lidar system includes two dimensional (horizontal and vertical) scans of a target scene through 2 axes perpendicular to each other. In case of a limited number of transmitting or receiving units, in order to obtain data of sufficient scan spatial density (sufficiently small angular resolution), the scan speed or frequency of one dimension needs to be much larger than the scan speed or frequency of the other dimension. This situation, in the case of mechanical components used in the scanning device, significantly increases the difficulty, price, and bulk of the lidar system.

Disclosure of Invention

The technical scheme provided by the invention can improve the relationship between the structure, the cost, the complexity and the space scanning density of the laser radar system.

According to one aspect of the present invention, there is provided an apparatus for greatly increasing the density of scanning a second dimension of a target scene using control of multiple transmit elements in cooperation with a polygonal prism at a first or second bias angle that is mechanically easy to implement without increasing the volume or rotational speed.

In another aspect of the present invention, a device is provided to further control the variation law of the emitted light characteristics, so as to increase or adjust the emitted frequency to increase the scanning density for a specific range of the first dimension while ensuring that the system is resistant to noise and interference, but without increasing the angular detection capability of the system. The invention can improve the relation between the structure, the cost and the complexity of the laser radar system and the space scanning density.

According to an embodiment of the present disclosure, there is provided a laser radar system, including: a light emitting unit array including at least two light emitting units, each of which independently emits emission light to a target scene according to information of the emission light; a light receiving unit array including at least one light receiving unit that receives received light that the emitted light reflected from a target scene and finally reaches the at least one light receiving unit; a light scanning unit including at least a polygonal prism component having at least two mirror surfaces, moving in a first dimension around a first axis, wherein the polygonal prism component can accommodate therein a virtual regular polygonal prism having a maximum volume centered on the first axis, any mirror surface of the polygonal prism component forms a first off-angle and a second off-angle respectively with its corresponding surface to the virtual regular polygonal prism in two different directions, a predetermined off-angle law of at least one of the first off-angle and the second off-angle of at least two mirror surfaces of the polygonal prism component is different, wherein the light scanning unit forms a scanning angle including a first direction component and a second direction component when moving, the scanning angle being used for describing at least one of an object at which the emitted light is scanned toward an object scene and an object at which the received light is returned from the object scene, and the light scanning unit includes a detecting component for acquiring information of the light scanning unit; the lidar system further comprises: a processor determining at least one of a scan angle and a scan distance to a target in a target scene based on the information of the emitted light, the information of the light scanning unit, and the information of the received light to determine a position of the target.

In some embodiments, the information of the emitted light may comprise at least information related to a law of variation of at least 3 scanning angles of the light scanning unit.

In some embodiments, the lidar may also have pre-actual scan trajectory information stored. The laser radar system determines at least one of a scanning angle and a scanning distance to a target in a target scene to determine a position of the target based on the actual scanning trajectory information in advance, the information of the emitted light, the information of the light scanning unit, and the information of the received light.

In some embodiments, the forming of the first and second off-angles in different directions by any one mirror surface of the polygonal prism component and its corresponding surface with the virtual regular polygonal prism respectively comprises: the projection of the normal line of any mirror surface of the polygonal prism component in the plane perpendicular to the first axis and the included angle of the plane corresponding to the virtual regular prism body of the polygonal prism component are complementary angles which are first deflection angles, and the complementary angle of the included angle of the normal line of any mirror surface and the first axis is a second deflection angle.

In some embodiments, each mirror surface of the polygonal prism part forms a respective off-angle with its corresponding surface with the virtual regular polygonal prism, wherein the respective off-angles whose predetermined off-angle laws are different are integer multiples of the smallest non-zero off-angle of the respective off-angles.

In some embodiments, each mirror surface of the polygonal prism component forms a respective deviation angle with its corresponding surface of the virtual regular polygonal prism, wherein the deviation angle difference between at least one pair of different deviation angles is the same as the deviation angle difference between another pair of different deviation angles.

In some embodiments, each mirror surface of the polygonal prism section forms a deflection angle with its corresponding surface of the virtual regular polygonal prism, respectively, and for the first direction or the second direction, the deflection angles whose predetermined deflection angle laws are different are each less than or equal to ten times an emission angle between emission angles of at least two light emitting units having two different emission angles; or, for the first direction or the second direction, the deviation angles with different predetermined deviation angle laws are larger than or equal to the emission included angle between the emission angles of any two light emitting units with two different emission angles.

In some embodiments, at least 80% of the scan angles of the individual mirror facets of the polygonal prism section to the object of the object scene are identical.

In some embodiments, at least one mirror face of the polygonal prism component moves in a second dimension, different from the first dimension, relative to the first axis of the polygonal prism component; or the first axis of the polygonal prism part moves in a second dimension different from the first dimension with respect to the second direction.

In some embodiments, the movement in the second dimension is obtained by movement about the first axis through a motorless part motion transformation.

In some embodiments, the information of the emitted light includes at least one of an emission position of the emitted light, an emission time, and a preset light characteristic variation law for controlling a light characteristic of the emitted light; and the information of the received light includes at least one of a reception position of the received light, a reception time, a detected change rule of the characteristic of the received light, and a light characteristic of the received light.

In some embodiments, the processor determines the received light characteristic variation law from information of the received light formed by detecting the emitted light through at least three different scanning angles within a preset light characteristic variation measurement time.

In some embodiments, the received light characteristic variation law comprises that the time interval or pulse width of each emission of at least two light pulses increases linearly with time with a preset characteristic variation period, or the time interval or pulse width of each emission of at least two light pulses changes with time with a preset trigonometric function; and in the preset characteristic change period, at least three times of continuous scanning of the laser radar system in time sequence are performed by using three different scanning angles.

In some embodiments, the light characteristics in the information of the emitted light include: at least one of intensity, wavelength, polarization, waveform, size of the spot, shape of the spot, spatial intensity distribution, multi-pulse spacing, pulse width, rising edge width, and falling edge width.

In some embodiments, within the preset time of completing all scanning of the target scene, the interval between the emission times of the emission lights corresponding to different scanning angles of at least 3 times of the same emission unit is smaller than the flight time of the maximum range of the light back and forth system.

In some embodiments, at least 2 light emitting units emit the emitted light simultaneously through the polygonal prism part toward the target scene.

In some embodiments, at least 2 of the light-emitting units emit light simultaneously with different light characteristics.

In some embodiments, the light scanning unit further comprises additional scanning components including, but not limited to: at least one or any combination of a rotary polygonal cylindrical mirror component, a swing mirror, a rotary wedge mirror, a Micro Electro Mechanical System (MEMS), an Optical Phased Array (OPA), a mechanical rotating mirror, a mechanical vibrating mirror, a scanning unit for realizing the relative motion of a light-emitting unit and an emitting lens, liquid crystals for controlling the reflection and/or transmission direction of a light path, a photoelectric crystal comprising potassium tantalate niobate (KTN) crystals, a piezoelectric crystal and a voice-controlled optical deflector; and, the polygonal prism member causes scanning of the emitted light or the reflected light toward the first direction; the additional scanning component causes scanning of the emitted or reflected light in a second direction; and the second direction is different from the first direction, or perpendicular to each other; and the emitted light or the reflected light passes through the additional scanning component and the polygonal cylindrical mirror component to complete the scanning of the target scene.

In some embodiments, a movement period of at least one mirror surface of the polygonal prism part in the second dimension, or a scanning period of the additional scanning part is a preset integral multiple or a preset unit fraction multiple of the scanning period of the polygonal prism part.

In some embodiments, the plurality of mirror surfaces of the polygonal prism part are arranged along the periphery of the virtual regular polygonal prism, each mirror surface forming a predetermined different first offset angle with a corresponding surface of the virtual regular polygonal prism, each mirror surface of the polygonal prism part reflecting a beam of incident light to the target scene to form a same first scanning light beam when the polygonal prism part rotates, the additional scanning part being a movable optical mirror assembly having a movable moving mirror surface, wherein the movement of the movable moving mirror surface includes at least one of vibration, rotation, and oscillation, the additional scanning part being configured to reflect a beam of incident light onto the mirror surface of the polygonal prism part, and the rotation or vibration of the movable optical mirror surface projecting the first scanning light beam to the target scene in a second direction to form a plurality of light beams.

In some embodiments, the movable optic assembly includes a double sided mirror and perimeter secondary optics that modulate at least two oppositely directed emitted light beams by moving double sided reflection or refraction into a direction through the polygonal cylindrical mirror assembly toward the target scene at the same field angle scan field of view.

In some embodiments, the peripheral secondary optic redirects one of the emitted light beams in the same direction as the other emitted light beam with a predetermined angular offset, and the peripheral secondary optic comprises one or more of a 90 ° mirror, a 90 ° prism, a cube or hollow cube, and an acute angle prism.

In some embodiments, wherein the optical path of the received light is co-axial with the optical path of the emitted light, the lidar system further comprises: a beam splitting optical element that splits emitted light and received light; the beam splitting optical element is one or more of a perforated mirror, a slotted mirror, a polarizing beam splitter, a partially reflecting mirror, or an offset faceted mirror, allowing the output beam to pass from the edge of the beam splitting optical element and reflect the echo back to the array of light receiving elements.

In some embodiments, the emitted light reflected from the object of the object scene passes through the mirror surface of the polygonal prism section and does not pass through the movable optical mirror assembly, but is received by the light receiving cell array including at least two light receiving cells arranged in the second direction.

In some embodiments, the light receiving unit array further includes at least two light receiving units arranged in the first direction.

