CN117890931A

CN117890931A - Rotary mirror laser radar and electronic equipment

Info

Publication number: CN117890931A
Application number: CN202410289456.8A
Authority: CN
Inventors: 赵浸坤
Original assignee: Shenzhen Fushi Technology Co Ltd
Current assignee: Shenzhen Fushi Technology Co Ltd
Priority date: 2024-03-14
Filing date: 2024-03-14
Publication date: 2024-04-16

Abstract

The application provides a turning mirror laser radar, which comprises a base, a reflecting piece, at least one receiving and transmitting module and a driving assembly. The base comprises a bearing surface. The reflecting piece is rotatably arranged on the base and comprises a first reflecting surface and a second reflecting surface which are arranged opposite to each other. At least one transceiver module is disposed on the base and configured to transmit a sensing beam to the field space through the reflector and receive an optical signal from the field space to sense three-dimensional information of an object in the field space. The driving assembly respectively faces the first reflecting surface and the second reflecting surface to the receiving and transmitting module through the rotating reflecting piece at different time intervals, so that the receiving and transmitting module alternately senses three-dimensional information in a view field space through the first reflecting surface and the second reflecting surface. The application also provides an electronic device comprising a rotary mirror lidar.

Description

Rotary mirror laser radar and electronic equipment

Technical Field

The application belongs to the field of photoelectric detection, and particularly relates to a rotating mirror laser radar and electronic equipment.

Background

The laser radar has the advantages of long sensing distance, high precision, low energy consumption and the like, and is widely applied to the fields of consumer electronics, intelligent driving, unmanned aerial vehicles, AR/VR and the like. The existing rotating mirror laser radar realizes scanning sensing of sensing light beams to different angles of a view field space through a periscope type light path formed by a rotating 45-degree inclined angle reflecting mirror and a receiving and transmitting module fixedly arranged below the reflecting mirror. However, the laser radar with the structure prevents the optical path characteristics of the plane reflector from realizing single-line scanning of one transceiver module, but cannot realize multi-line scanning of the view field space by arranging a plurality of transceiver modules, so that the sensing range of the view field space along the vertical direction is greatly limited, and the 45-degree reflector can only finish one-time detection of a position of a certain angle in the view field angle after rotating for one circle, and the detection frame rate is low.

Disclosure of Invention

In view of the foregoing, the present application provides a rotary mirror lidar and related electronic devices that can improve the problems of the prior art.

In a first aspect, the present application provides a rotary mirror lidar configured to sense three-dimensional information of an object within a preset field of view space based on time-of-flight principles. The turning mirror laser radar includes:

the base comprises a bearing surface;

the reflecting piece comprises a first reflecting surface and a second reflecting surface which are arranged opposite to each other, and the reflecting piece is rotatably arranged on the base;

at least one transceiver module arranged on the base, the transceiver module being configured to transmit a sensing beam to a field space through a reflector and to receive an optical signal from the field space so as to sense three-dimensional information of an object in the field space; and

And the driving assembly is configured to enable the first reflecting surface and the second reflecting surface to face the transceiver module respectively in different time periods by rotating the reflecting piece, so that the transceiver module can sense three-dimensional information of the field space through the first reflecting surface and the second reflecting surface alternately.

In a second aspect, the present application provides an electronic device, including an application module and a rotary mirror lidar as described above. The application module is configured to realize corresponding functions according to the detection result of the rotary mirror laser radar.

The beneficial effects of this application:

compared with a periscope type optical path formed by a transceiver module fixedly arranged below a reflector in a matched mode of an existing 45-degree inclined reflector, the multi-line scanning type optical path scanning device can realize multi-line scanning in a scanning mode of alternately reflecting sensing light beams by rotating a first reflecting surface and a second reflecting surface which are arranged back to each other, so that a view field space is enlarged, and two-wheel scanning can be carried out on the same angle position in the view field space every turn of the reflecting part, so that the detection frame rate is improved.

Drawings

The features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic diagram of functional modules of an electronic device according to an embodiment of the present application.

Fig. 2 is a schematic functional block diagram of an embodiment of the rotary mirror lidar shown in fig. 1.

Fig. 3 is a schematic diagram of an explosion structure of a rotary mirror laser radar according to an embodiment of the present application.

Fig. 4 is a schematic diagram of an assembled structure of the rotary mirror lidar shown in fig. 3.