In some embodiments, the light emitting unit comprises a semiconductor laser, including at least one of a vertical cavity surface emitting laser VCSEL, an edge emitting laser EEL, or a combined array thereof, or a semiconductor laser pumped solid state laser and a fiber laser, wherein the wavelength thereof is in the visible band, the near infrared, the infrared band, and the polarization state thereof may be polarized or unpolarized.

In some embodiments, the emitted light is emitted as continuous wave CW, and the detection method comprises frequency modulated continuous wave FMCW or amplitude modulated continuous wave AMCW or phase method.

In some embodiments, the lidar system further includes an optical filter, including a band pass filter, disposed between the light receiving unit and the lidar system target scene reflected light entrance window.

In some embodiments, the light receiving unit includes a detector array of photodiodes PIN, avalanche photodiodes APD, single photon avalanche diodes SPAD, silicon photomultipliers SiPM, and any combination thereof.

In some embodiments, the lidar system includes an amplification circuit for the light-receiving unit, a transimpedance amplifier (TIA), and its subsequent analog-to-digital converter ADC or time-to-digital converter TDC.

In some embodiments, the emitted light includes visible light of three RGB colors, and the lidar system projects the image onto the target scene to reconstruct a 3D image according to information of the emitted light, information of the light scanning unit, and a 2D or 3D image to be played that needs to be projected and includes at least one viewing angle.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 shows a schematic diagram of one example of a lidar system according to an embodiment of the disclosure;

FIG. 2A illustrates a front view of one example of a polygonal prism component in accordance with an embodiment of the present disclosure;

FIG. 2B shows a schematic diagram of a first off-angle of a polygonal prism component in accordance with an embodiment of the present disclosure;

FIG. 2C shows a schematic diagram of a second off-angle of a polygonal prism component in accordance with an embodiment of the present disclosure;

FIG. 2D shows a schematic view of a mirror face of a polygonal prism component having a first and second off-angles in accordance with an embodiment of the disclosure;

3A-3B illustrate optical path diagrams for scanning light using polygonal prism components, in accordance with embodiments of the present disclosure;

FIG. 4 shows a schematic diagram of an example of a lidar system with an additional scanning component in accordance with an embodiment of the present disclosure;

5A-5B illustrate optical path schematic diagrams of light scanning by a light scanning unit of an additional scanning component of a movable optic mirror assembly having a movable moving mirror according to an embodiment of the present disclosure;

6A-6B illustrate schematic diagrams of the scanning effect of a combination of a polygonal prism component and an additional scanning component on light using different scanning speeds in accordance with an embodiment of the present disclosure;

fig. 7A shows a schematic diagram of an example of a spot scanning track of a combined scan;

fig. 7B shows a schematic diagram of another example of a combined scanned spot scanning trajectory;

fig. 8 shows a schematic diagram of another example of a combined scanned spot scanning track;

9A-9B illustrate schematic diagrams of a light scanning unit including a movable optic assembly having one double mirror and perimeter secondary optics, in accordance with embodiments of the present disclosure;

FIG. 10 shows an example of a peripheral secondary optic according to an embodiment of the present disclosure;

FIG. 11 shows a schematic diagram of a light scanning unit with two polygonal prism components in accordance with an embodiment of the present disclosure;

FIG. 12 shows a schematic diagram of a coaxial lidar system according to an embodiment of the disclosure;

FIG. 13 shows a schematic diagram of an off-axis lidar system according to an embodiment of the disclosure;

FIG. 14 shows a schematic diagram of an optical collimating element of an array of light emitting cells according to an embodiment of the present disclosure; and

15A-15B illustrate schematic diagrams of optical collimating elements of an array of light emitting cells, according to embodiments of the present disclosure.

Fig. 16A-16C illustrate different scanning results resulting from different skew angle laws versus emission angles between emission angles of two light emitting units of two different emission angles according to embodiments of the present disclosure.

Fig. 17 shows a schematic diagram of determining a scan angle according to an embodiment of the present disclosure.

Fig. 18 shows an example flowchart of calculating the scan angle and the distance according to the change rule of the scan angle contained in the emitted light information according to an embodiment of the present disclosure.

FIG. 19 shows a schematic diagram of determining a target position using pre-actual scan trajectory information, according to an embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.

Fig. 1 shows a schematic diagram of one example of a lidar system according to an embodiment of the disclosure.

As shown in fig. 1, a lidar system 100 is shown. The laser radar system 100 includes a light emitting unit array 101, a light scanning unit 102, a processor 103, and a light receiving unit array 104.

The array of light emitting units 101 may comprise light emitting units 1-n, where n is greater than or equal to 2, where each light emitting unit emits emitted light to the target scene 105 independently from information of the emitted light.

The light receiving unit array 104 may include light receiving units 1-m, where m is equal to or greater than 1, for receiving received light after the emitted light is reflected from the target scene 105 and finally reaches at least one light receiving unit.

The light scanning unit 102 may include a polygonal prism section 1021 having at least two mirror surfaces, moving in a first dimension about a first axis. A virtual regular polygon prism having a maximum volume centered on the first axis can be accommodated inside the polygonal prism part 1021, and any one of the mirror surfaces of the polygonal prism part 1021 and its corresponding surface with the virtual regular polygon prism form a first off angle and a second off angle in two different directions, respectively. The predetermined declination regularity of at least one of the first declination and the second declination of at least two mirror surfaces of the polygonal prism section 1021 is different.

The light scanning unit 102 forms a scanning angle including a first directional component and a second directional component when in motion, the scanning angle describing at least one of scanning of the emitted light towards the object of the object scene 105 and return of the received light from the object of the object scene 105, and the light scanning unit 102 contains detection means for acquiring information of the light scanning unit.

The processor 103 may determine at least one of a scan angle and a scan distance to an object in the object scene 105 to determine a location of the object based on the information of the emitted light, the information of the light scanning unit, and the information of the received light.

According to this embodiment, by reasonably setting the deflection angles of the mirror surface of the polygonal prism part 1021 in two different directions, for example, the first deflection angle and the second deflection angle, only one scanning part can realize a two-dimensional scanning field of view, thereby making the structure of the laser radar system simpler and the complexity lower. On the other hand, with the conventional scanning unit, if it is desired to obtain a larger number of scanning lines, it is necessary to increase the scanning speed or increase the scanning means, for example, increase the rotation speed of the scanning means, but in this case, the scanning resolution may be significantly reduced, and in addition, a larger number of scanning lines may be obtained by increasing the number of light emitting units, but this may increase the cost of the scanning system. However, the polygonal prism structure with the first and second deflection angles formed in two different directions by the mirror surfaces according to the present embodiment can make the scanning line number distribution more uniform and finer without increasing the moving frequency or speed of the scanning component or increasing the number of the light emitting units significantly, thereby providing higher scanning resolution and achieving better scanning effect. The laser radar system according to the embodiment of the disclosure can achieve good balance in cost, structural complexity, service life and scanning effect.

In some embodiments, the information of the emitted light may comprise at least information related to a law of change of at least 3 scan angles. For example, the relationship between the interval of the double pulses of the emitted light and the horizontal scanning angle is a periodic function, such as a trigonometric function, for each specific scanning angle.

In the prior art, the lidar determines each scanning angle only by using the characteristics of the pulses contained in the information of the emitted light, such as pulse width, pulse waveform, etc., which may make the measurement of the scanning angle less accurate. However, according to the embodiments of the present disclosure, the information of the emitted light may at least include information related to the variation law of at least 3 scan angles, and the emitted light pulse characteristics are encoded (or determined) by using the parameters related to the variation law of at least 3 scan angles, and the actual scan angle of the received light obtained this time is calculated and obtained by using this information and the received information of the received light (including the scan unit information), so as to obtain a more accurate measurement result of the scan angle. As will be described in further detail below with reference to fig. 17-18.

In some embodiments, the lidar may also have pre-actual scan trajectory information stored. The lidar system may determine at least one of a scanning angle and a scanning distance to the target in the target scene to determine the position of the target based on the actual scanning trajectory information in advance, information of the emitted light, information of the light scanning unit, and information of the received light.

In some embodiments, the spot scanning trajectory of each lidar system varies from system to system after a frame of scanning is completed, although the spot trajectory of each lidar system is fixed due to the actual mechanical accuracy and design errors of the scan-related components of each lidar system. In these embodiments, the system may record at least one complete system spot scanning trajectory during the production process, or during the calibration process, or occasionally during actual use, through additional auxiliary equipment or components (such as a two-dimensional camera carried by itself, or a camera external to the system, etc.). The thus recorded system pre-actual spot scan trajectory, or parameters derived therefrom (such as curve parameters after curve fitting), are recorded as pre-actual scan trajectory information and pre-stored in the lidar. The laser radar system determines at least one of a scanning angle and a scanning distance to a target in a target scene to determine a position of the target based on the actual scanning trajectory information in advance, the information of the emitted light, the information of the light scanning unit, and the information of the received light. As will be described in further detail below with reference to fig. 19. In some embodiments, the detection component may be a scan angle detection component 1022, and the scan angle detection component 1022 may be used to acquire information of the light scanning unit. For example, the scanning angle detecting unit 1022 may be a sensor for measuring a rotational speed and a rotational angle. The information of the light scanning unit may include scanning angles, rotation and/or swing speeds of the light scanning unit in different directions, and the like. In some embodiments, the scan angle detection component 1022 may be used to acquire information of the light scanning unit including the first detection angle for detecting the scan angle.

In one embodiment, the processor 103 may determine the scanning angle from information of the light scanning unit and may determine the scanning distance from time information of emitting light and time information of receiving light. In one embodiment, the scanning angle may be determined using information of the emitted light, information of the light scanning unit, and information of the received light.

In some embodiments, the scan angle of the first directional component may comprise a scan field of view (FOV) in the horizontal direction, and the scan angle of the second directional component comprises a FOV in the vertical direction.

In some embodiments, the processor 103 may be communicatively connected with the array of light emitting units 101, the light scanning unit 102 and its included sub-components, and the array of light receiving units 104 for obtaining information of emitted light, information of the light scanning unit, and information of received light.

In one embodiment, during scanning, one or more emitted lights from the array of light emitting cells 101 may be incident on the light scanning element 102. By the scanning process of the polygonal prism section 1021 having the first and second deflection angles in the light scanning element 102, scanning light of the scanning field of view FOV having the first and second direction components is obtained, which is then scanned toward the target scene 105. Then, the reflected light reflected from the target scene reaches the light scanning unit 102, and further reaches the light receiving unit array by scanning of the light scanning unit 102 for acquiring information of the received light. During scanning, the scan angle detection component 1022 can be used to obtain information of the light scanning unit.

In the embodiment of the present disclosure, for an example in which the mirror surface of the polygon prism section 1021 has an off angle in the horizontal direction and an off angle in the vertical direction, when the polygon prism section 1021 moves in the first dimension around the first axis, the scanning light is two-dimensional scanning light of a scanning field of view having a vertical direction component and a horizontal direction component.

In some embodiments, the light receiving unit array 104 may include at least two light receiving units arranged in the first direction and/or the second direction.

In some embodiments, the light emitting unit may include a semiconductor laser, including at least one of a vertical cavity surface emitting laser VCSEL, an edge emitting laser EEL, or a combined array thereof, or a semiconductor laser pumped solid state laser and a fiber laser, wherein the wavelength thereof may be in the visible band, near infrared, infrared band, and the polarization state thereof may be polarized or unpolarized.

In some embodiments, the emitted light is emitted as a continuous wave CW, and the detection method may comprise frequency modulated continuous wave FMCW or amplitude modulated continuous wave AMCW or phase method.

In some embodiments, the lidar system may further include an optical filter, including a band pass filter, disposed between the array of light receiving elements 104 and the lidar system target scene reflected light entrance window.

In some embodiments, the light receiving unit may include a detector array of photodiodes PIN, avalanche photodiodes APD, single photon avalanche diodes SPAD, silicon photomultipliers SiPM, and any combination thereof.

In some embodiments, the lidar system may further include an amplification circuit for the light-receiving unit, a transimpedance amplifier (TIA), and its subsequent analog-to-digital converter ADC or time-to-digital converter TDC.

A polygonal prism section 1021 whose mirror surfaces form a first off angle and a second off angle in two different directions according to an embodiment of the present disclosure is described in detail below with reference to fig. 2A to 2D and fig. 3A to 3B.

Fig. 2A illustrates a front view of one example of a polygonal prism component in accordance with an embodiment of the present disclosure.

The polygonal prism part 1021 has at least two mirror surfaces and moves in one dimension about the axis a. In the present application, the one-dimensional direction indicates a line direction, and the two-dimensional direction indicates a plane direction.

In one embodiment, the polygonal prism part 1021 includes four mirror surfaces: S1-S4, as shown in FIG. 2A, where each mirror has a first and second bias angle in two different directions. Of course, the present application is not limited thereto, and may include polygonal prism structures of any shape, including any number of mirror surfaces.

In one embodiment, the two different directions include a horizontal direction and a vertical direction, although the disclosure is not limited thereto.

Further, for convenience of explanation, a virtual regular polygonal prism is introduced here to clarify the off angles of the respective mirror surfaces of the polygonal prism member in different directions.

Fig. 2B shows a schematic diagram of a first off-angle P of a polygonal prism component according to an embodiment of the present disclosure.

Taking a polygonal prism section 1021 having four mirror surfaces S1-S4 as an example, fig. 2B shows a top view of the polygonal prism section 1021. The shaded rectangle in fig. 2B, identified by the letter "V", is a virtual regular polygonal prism V with the largest volume centered on the first axis a that can be accommodated inside the polygonal prism member 1021. The polygonal prism section 1021 is movable about a first axis a. The four mirror surfaces S1 to S4 of the polygonal prism section 1021 correspond one-to-one to the four sides D1 to D4 (shown as the four sides of the shaded rectangle in fig. 2B) of the virtual regular polygonal prism V, and the four mirror surfaces S1 to S4 form four first off-angles P1 to P4 in the horizontal direction with the corresponding four sides D1 to D4 of the virtual regular polygonal prism V, respectively, as shown in fig. 2B.

In some embodiments, any one of the first declination angles P1-P4 may or may not be zero, and the disclosure is not limited thereto. The polygonal prism part 1021 may include a smaller number of mirror surfaces than the number of sides of the virtual regular polygonal prism V, for example, only two mirror surfaces, such as a surface 1 and a surface 3, and the like, to which the present disclosure is not limited.

It should be noted that the virtual regular polygon prism V in fig. 2B is not a real entity, but a concept of space, which is merely for convenience of describing the first deviation angle and the second deviation angle of each mirror surface of the polygon prism section 1021, and it is not required that the polygon prism section 1021 necessarily includes a pseudo-regular polygon prism entity.

Fig. 2C illustrates a schematic diagram of a second off-angle of a polygonal prism component according to an embodiment of the present disclosure.

Fig. 2C shows a side view of the polygonal prism section 1021. As shown in fig. 2C, similarly to fig. 2B, the mirror surfaces S1 and S3 of the polygonal prism member 1021 form off-angles in the vertical direction, i.e., Q1 and Q3, with corresponding side surfaces D1 and D3 (shown as two sides of a hatched rectangle in fig. 2C) of the virtual regular polygonal prism V, respectively. Similarly, the mirror surfaces S2 and S4 (not shown) form second off-angles Q2 and Q4 with corresponding side surfaces D2 and D4 of the virtual regular polygonal prism V, respectively. Any one of the second declination angles Q1-Q4 may or may not be zero, and the present disclosure is not limited thereto.

Fig. 2D illustrates a schematic diagram of a mirror surface of a polygonal prism component having a first off-angle and a second off-angle in accordance with an embodiment of the present disclosure.

The complementary angle of the angle between the projection of the normal of any one mirror surface S of the polygonal prism member 1021 in the first axis vertical plane AP and the plane VP corresponding to the virtual regular prism V thereof is a first offset angle, and the complementary angle of the angle between the normal of the mirror surface S and the first axis a is a second offset angle.

The first mirror surface S1 having the first off-angle P1 and the second off-angle Q1 will be described as an example. As shown in fig. 2D, the grid plane identified by "AP" is a schematic diagram of a first axis vertical plane AP perpendicular to the first axis a. The grey shaded plane identified by "VP" is a schematic representation of the projected cross-section of the virtual regular polygonal prism V within the first axis-perpendicular plane AP, i.e. AP is also perpendicular to the first axis a. S1 is a first mirror surface. The solid line with an arrow NL is the normal of the mirror surface S1 intersecting the first axis, i.e. NL is perpendicular to S1. Dotted line with arrow NL _project Is the projection of the normal NL into the first axis-perpendicular plane AP. D1 is one side surface of the virtual regular prism V corresponding to S1. In the plane AP, NL _project The included angle with the D1 is C1, and the first deflection angle P1= 90-C1 of the mirror surface S1. At a first axis A, a normal NL and a normal projection NL _project In the plane defined, normal NL is at an angle C2 to first axis A, and mirror S1 has a second declination angle Q1=90 ° -C2.

Fig. 3A-3B show schematic optical path diagrams of light scanned as a polygonal prism section 1021 having a first offset angle and a second offset angle moves about a first axis.

In fig. 3A, an incident light 1 is incident on a polygonal cylindrical mirror portion 1021, and when the polygonal cylindrical mirror portion 1021 moves in a one-dimensional direction around a first axis a, the incident light 1 sequentially passes through scanning actions of four mirror surfaces S1-S4 having a first deflection angle and a second deflection angle, so as to form 4 different scanning spot trajectories to scan a target scene.

In the case where the first declination angles of the four mirrors S1-S4 are different, the 4 scanning spot trajectories corresponding to the incident light 1 have different initial horizontal offsets in the horizontal direction, e.g., O1. Meanwhile, in the case where the second off-angles of the four mirror surfaces S1 to S4 are different from each other, four scanning-spot trajectory lines corresponding to the incident light 1, which are shifted from each other in the vertical direction, can be obtained.

In some embodiments, the polygonal prism section has both the polygon mirror of the first and second deflection angles set according to the preset variation rule.

In some embodiments, by reasonably setting the variation rule of each first deflection angle and each second deflection angle, a scanning light spot track line range with more uniform distribution can be obtained.

In fig. 3B,

incident lights

1 and 2 are incident on the polygonal prism section 1021, and when the polygonal prism section 1021 moves in one-dimensional direction around the first axis a, the incident lights 1 and 2 sequentially pass through the scanning action of the four mirror surfaces S1-S4 having the first and second off angles, and each form 4 different scanning spot trajectories similar to those shown in fig. 3A, respectively, to scan toward the target scene. Because the normal incidence angles of the

incident light

1 and 2 are different, there is a shift in the direction of the vertical shift, e.g., O2, for the scanning effect of the same mirror.

In some embodiments, a scanning spot trajectory line range with more uniform distribution can be obtained by reasonably setting the quantity of incident light, the incident angle and the like and the change rule of each first deflection angle and each second deflection angle.