Fig. 5 is a schematic partial cross-sectional view of a rotary mirror lidar according to an embodiment of the present application.

Fig. 6 is a schematic diagram of an assembly structure of a rotary mirror lidar according to another embodiment of the present application.

Fig. 7 is a schematic diagram of an optical path of a rotary mirror lidar according to an embodiment of the present application.

Fig. 8 is a schematic view of the optical path of the distal boundary angle of the rotary mirror lidar illustrated in fig. 7.

Fig. 9 is a schematic view of the optical path of the proximal boundary angle of the rotary mirror lidar illustrated in fig. 7.

Fig. 10 is an external structure schematic diagram of a transceiver module according to an embodiment of the disclosure.

Fig. 11 is a schematic diagram of an internal structure of a transceiver module according to an embodiment of the disclosure.

Fig. 12 is a schematic view of a field of view space and a blind area of a rotary mirror lidar according to an embodiment of the present application.

Fig. 13 is a schematic diagram of an optical path of a rotary mirror lidar according to an embodiment of the present application.

Fig. 14 is a schematic view of an optical path of a rotary mirror lidar according to an embodiment of the present application.

Fig. 15 is a schematic view of an optical path of a rotary mirror lidar according to an embodiment of the present application.

Fig. 16 is a schematic diagram of an optical path of a rotary mirror lidar according to an embodiment of the present application.

Fig. 17 is a schematic view of a scenario in which a rotary mirror laser radar according to an embodiment of the present application is applied to a sweeping robot.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implicitly indicating the number or order of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically connected, electrically connected or communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements or interaction relationship between the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the application. In order to simplify the disclosure of this application, only the components and settings of a particular example are described below. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the use of reference numerals and/or letters in the various examples is repeated herein for the purpose of simplicity and clarity of presentation and is not in itself an indication of a particular relationship between the various embodiments and/or settings discussed. In addition, the various specific processes and materials provided in the following description of the present application are merely examples of implementing the technical solutions of the present application, but one of ordinary skill in the art should recognize that the technical solutions of the present application may also be implemented by other processes and/or other materials not described below.

Further, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the present application. It will be appreciated, however, by one skilled in the art that the subject matter of the present application may be practiced without one or more of the specific details, or with other structures, components, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the application.

An embodiment of the present application provides a rotary mirror lidar configured to sense three-dimensional information of an object in a preset field of view space based on a time-of-flight principle, including:

the base comprises a bearing surface;

Optionally, in some embodiments, the driving assembly includes a driving member and a rotating member, the rotating member is rotatably connected with the base, the driving member is mounted on the base to drive the rotating member, and the reflecting member is fixedly disposed on the rotating member to rotate with the rotating member relative to the base.

Optionally, in some embodiments, the first reflective surface and the second reflective surface are each continuous, complete surfaces.

Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are both planar and perpendicular to the bearing surface, and the first reflecting surface and the second reflecting surface are disposed parallel to each other.

Optionally, in some embodiments, the first reflecting surface and the second reflecting surface are each planar, one of the first reflecting surface and the second reflecting surface is perpendicular to the bearing surface and the other is inclined at a predetermined angle with respect to the bearing surface.

Optionally, in some embodiments, the optical transceiver comprises at least two transceiver modules, the at least two transceiver modules are divided into at least two groups, each group comprises at least one transceiver module, and the at least two transceiver modules are respectively arranged at different positions around the periphery of the reflecting piece, so as to correspondingly transmit the sensing optical signals to the field space and receive the optical signals from the field space from different angles through the reflecting piece.

Optionally, in some embodiments, the transceiver modules are divided into two groups, where the two groups of transceiver modules are respectively disposed at two positions on the base and symmetrically distributed about the rotation axis of the reflector, and the two groups of transceiver modules jointly form two mutually separated field-of-view spaces symmetrically distributed about the rotation axis of the reflector through the reflector.

Optionally, in some embodiments, each group includes a plurality of the transceiver modules, and the plurality of transceiver modules respectively transmit the sensing optical signals to the field of view space and receive the optical signals from the field of view space through the reflecting member at different inclination angles compared to the bearing surface; wherein, the inclination angles corresponding to the different receiving and transmitting modules are changed in an equal difference.

Optionally, in some embodiments, the transceiver module directly transmits the sensing beam to the field space and receives the optical signal from the field space through reflection of the reflector, and the plurality of transceiver modules respectively transmit the sensing beam and receive the optical signal from the field space at the respective corresponding inclination angles.