According to an embodiment of the present disclosure, each of the mirror surfaces of the polygonal prism part 1021 and its corresponding surface with the virtual regular polygonal prism V form each of the declination angles, respectively, in which each of the declination angles whose predetermined declination rules are different is an integral multiple of a smallest non-zero declination among the declination angles.

In some embodiments, the polygonal prism section 1021 with mirror surfaces S1-S4 has first declination angles P1-P4 in the horizontal direction and second declination angles Q1-Q4 in the vertical direction. For example, first declination angles P2-P4 may each be an integer multiple of P1, and second declination angles Q2-Q4 may each be an integer multiple of Q1. In such an embodiment, by the scanning action of the polygonal prism section 1021, a scanning spot track line range that is uniformly distributed in the horizontal direction and the vertical direction can be obtained. And by utilizing the level and the second deflection angle, enough scanning light spot track lines which are uniformly distributed can be provided under the condition of not remarkably improving the movement frequency of the scanning component, the service life of the laser radar system is greatly prolonged, and a better scanning light beam is provided.

In some embodiments, the polygonal prism part 1021 may include more or less mirror surfaces according to specific requirements, and any of the deviation angles may be set to 0 according to requirements, and the disclosure is not limited thereto.

According to an embodiment of the present disclosure, each mirror surface of the polygonal prism part 1021 forms each deflection angle with its corresponding surface with the virtual regular polygonal prism V, respectively, wherein a deflection angle difference between at least one pair of different deflection angles is the same as a deflection angle difference between another pair of different deflection angles.

In some embodiments, for example, the mirror surfaces S1-S4 of the polygonal prism section 1021 and the corresponding surfaces D1-D4 of the virtual regular polygonal prism V form first off angles P1-P4 in the horizontal direction and second off angles Q1-Q4 in the vertical direction, respectively. For the first declination angles P1-P4, the difference between any pair of adjacent first declination angles P1 and P2 with different sizes is the same as the difference between another pair of first declination angles P2 and P3 with different sizes, and for the 4-surface mirror surfaces S1-S4 with the first declination angle arrangement rule, 4 light spot tracks which are relatively flat and are scanned in the horizontal direction at equal intervals in the vertical angle can be generated when any incident light 1 rotates along with 1021, wherein when the inclination angle of the incident light relative to the mirror surface in the vertical direction causes the scanning track in the horizontal direction to be in an arc shape with a small radian. For the second declination angles Q1-Q4, the difference between one pair of second declination angles Q1 and Q2 with different sizes is the same as the difference between the other pair of second declination angles Q2 and Q3 with different sizes, and for the 4-plane mirror surfaces S1-S4 with the second declination angle arrangement rule, 4 relatively flat light spot tracks which are scanned in the horizontal direction and have different intervals at the horizontal starting positions can be generated by any incident light 1 along with the rotation of 1021. Incident light 2, incident at different normal angles of incidence with respect to incident light 1, results in a vertical angle difference of O2 from the scanning trajectory of incident light 1 in the vertical direction for the target scene.

According to an embodiment of the present disclosure, each mirror surface of the polygonal prism section 1021 forms each deflection angle with its corresponding surface with the virtual regular polygonal prism V, and each deflection angle whose predetermined deflection angle laws are different for the first direction or the second direction is less than or equal to ten times an emission angle between emission angles of two light emitting units having at least two different emission angles; or, for the first direction or the second direction, the deviation angles with different preset deviation angle laws are larger than or equal to the emission included angle between the emission angles of any two light emitting units with two different emission angles.

In some embodiments, for example, the mirror faces S1-S4 of the polygonal prism section 1021 form first and second declination angles P1-P4 and Q1-Q4, respectively, with corresponding faces D1-D4 of the virtual regular polygonal prism V in two different directions.

In some examples, the second declination angles Q1-Q4, which are different from each other, in the first direction or the second direction are each less than or equal to ten times an emission angle between emission angles of at least two light emitting units having two different emission angles in the array 101 of light emitting units. With this arrangement, the direction of the emitted light after passing through different mirror surfaces can be arranged between the emission angles of the two light emitting units at two different emission angles, increasing the number of scanning lines.

Alternatively, in some embodiments, in the first direction or the second direction, the second off angles Q1 to Q4 which are different from each other are each greater than or equal to an emission angle between emission angles of any two light emitting units having two different emission angles in the array 101 of light emitting units. With this arrangement, the direction of the emitted light after passing through different mirror surfaces can be made to be arranged outside the emission angles of the two light emitting units of two different emission angles, increasing the number of scanning lines.

According to an embodiment of the present disclosure, at least 80% of the scan angles of the respective mirror surfaces of the polygonal prism part 1021 to the object of the object scene are the same.

In some embodiments, each of the mirror facets S1-S4 of the polygonal lenticular section 1021 is the same for 80% of the scan field of view of the target scene 105. In this case it can be ensured that more scanning spot trajectories can be swept towards the target scene 105.

According to an embodiment of the present disclosure, at least one mirror surface of the polygonal prism part 1021 is movable in a second dimension different from the first dimension with respect to a first axis a of the polygonal prism part 1021; or the first axis a of the polygonal prism section 1021 moves in a second dimension different from the first dimension with respect to the second direction.

In some embodiments, at least one of the mirror surfaces S1-S4 of the polygonal prism section 1021 may be movably coupled to the polygonal prism section 1021, in which case the mirror surface may move relative to the axis in a second dimension that is different from the movement of the polygonal prism section 1021 in the first dimension about the first axis A. For example, when the polygon prism section 1021 rotates or oscillates about the first axis a with respect to the horizontal direction, any mirror surface of the polygon prism section 1021 may also move in the second dimension with respect to the first axis a, for example, oscillate in the vertical direction with respect to the first axis a, so that the scanning spot trajectory scans in the vertical direction.

According to the embodiment of the present disclosure, by such a movement of the first dimension of the polygonal prism section 1021 in combination with a movement of the second dimension of any mirror surface, a scanning spot trajectory line having a larger scanning range in the vertical direction than that shown in fig. 3A can be obtained, that is, the vertical direction FOV is further increased, thereby obtaining a better two-dimensional scanning effect. With the polygonal prism member having multiple deflection angles according to the embodiment of the present disclosure, a good two-dimensional scanning effect can be obtained without any additional scanning element.

Referring back to fig. 1, processor 103 may determine the location of the object by determining at least one of a scan angle and a scan distance to the object in object scene 105 based on the information of the emitted light, the information of the light scanning unit, and the information of the received light. In one embodiment, the scanning angle may be determined by information of the light scanning unit, and the scanning distance may be determined according to time information of emitting light and time information of receiving light. In one embodiment, the scanning angle may be determined using information of the emitted light, information of the light scanning unit, and information of the received light.

In some embodiments, the information of the emitted light may include an emission position of the emitted light, an emission time, and a preset light characteristic variation law for controlling a light characteristic of the emitted light; and the information of the received light may include a reception position of the received light, a reception time, a detected change rule of the characteristic of the received light, and a light characteristic of the received light.

In some embodiments, the processor 103 may determine the characteristic variation law of the received light according to information of the received light formed by detecting the emitted light through at least three different scanning angles within a preset light characteristic variation measurement time.

In some embodiments, the received light characteristic change law may include that the time interval or pulse width of each emission of at least two light pulses increases linearly with time with a preset characteristic change period, or that the time interval or pulse width of each emission of at least two light pulses changes with time with a preset trigonometric function; and in the preset characteristic change period, at least three times of continuous scanning of the laser radar system in time sequence are performed by using three different scanning angles.

In some embodiments, the light characteristics in the information of the emitted light may include: at least one of intensity, wavelength, polarization, waveform, size of the light spot, shape of the light spot, spatial light intensity distribution, multi-pulse spacing, pulse width, rising edge width, and falling edge width.

In some embodiments, the interval between the emission times of the same light emitting unit in the light emitting unit array 101 corresponding to different scanning angles is smaller than the flight time of the maximum range of the light back-and-forth system for at least 3 times of the preset time for completing the whole scanning of the target scene 105. In some embodiments, the range of maximum turndown may include 0-300 meters.

In some embodiments, at least 2 light emitting units in the array of light emitting units 101 emit emitted light simultaneously, which is directed to the target scene through the polygonal prism section.

In some embodiments, the light characteristics of the emitted light emitted simultaneously by at least 2 light emitting units in the array 101 of light emitting units are different.

Fig. 4 shows a schematic diagram of an example of a lidar system 400 with additional scanning components according to an embodiment of the disclosure.

In contrast to fig. 1, additional scan components 4023 are included in lidar system 400 as shown in fig. 4. The detailed description of other elements may refer to the description of lidar system 100 and will not be repeated here.

Additional scan components 4023 according to embodiments of the present disclosure include, but are not limited to: at least one or any combination of a rotary polygonal cylindrical mirror component 4021, a swing mirror, a rotary wedge mirror, a Micro Electro Mechanical System (MEMS), an Optical Phased Array (OPA), a mechanical rotating mirror, a mechanical vibrating mirror, a scanning unit for realizing the relative motion of a light-emitting unit and a transmitting lens, liquid crystals for controlling the reflection and/or transmission directions of an optical path, photoelectric crystals including potassium tantalate niobate (KTN) crystals, piezoelectric crystals and a sound control optical deflector.

Two-dimensional scanning of the target scene 105 can be achieved using the polygon prism component 4021 and the additional scanning component 4023.

FIG. 5A illustrates the scanning action of a moving additional scanning component on a beam of light according to an embodiment of the present disclosure.

In the embodiment shown in fig. 5A, for convenience of description, it is assumed that the polygonal prism member 4021 remains fixed. One incident light from the light emitting unit array 401 is incident on the additional scanning unit 4023, and during scanning, the additional scanning unit 4023 may deflect the light incident thereon in the first direction in any suitable manner to perform scanning in the first direction, for example, to perform scanning in the vertical direction, as shown in fig. 5A. Alternatively, the additional scanning component 4023 may deflect the light incident thereon in the horizontal direction by any suitable means to achieve scanning in the horizontal direction.

Figure 5B illustrates the scanning effect of an additional scan component moving in accordance with an embodiment of the present disclosure on two light beams.

In the embodiment shown in fig. 5B, it is assumed for convenience of description that the polygonal prism member 4021 remains fixed. Two incident lights from the light emitting unit array 401, i.e., an incident light 1 of a thinner line and an incident light 2 of a thicker line in fig. 5B, are incident on the additional scanning component 4023, and during scanning, the additional scanning component 4023 may deflect the two incident lights thereon in a first direction in any suitable manner, respectively, to realize scanning in the first direction, e.g., to realize scanning in a vertical direction, as shown in fig. 5B. Due to the angle difference existing when the two

incident lights

1 and 2 are incident, the track line of the emergent scanning light spot has deviation O3 in the horizontal direction.

Alternatively, the additional scanning component 4023 may deflect the light incident thereon in the horizontal direction by any suitable means to achieve scanning in the horizontal direction.

Figures 6A-6B illustrate the scanning action on light rays of a combination of a polygonal prism component and an additional scanning component using different scanning speeds in accordance with an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the polygonal prism member 4021 may cause light incident thereon, including emitted light or reflected light, to scan in a first direction. The additional scanning components 4023 may cause light incident thereon, including emitted or reflected light, to be scanned in a second direction.

In some embodiments, the second direction is different from the first direction, or the second direction and the first direction are perpendicular to each other. In some embodiments, the first direction is a horizontal direction and the second direction is a vertical direction, or vice versa.

Taking the horizontal and vertical directions as an example, the scanning spot trajectory distribution obtained after the combined scanning by the polygonal prism member 4021 and the additional scanning member 4023 is as shown in fig. 6A to 6B.

In the embodiment shown in fig. 6A, the polygon prism part 4021 moves at a slower speed, and the additional scanning part 4023 moves at a faster speed. Four cycles of scanning by the additional scanning component 4023 are completed resulting in 16 scanning spot trajectories T1-T16 as shown on the right side of fig. 6A, where there is a horizontal offset between the trajectories due to the angling of the mirror facets of the polygonal prism component 4021, e.g., a horizontal offset O4 between the first trajectory and the second trajectory. In the trajectory profile as illustrated in FIG. 6A, the trajectories T1-T4 correspond to a first scan cycle of the additional scan component 4023, the trajectories T5-T8 correspond to a second scan cycle of the additional scan component 4023, the trajectories T9-T12 correspond to a third scan cycle of the additional scan component 4023, and the trajectories T13-T16 correspond to a fourth scan cycle of the additional scan component 4023. Also, the trajectory lines T1, T5, T9, and T13 correspond to the mirror surface S1 having the declination angles P1 and Q1, the trajectory lines T2, T6, T10, and T14 correspond to the mirror surface S2 having the declination angles P2 and Q2, the trajectory lines T3, T7, T11, and T15 correspond to the mirror surface S3 having the declination angles P3 and Q3, and the trajectory lines T4, T8, T12, and T16 correspond to the mirror surface S4 having the declination angles P4 and Q4.

In the embodiment shown in fig. 6B, the polygon prism part 4021 moves at a faster speed, and the additional scanning part 4023 moves at a slower speed. The scanning of the additional scanning unit 4023 for four cycles is completed to obtain 16 scanning spot trajectories as shown on the right side of fig. 6B, where there is a horizontal offset between the trajectories due to the off-angles of the respective mirror surfaces of the polygonal prism unit 4021, i.e., the trajectories have different starting positions. In the trajectory profile shown in fig. 6B, from top to bottom, 4 solid-line trajectories correspond to a first scan cycle of the

additional scan component

4023, 4 dotted-dashed-line trajectories correspond to a second scan cycle of the

additional scan component

4023, 4 long-dashed-line trajectories correspond to a third scan cycle of the additional scan component 4023, and the lowermost 4 dashed-line trajectories correspond to a fourth scan cycle of the additional scan component 4023. Also, from top to bottom, 4 solid line traces correspond to mirror surface S1 having off angles P1 and Q1, 4 dotted dashed line traces correspond to mirror surface S2 having off angles P2 and Q2, 4 long dashed line traces correspond to mirror surface S3 having off angles P3 and Q3, and the lowermost 4 dashed line traces correspond to mirror surface S4 having off angles P4 and Q4.

In this embodiment, a two-dimensional scan field with more uniform distribution, larger spatial coverage and higher angular resolution can be obtained by using the combined scan of the polygonal cylindrical mirror component 4021 and the additional scan component 4023; in contrast, in the conventional technical solution, the moving speed of 4021 and/or 4023 needs to be increased by multiple times in order to obtain the same resolution.

In some embodiments, as illustrated with reference to fig. 2A-2D, the plurality of mirror surfaces S1-S4 of the polygon prism component 4021 are arranged along the periphery of the virtual regular polygon prism V, each mirror surface forming a predetermined distinct first offset angle P1-P4 with a corresponding surface D1-D4 of the virtual regular polygon prism V, each mirror surface of the polygon prism component 4021 reflecting a beam of incident light to the target scene to form a same first scanning light beam as the polygon prism component 4021 rotates. As described with reference to fig. 3A, since there is no second off-angle from the absence of the mirror surface, there are no scan lines separated from each other in the vertical direction during scanning, that is, the same first scan light line scanned in the horizontal direction is formed. In this embodiment, the additional scanning unit 4023 is a movable optical mirror assembly (described in detail in connection with fig. 9A-9B) having a movable moving mirror, wherein the movement of the movable moving mirror includes at least one of vibration, rotation, and oscillation, the additional scanning unit 4023 is configured to reflect a beam of incident light onto each mirror of the polygonal prism unit 4021, and the rotation or vibration of the movable optical mirror projects the first scanning light onto the target scene along the second direction to form a plurality of light rays. For example, in one example, rotation or oscillation of the movable optical mirror projects a first scanning light line in a vertical direction onto a target scene to form a uniform two-dimensional scanning light line distribution to effect a two-dimensional spatial scanning of the scene.

In some embodiments, the additional scan components 4023 may be oscillating mirrors in a linear addition manner or in a step-wise manner. The spot trajectories obtained by the combined scanning of the additional scanning unit 4023 and the polygonal prism unit 4021 are shown in fig. 7A to 7B.

Fig. 7A shows a schematic diagram of an example of a combined scanned spot scanning track and fig. 7B shows a schematic diagram of another example of a combined scanned spot scanning track.

According to an embodiment of the present disclosure, the combined scanning manner may include combined scanning of the moving polygon prism part and the moving additional scanning part. Alternatively, the combined scanning mode may not include scanning of additional scanning components, i.e., a combined scanning including a rotating polygonal prism component and 4 mirrors in which rotation is converted to wobbling in the second dimension with a mechanical drive. Of course, the disclosure is not so limited, and a combined scan according to embodiments of the disclosure may include any suitable combination of motions of components to achieve scanning in two different dimensional directions.

In some embodiments, the four light emitting units emit the emergent light, and the scanning spot track of each horizontal scanning line with continuously changing scanning angles in the vertical direction as shown in fig. 7A can be obtained by performing linear triangular swing for one period through the additional scanning component 4023 and rotating the polygonal cylindrical mirror component 4021 for two cycles.

In some embodiments, the scanning spot trajectory, as shown in fig. 7B, of each horizontal scanning line with jumping change in scanning angle in the vertical direction can be obtained by the four light emitting units emitting emergent light and swinging linearly jumping (stepping) by one cycle through the additional scanning component 4023 and rotating the polygonal cylindrical mirror component 4021 by two cycles.

In some embodiments, the rotating polygonal prism assembly 4021 and the 4 mirrors in which the rotation is mechanically translated to wobble in the second dimension may also produce the spot scanning effect as in fig. 7A and 7B.

In some embodiments, the period of the movement of the mirror surfaces of the polygonal prism component 4021 in the second dimension is a preset integer multiple or a preset unit fraction multiple of the scanning period of the polygonal prism component 4021 in the first dimension.

In some embodiments, the scanning period of the additional scanning component 4023 in the second dimension is a preset integer multiple or a preset unit fraction multiple of the scanning period of the polygonal prism component 4021 in the first dimension.

In the embodiment of the present disclosure, the fraction of the molecules is 1 is a unit fraction, for example, the vertical scanning period of the additional scanning member 4023 is 1/4 of the horizontal scanning period of the polygonal prism member 4021, as described below with reference to fig. 8.

In the embodiment shown in fig. 8, the result of accumulating the spot scanning trajectories after 1/4,4 light-emitting units of the vertical scanning period of the additional scanning unit 4023, which is the horizontal scanning period of the polygonal prism unit 4021, pass through 4 mirror surfaces having different first angles of inclination of the polygonal prism unit 4021, is shown in fig. 8.

As shown in fig. 8, the first set of solid line trajectories corresponds to the scanning trajectories corresponding to the mirror surface S1 in one period of rotation of the polygonal prism mirror component 4021, as viewed from left to right. Due to the off angle of mirror S1, the scan trajectory has an offset in the horizontal direction, as shown. The second set of dashed traces corresponds to the scanning traces corresponding to the mirror surface S2 during one period of rotation of the polygonal prism mirror assembly 4021. Due to the off angle of mirror S2, the scan trajectory has an offset in the horizontal direction, as shown. The third group of the line selection trajectories corresponds to the scanning trajectories corresponding to the mirror surface S3 in one period of rotation of the polygonal prism mirror part 4021. Due to the off angle of mirror S3, the scan trajectory has an offset in the horizontal direction, as shown. The fourth set of solid-line trajectories corresponds to the scanning trajectories corresponding to the mirror surface S4 in one cycle of rotation of the polygonal prism mirror component 4021. Due to the off angle of mirror S4, the scan trajectory has an offset in the horizontal direction, as shown. Each set of scanning tracks shown in fig. 8 includes four scanning tracks corresponding to four light emitting units, respectively. After one period of scanning, the two-dimensional scanning track distribution shown in the lower part of fig. 8 can be obtained, although the disclosure is not limited thereto, and more light-emitting units and more mirror surfaces can be included.

In some embodiments, the spot scanning effect shown in figure 8 can also be produced by a rotating polygonal

cylindrical mirror component

4021 and 4 mirrors in which rotation is converted to wobble in the second dimension by mechanical gearing, without the additional scanning optical element 4023.

Figures 9A-9B illustrate schematic diagrams of a light scanning unit including a movable optic mirror assembly having one double mirror and peripheral secondary optics, according to embodiments of the present disclosure.

As shown in FIGS. 9A-9B, an additional scan component 4023 includes a double mirror 40231 and peripheral auxiliary optics including various sub-components 40232A-40232B and 40233.

In some embodiments, the movable optic assembly 4023 includes a double sided mirror and perimeter secondary optics that modulate at least two oppositely directed emitted lights to pass through the polygonal prism assembly 4021 toward the target scene for the same scan field of view by moving the double sided reflective or refractive enabled sub-devices 40232A-40232B and 40233.

In some embodiments, the peripheral secondary optic may redirect one of the emitted lights in the same direction as the other emitted light with a predetermined angular offset, and the peripheral secondary optic may include one or more of a 90 ° mirror, a 90 ° prism, a cube or hollow cube, and an acute angle prism.

In the embodiment of FIG. 9A, the additional scan component 4023 includes a double sided mirror 40231, reflective optical sub-device 40232A, and an angle adjustment sub-device 40233. In the embodiment of FIG. 9B, the additional scan components 4023 include a double mirror 40231, refractive optics 40232B, and an angle adjustment sub-device 40233.

In the embodiment of fig. 9A, two incident lights 1 (shown by a solid line) and 2 (shown by a dashed line) with opposite directions enter the double-sided mirror 40231, and after double emission of the double-sided mirror 40231, the reflected incident light 1 continues to enter the polygonal prism component 4021, and after reflection of any mirror surface of the polygonal prism component 4021, the emergent light 1 is swept to a target scene with a suitable first scanning FOV; meanwhile, the reflected incident light 2 enters the reflective optical sub-device 40232A, enters the polygonal prism component 4021 after being reflected by two, and the emergent light 2 can be scanned to the target scene by reasonably arranging the reflective optical sub-device 40232A with a second scanning FOV which is substantially the same as the first scanning FOV. The angle adjusting sub-device 40233 causes the outgoing light 2 to have a predetermined angular shift. According to the technical scheme of the embodiment, the horizontal angular resolution can be increased.

Similar to fig. 9A, fig. 9B shows a schematic diagram of a light scanning unit with a refractive optical sub-device 40232B.

In the embodiment of fig. 9B, two incident lights 1 (shown by a solid line) and 2 (shown by a dashed line) with opposite directions enter the double-sided mirror 40231, and after double emission of the double-sided mirror 40231, the reflected incident light 1 continues to enter the polygonal prism component 4021, and after reflection of any mirror surface of the polygonal prism component 4021, the emergent light 1 is swept to a target scene with a suitable first scanning FOV; meanwhile, the reflected incident light 2 enters the refractive optical sub-device 40232B, and enters the polygonal cylindrical mirror component 4021 after being refracted and reflected for multiple times, and the emergent light 2 can be scanned to the target scene by a second scanning FOV which is substantially the same as the first scanning FOV through reasonable arrangement of the refractive optical sub-device 40232A. The angle adjusting sub-device 40233 causes the outgoing light 2 to have a predetermined angular shift. According to the technical scheme of the embodiment, the horizontal angular resolution can be increased. In this embodiment, by adding peripheral secondary optics to fully utilize incident beams from different directions, even opposite directions, more scanning spot trajectories can be obtained without significantly increasing the number of light-emitting units to achieve a more optimal scan of the target scene.

Of course, in embodiments of the present disclosure, the incident lights 1 and 2 may be incident on the double mirror 40231 at any different incident angles, rather than just two diametrically opposite incident angles, and the examples of fig. 7A-7B are merely for ease of illustration, and the present invention is not limited thereto.

FIG. 10 illustrates an example of a peripheral secondary optic in accordance with an embodiment of the present disclosure.

As shown in fig. 10, (a) shows the effect on the beam of light of a double-sided mirror with an anti-reflection coating or no coating on one side and a reflective coating on the other side. (b) The effect on the beam of light is shown for a double mirror with reflective coatings on both sides. (c) The effect on the beam of light is shown for a prism with reflective coatings on both sides.

Fig. 11 shows a schematic diagram of a light scanning unit with two polygonal prism components according to an embodiment of the present disclosure.

As shown in fig. 11, the four mirror surfaces S1 to S4 of the polygonal prism member 4021 have different second angles of inclination. The same incident light passes through 2 mirrors with different deflection angles to generate emergent light 1-3 with different emergent directions.

In some embodiments, the predetermined different first deviation angle (dq) between each mirror face of the polygonal prism component and the largest virtual regular polygonal prism corresponding face is determined by the ratio of the angular frequency (Fp) of the polygonal mirror and the angular frequency (Fm) of the movable mirror and the number of faces N of the virtual regular polygonal prism; wherein dq = c × Fp/Fm/N, where c is a predetermined constant having a value in the range of 0.01 to 1000.

FIG. 12 shows a schematic diagram of a coaxial lidar system according to an embodiment of the disclosure.

As shown in fig. 12, the optical path of the laser radar system that receives light is co-axial with the optical path of the emitted light. The laser radar system may further include: a beam splitting optical element that splits emitted light and received light; the beam splitting optical element is one or more of a perforated mirror, a slotted mirror, a polarizing beam splitter, a partially reflecting mirror, or an offset faceted mirror, allowing the output beam to pass from the edge of the beam splitting optical element and reflect the echo back to the array of light receiving elements.

FIG. 13 shows a schematic diagram of an off-axis lidar system according to an embodiment of the disclosure.

As shown in fig. 13, the optical path of the laser radar system that receives light is off-axis from the optical path that emits light. The emitted light reflected back from the object of the object scene 105 passes through the mirror surface of the polygonal prism member 4021, does not pass through the movable optical mirror assembly 4023, and is received by the light receiving cell array,

in some embodiments, the light receiving unit array 104 may include at least two light receiving units arranged in the second direction.

In some embodiments, the light receiving unit array 104 may further include at least two light receiving units arranged in the first direction.

Fig. 14 illustrates an example embodiment of an optical collimating element 4024 that emits an array of light units, according to an embodiment of the disclosure.

As shown in fig. 14, the optical collimating element 4024 of the light emitting unit array 104 can shape an incident light spot (shown as a shaded ellipse), so as to effectively reduce the size of the emitted light spot in one dimension, and thus the emitted light is more optically efficient.

In some embodiments, the optical collimating elements 4024 may be configured as a combination of cylindrical lenses.

Figures 15A-15B illustrate two examples further illustrating the scanning of a co-axial combined light scanning unit having an optical collimating element 4024 and a deflecting optic 4025 therein. As shown in fig. 15A and 15B, the optical collimating element 4024 of the array of light-emitting units 104 can shape the incident spot, resulting in a spot that is smaller in size in one dimension. The collimated light is irradiated to a target scene through the shift mirror 4025, the additional scanning member 4023, and the polygon prism member 4021 in this order, and the light returned from the scene is returned to the light receiving unit array through the polygon prism member 4021, the additional scanning member 4023, the shift mirror 4025, and the receiving lens combination 4026 in this order.

In some embodiments, receive lens combination 4026 may be configured as a spherical mirror having a rectangular outer shape.

In some embodiments, the emitted light from the array of light emitting units (e.g., 101 or 401) includes visible light of RGB, and the lidar system may project the image onto the target scene to reconstruct a 3D image based on information of the emitted light, information of the light scanning unit, and a 2D or 3D image to be played that includes at least one viewing angle to be projected. The present embodiment can realize the function of the virtual augmented reality AR.

In some embodiments, the lidar system may further project the 3D image to the target scene in a manner that presents a best 3D visual effect to the user, while optimizing the played 3D stereo sound, based on the position of the audience that the lidar calculates in real time, to provide the best virtual augmented reality experience to the user.

In some embodiments, the 2D or 3D to-be-played video may include 2D or 3D image information and 2D or 3D sound information.

In some embodiments, the target scene may include a flat screen.

Fig. 16A-16C illustrate different scanning results resulting from different skew angle laws in relation to an emission angle between emission angles of two light emitting units of two different emission angles according to an embodiment of the present disclosure. FIG. 16A shows a light scanning pattern at one bias angle setting, FIG. 16B shows a light scanning pattern at another bias angle setting, and FIG. 16C shows a light scanning pattern at a preferred bias angle setting

In fig. 16A, the vertical scanning angle on the left is not uniform, the vertical scanning angle on the right in fig. 16B is not uniform, and fig. 16C achieves the result that the vertical scanning angle is uniform under the preferable set declination rule. In some implementations, the declination rule may be preferably set according to application scenario requirements.

As shown in fig. 17, the solid circle "probe 1", "probe 2", "probe 3" \8230 "; and" probe 9 "indicate the scanning angle obtained using the scanned-information detecting member temporally closest to the time of reflection of the emitted light. The hollow triangles "true 1", "true 2", "true 3" \ 8230; "true 9" represent the true scan angles that truly reflect the emission points of the light pulses emitted by the lidar in the target scene.

In this embodiment, the emission light interval time is much less than the light flight time of the distance range, and the emission light interval time is less than the scan time corresponding to the minimum angular resolution or measurement error angle of the scan angle detector. For a certain light-emitting unit, the system uses the pulse characteristics (pulse width) obtained by detecting the corresponding light-receiving units for the last multiple times (at least 3 times) and the change rule of the preset pulse characteristics along with the scanning angle to calculate the actual pulse characteristic change rule, the closest interval preset scanning rule matched with the actual pulse characteristic change rule in time and the real scanning angle. For example, at the time t9 shown in the figure, the system calculates a pulse characteristic law (pulse width law) in the nearest interval during the periods t7, t8 and t9 according to the pulse widths of the measured pulse 9, pulse 8 and pulse 7, further matches the pulse width law (such as the triangular wave in the lower half of fig. 17) with the preset scanning law in the nearest interval, and finally calculates to obtain the true pulse angle closer to the true pulse angle "true 9". Because the scanning rule and the characteristic change rule in a larger time range are used, more than one more accurate scanning angle can be measured and obtained in the maximum range time interval on the basis of the detection accuracy capability of the scanning angle.

In some embodiments, the emission light interval time is much less than the light flight time of the distance range, and the emission light interval time is less than the scan time corresponding to the minimum angular resolution or measurement error angle of the scan angle detector. For a certain light-emitting unit, the system uses the pulse characteristics (e.g. pulse width) detected by the corresponding light-receiving units for the last multiple times (at least 3 times) and the change rule of the preset pulse characteristics along with the scanning angle to calculate the actual pulse characteristic change rule and the closest interval preset scanning rule matched with the actual pulse characteristic change rule in the closest time, and the actual scanning angle. For example, at the time t9, the system calculates a pulse characteristic rule (pulse width rule) in the nearest interval during t7, t8 and t9 according to the measured pulse widths of the pulse 9, the pulse 8 and the pulse 7, further matches the pulse width rule (triangular wave yellow curve in the figure) with a preset scanning rule in the nearest interval, and finally calculates to obtain a true pulse characteristic rule closer to the true scanning angle "true 9". Because the scanning rule and the characteristic change rule in a larger time range are used, more than one more accurate scanning angle can be measured and obtained in the maximum range time interval on the basis of the detection accuracy capability of the scanning angle.

At step 1802, the emitted light may be emitted with emitted light information { pulse width 1, pulse width 2, \8230;, pulse width n } and a preset emission time { t1, t2, t3, \8230;. Tn } including a preset pulse width in a periodic trigonometric function relationship with the scan angle (i.e., pulse width = f (scan angle)).

In step 1804, the scanning unit may detect an emission detection angle corresponding to the emission time: { visit 1, visit 2, visit 3, \8230, visit n }.

In step 1806, the receiving unit may receive the reception detection angle at the reception time: { connect 1, connect 2, connect 3, \8230;, connect n }, and receive pulse width: { width 1, width 2, width 3, \8230;, width n }, and reception time { epoch 1, epoch 2, epoch 3, \8230;, epoch n }.

In step 1808, the system may calculate the best match between { width n, width n-1, width n-2} and { pulse width 1, pulse width 2, \8230, pulse width n } and its width match error A, and fit the actual angle change law B during the fitting. The system may also calculate the transmit and receive angle errors C for the corresponding matches.

At step 1810, the system may perform at least one of the following based on a weighted average of the errors a and C: and determining that the received light n is noise, calculating a scanning angle { true n } according to the angle change rule B and the receiving time, and calculating the distance according to the correspondingly matched transmitting time and receiving time.

As shown in fig. 19, the left-side solid-line trajectory indicates a pre-actual scanning trajectory at a first period corresponding to a certain light-emitting unit. The left dotted-line trajectory represents a theoretical scanning trajectory calculated using the scanning detection angle and the designed light-emitting unit position information for a first period of time, corresponding to a certain light-emitting unit. The filled circles represent the theoretically calculated scan angle a. The filled triangles represent the angle B on the pre-actual scan trajectory that is closest to the theoretically calculated scan angle a. The scanning trajectory for the second period is shown on the right side of fig. 19, where the right-side solid-line trajectory represents the pre-actual scanning trajectory for the second period corresponding to a certain light-emitting unit. The right dotted-line trajectory indicates a theoretical scanning trajectory calculated using the scanning detection angle and the designed light-emitting unit position information in the second period, corresponding to a certain light-emitting unit.

In an embodiment, the lidar may calculate the current scan angle according to design parameters. Then, according to the recorded actual scanning track in advance, the scanning angle B closest to the current scanning angle is found. According to the technical scheme, the target position is determined by utilizing the actual scanning track information in advance, so that the scanning track which more accurately reflects each system is obtained in actual use. Of course, the above-mentioned embodiments are merely examples and not limitations, and those skilled in the art can combine and combine some steps and apparatuses from the above-mentioned separately described embodiments to achieve the effects of the present invention according to the concepts of the present invention, and such combined and combined embodiments are also included in the present invention, and such combined and combined embodiments are not necessarily described herein.

It is noted that the advantages, effects, etc. mentioned in the present disclosure are only examples and not limitations, and they should not be considered essential to the various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.

The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably herein. As used herein, the words "or" and "refer to, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

The flowchart of steps in the present disclosure and the above description of methods are merely illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be appreciated by those of skill in the art, the order of the steps in the above embodiments may be performed in any order. Words such as "thereafter," "then," "next," etc. are not intended to limit the order of the steps; these words are simply used to guide the reader through the description of the methods. Furthermore, any reference to an element in the singular, for example, using the articles "a," "an," or "the" is not to be construed as limiting the element to the singular.

In addition, the steps and devices in the embodiments are not limited to be implemented in a certain embodiment, and in fact, some steps and devices in the embodiments may be combined according to the concept of the present invention to conceive new embodiments, and these new embodiments are also included in the scope of the present invention.

The individual operations of the methods described above can be performed by any suitable means capable of performing the corresponding functions. The means may include various hardware and/or software components and/or modules including, but not limited to, a hardware circuit, an Application Specific Integrated Circuit (ASIC), or a processor.

The various illustrative logical blocks, modules, and circuits described may be implemented or described with a general purpose processor, a Digital Signal Processor (DSP), an ASIC, a field programmable gate array signal (FPGA) or other Programmable Logic Device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any commercially available processor, controller, microcontroller or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, a microprocessor in conjunction with a DSP core, or any other such configuration.

The steps of a method or algorithm described in connection with the disclosure herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may reside in any form of tangible storage medium. Some examples of storage media that may be used include Random Access Memory (RAM), read Only Memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, and the like. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. A software module may be a single instruction, or many instructions, and may be distributed over several different code segments, among different programs, and across multiple storage media.

The methods disclosed herein comprise acts for implementing the described methods. The methods and/or acts may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of actions is specified, the order and/or use of specific actions may be modified without departing from the scope of the claims.

The above-described functions may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as instructions on a tangible computer-readable medium. A storage media may be any available tangible media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other tangible medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. As used herein, disk (disk) and disc (disc) includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

Accordingly, a computer program product may perform the operations presented herein. For example, such a computer program product may be a computer-readable tangible medium having instructions stored (and/or encoded) thereon that are executable by a processor to perform the operations described herein. The computer program product may include packaged material.

Software or instructions may also be transmitted over a transmission medium. For example, the software may be transmitted from a website, server, or other remote source using a transmission medium such as coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, or microwave.

Further, modules and/or other suitable means for carrying out the methods and techniques described herein may be downloaded and/or otherwise obtained by a user terminal and/or base station as appropriate. For example, such a device may be coupled to a server to facilitate the transfer of means for performing the methods described herein. Alternatively, the various methods described herein can be provided via storage means (e.g., RAM, ROM, a physical storage medium such as a CD or floppy disk) so that the user terminal and/or base station can obtain the various methods when coupled to or providing storage means to the device. Moreover, any other suitable technique for providing the methods and techniques described herein to a device may be utilized.

Other examples and implementations are within the scope and spirit of the disclosure and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination of these. Features implementing functions may also be physically located at various locations, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items beginning with "at least one" indicates a separate list, such that, for example, a list of "at least one of a, B, or C" means a or B or C, or AB or AC or BC, or ABC (i.e., a and B and C). Furthermore, the word "exemplary" does not mean that the described example is preferred or better than other examples.

Various changes, substitutions and alterations to the techniques described herein may be made without departing from the techniques of the teachings as defined by the appended claims. Moreover, the scope of the claims of the present disclosure is not limited to the particular aspects of the process, machine, manufacture, composition of matter, means, methods and acts described above. Processes, machines, manufacture, compositions of matter, means, methods, or acts, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or acts.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the invention to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. A lidar system, comprising:

a light emitting unit array including at least two light emitting units, each of which independently emits emission light to a target scene according to information of the emission light;

a light receiving unit array including at least one light receiving unit that receives received light that the emitted light reflected from a target scene and finally reaches the at least one light receiving unit;

an optical scanning unit including at least a polygonal prism member having at least two mirror surfaces and moving in a first dimension around a first axis, wherein the polygonal prism member can accommodate therein a virtual regular polygonal prism having a maximum volume centered on the first axis, any one of the mirror surfaces of the polygonal prism member forms a first off angle and a second off angle with its corresponding surface with the virtual regular polygonal prism in two different directions, respectively, and predetermined off angle laws of at least one of the first off angle and the second off angle of at least two of the mirror surfaces of the polygonal prism member are different,

wherein the light scanning unit, when in motion, forms a scanning angle comprising a first directional component and a second directional component, the scanning angle being descriptive of at least one of the emitted light being swept towards an object of the object scene and the received light being returned from the object of the object scene, and the light scanning unit comprising detection means for acquiring information of the light scanning unit;

the lidar system further comprises: a processor determining at least one of a scan angle and a scan distance to a target in a target scene based on the information of the emitted light, the information of the light scanning unit, and the information of the received light to determine a position of the target.

2. Lidar system according to claim 1, wherein the information of the emitted light comprises at least information related to a law of variation of at least 3 scanning angles.

3. The lidar system of claim 1, wherein the lidar further has stored pre-actual scanning trajectory information, and wherein the lidar system is further configured to determine a position of a target based on at least one of a scanning angle and a scanning distance to the target in the target scene based on the pre-actual scanning trajectory information, the information about the emitted light, the information about the light scanning unit, and the information about the received light.

4. The lidar system of claim 1,

the projection of the normal line of any mirror surface of the polygonal prism component in the plane perpendicular to the first axis and the complementary angle of the included angle of the surface corresponding to the virtual regular prism body are the first deflection angles, and the complementary angle of the included angle of the normal line of any mirror surface and the first axis is the second deflection angle.

5. The lidar system of claim 1,

each mirror surface of the polygonal prism component forms each deflection angle with the corresponding surface of the virtual regular polygonal prism body,

wherein, each deflection angle with different predetermined deflection angle rules is integral multiple of the minimum non-zero deflection angle in each deflection angle; or,

wherein the difference in declination between at least one different pair of declinations is the same as the difference in declination between another different pair of declinations.

6. The lidar system of claim 1,

for the first direction or the second direction, all deflection angles with different preset deflection angle laws are less than or equal to ten times of an emission included angle between emission angles of two light emitting units with at least two different emission angles; or,

for the first direction or the second direction, the deflection angles with different preset deflection angle laws are larger than or equal to the emission included angle between the emission angles of any two light emitting units with two different emission angles.

7. The lidar system of claim 1,

at least 80% of the scan angles of the respective mirror surfaces of the polygonal prism part to the object of the object scene are identical.

8. The lidar system of claim 1,

at least one mirror face of the polygonal prism component moves in a second dimension, different from the first dimension, relative to a first axis of the polygonal prism component; or the first axis of the polygonal prism part moves in a second dimension different from the first dimension with respect to the second direction.

9. The lidar system of claim 8,

movement in the second dimension is obtained by movement about the first axis through a motorless part motion transformation.

10. Lidar system according to any of claims 1 to 3,

the information of the emitted light comprises at least one of an emission position, an emission time and a preset light characteristic change rule for controlling the light characteristic of the emitted light; and (c) a second step of,

the received light information includes at least one of a reception position of the received light, a reception time, a change rule of a detected characteristic of the received light, and a light characteristic of the received light.

11. The lidar system of claim 10,

the processor determines the characteristic change rule of the received light according to the information of the received light formed by detecting the emitted light through at least three different scanning angles within a preset light characteristic change measuring time.

12. The lidar system of claim 11,

the characteristic change rule of the received light comprises that the time interval or the pulse width of at least two light pulses transmitted each time is linearly increased along with the time according to a preset characteristic change period, or the time interval or the pulse width of at least two light pulses transmitted each time is changed along with the time according to a preset trigonometric function; and in the preset characteristic change period, at least three times of continuous scanning in time sequence are performed by the laser radar system at three different scanning angles.

13. The lidar system according to any of claims 1 to 3,

the light characteristics in the information of the emitted light include: at least one of intensity, wavelength, polarization, waveform, size of the light spot, shape of the light spot, spatial light intensity distribution, multi-pulse spacing, pulse width, rising edge width, and falling edge width.

14. The lidar system of claim 13,

within the preset time of finishing all scanning of the target scene, the interval between the emission time of the emission light corresponding to different scanning angles of at least 3 times of the same emission unit is smaller than the flight time of the light back and forth to the maximum range of the system.

15. The lidar system of claim 13,

at least 2 of the light emitting units simultaneously emit the emitted light to the target scene through the polygonal prism part.

16. The lidar system of claim 15,

at least 2 of the light emitting units simultaneously emit light having different light characteristics.

17. The lidar system of claim 1,

the light scanning unit further includes: additional scanning components, including but not limited to: at least one or any combination of the rotary polygonal cylindrical mirror component, the oscillating mirror, the rotary wedge mirror, the micro-electro-mechanical system MEMS, the optical phased array OPA, the mechanical rotating mirror, the mechanical vibrating mirror, the scanning unit for realizing the relative motion of the light-emitting unit and the emitting lens, the liquid crystal for controlling the reflection and/or transmission direction of the light path, the photoelectric crystal comprising potassium tantalate niobate KTN crystal, the piezoelectric crystal and the sound control optical deflector; and,

the polygonal prism section causes scanning of the emitted light or the reflected light toward a first direction; the additional scanning component causes scanning of the emitted light or the reflected light in a second direction; and,

the second direction is different from the first direction or is perpendicular to the first direction; and also,

and the emitted light or the reflected light passes through the additional scanning component and the polygonal cylindrical mirror component to complete the scanning of the target scene.

18. Lidar system according to claim 8 or claim 17,

a movement period of at least one mirror surface of the polygonal prism part in a second dimension, or a scanning period of the additional scanning part is a preset integral multiple or a preset unit fraction multiple of a scanning period of the polygonal prism part.

19. The lidar system of claim 17,

the plurality of mirror surfaces of the polygonal prism member are arranged along the periphery of the virtual regular polygonal prism, each mirror surface forms a predetermined different first deflection angle with a corresponding surface of the virtual regular polygonal prism, when the polygonal prism member rotates, each mirror surface of the polygonal prism member reflects a beam of incident light to a target scene to form a same first scanning light,

the additional scanning component is a movable optical mirror assembly having a movable moving mirror, wherein the movement of the movable moving mirror includes at least one of vibration, rotation, and oscillation, the additional scanning component is configured to reflect the one incident light beam onto the mirror surface of the polygonal prism component, and the rotation or vibration of the movable optical mirror projects the first scanning light beam onto a target scene along a second direction to form a plurality of light beams.

20. The lidar system of claim 19,

the movable optical mirror assembly comprises a double-sided mirror and a peripheral auxiliary optical device, and at least two beams of emitted light in opposite directions are adjusted to pass through the polygonal cylindrical mirror assembly and irradiate the polygonal cylindrical mirror assembly to the target scene at the same field angle in a scanning field of view through the double-sided reflection or refraction.

21. The lidar system of claim 20,

the peripheral secondary optic redirects one of the emitted light beams in the same direction as the other, with a predetermined angular offset,

the peripheral secondary optic includes one or more of a 90 ° mirror, a 90 ° prism, a cube-corner or hollow cube-corner mirror, and an acute-angled prism.

22. The lidar system of claim 20,

wherein an optical path for receiving light is co-axial with an optical path for emitting light, the lidar system further comprising:

a beam splitting optical element that splits emitted light and received light; the beam splitting optical element is one or more of a perforated mirror, a slotted mirror, a polarizing beam splitter, a partially reflective mirror, or a mirrored mirror with offset to allow the outgoing beam to pass from its edge and reflect echoes back into the array of light receiving elements.

23. Lidar system according to claim 20,

the emitted light reflected back from the object of the object scene is received by the light receiving cell array without passing through the movable optical mirror assembly after passing through the mirror surface of the polygonal prism section,

the light receiving unit array includes at least two light receiving units arranged in a second direction.

24. Lidar system according to claim 23,

the light receiving unit array further includes at least two light receiving units arranged in the first direction.

25. Lidar system according to claim 1,

the light emitting unit comprises a semiconductor laser, at least one of a vertical cavity surface emitting laser VCSEL, an edge emitting laser EEL or a combination array thereof, or a semiconductor laser pumped solid laser and a fiber laser, wherein the wavelength of the semiconductor laser is a visible light band, the wavelength of the semiconductor laser is a near infrared band, the wavelength of the semiconductor laser is an infrared band, and the polarization state of the semiconductor laser can be polarized or unpolarized.

26. Lidar system according to claim 1,

the emitted light is emitted in the form of a continuous wave CW, and the detection method comprises a frequency modulated continuous wave FMCW or an amplitude modulated continuous wave AMCW or a phase method.

27. The lidar system according to claim 1, further comprising an optical filter, including a band pass filter, disposed between the light receiving unit and the lidar system target scene reflection light entrance window.

28. Lidar system according to claim 1,

the light receiving unit comprises a photodiode PIN, an avalanche photodiode APD, a single photon avalanche diode SPAD, a silicon photomultiplier SiPM and a detector array of any combination thereof.

29. Lidar system according to claim 1,

including an amplifying circuit for the light receiving unit, a transimpedance amplifier (TIA), and its subsequent analog-to-digital converter ADC or time-to-digital converter TDC.

30. Lidar system according to claim 1, characterized in that,

the laser radar system projects the image to a target scene to reconstruct a 3D image according to the information of the emitted light, the information of the light scanning unit and the 2D or 3D image to be played which is required to be projected and comprises at least one visual angle.