Optionally, in some embodiments, the optical transceiver further includes a plurality of mirrors, where the plurality of mirrors are respectively disposed corresponding to the plurality of transceiver modules, and the plurality of transceiver modules respectively reflect the plurality of transceiver modules through the corresponding disposed mirrors and then transmit the sensing light beam to the field space and receive the optical signal from the field space through the reflecting member at the respective inclined angles.

Optionally, in some embodiments, at least two transceiver modules are included, different transceiver modules transmitting the sensing light beam to the field of view space through the same reflection position on the first reflecting surface and/or the second reflecting surface, and different transceiver modules receiving the light signal from the field of view space through the same reflection position on the first reflecting surface and/or the second reflecting surface.

Optionally, in some embodiments, the plurality of transceiver modules transmit sensing optical signals to and receive optical signals from the field of view space through the reflector at an angle inclined upward as compared to the bearing surface and an angle parallel to the bearing surface.

Optionally, in some embodiments, at least one of the plurality of transceiver modules transmits and receives sensing light signals to and from the field of view space through the reflector at an angle that is tilted downward compared to the bearing surface.

Optionally, in some embodiments, the rotating component includes a turntable and a rotating bearing, the turntable is rotationally connected with the base through the rotating bearing, the reflecting piece is fixedly arranged on the turntable, the turntable drives the reflecting piece to rotate around a rotation shaft driven by the driving component, the rotation shaft is perpendicular to the bearing surface, and the first reflecting surface and the second reflecting surface are respectively arranged on two opposite sides of the rotation shaft; the receiving and transmitting module comprises a receiving module and a transmitting module, wherein a view field space formed by the receiving and transmitting module through a reflecting piece comprises a first view field space and a second view field space which are mutually separated, and the first view field space and the second view field space are symmetrically distributed about the rotating shaft.

Optionally, in some embodiments, the rotating member includes a rotating shaft, the reflecting member is fixed on the rotating shaft and is rotatably connected with the base through the rotating shaft, the rotating shaft is driven by the driving member to rotate the reflecting member, and the first reflecting surface and the second reflecting surface are respectively disposed on two opposite sides of the rotating shaft; the receiving and transmitting modules form two mutually separated view field spaces which are symmetrically distributed about the rotating shaft through the reflecting piece.

Optionally, in some embodiments, the rotary mirror lidar includes a plurality of transceiver modules disposed on the bearing surface, where the transceiver modules have the same projection position on the bearing surface, and the transceiver modules are stacked one by one in sequence along a first direction perpendicular to the bearing surface.

Optionally, in some embodiments, the transceiver module includes a transmitting component, a receiving component, a module frame and a module substrate, the transmitting component is internally corresponding to the transmitting component and is provided with a transmitting light channel, the module frame is corresponding to the receiving component and is provided with a receiving light channel, the transmitting light channel and the receiving light channel are mutually isolated, the module substrate is mounted at one end of the module frame so as to seal an opening formed at the end of the module frame by the transmitting light channel and the receiving light channel respectively, the other end of the module frame opposite to the module substrate is corresponding to the transmitting light channel and the receiving light channel and is provided with a transmitting through hole and a receiving through hole respectively, the transmitting component includes a transmitting lens and a light source chip, the receiving component includes a receiving lens and a photoelectric sensing chip, the light source chip is arranged at a position corresponding to the receiving light channel on the module substrate, the transmitting lens is correspondingly arranged in the transmitting through hole, the receiving lens is correspondingly arranged in the receiving through hole, and the transmitting lens and the receiving lens are respectively provided with a step-shaped distance between the transmitting lens and the module substrate and the receiving lens and the other end of the module substrate to be smaller than the height difference between the receiving lens and the module.

The embodiment of the application also provides electronic equipment, which comprises the rotary mirror laser radar. The electronic equipment realizes corresponding functions according to the three-dimensional information obtained by the rotary mirror laser radar. The electronic device is, for example: cell phones, automobiles, robots, access control/monitoring systems, intelligent door locks, unmanned vehicles, unmanned aerial vehicles, and the like. The three-dimensional information is, for example: proximity information, depth information, distance information, coordinate information, etc. of objects in the field of view space. The three-dimensional information may be used in fields such as 3D modeling, identity recognition, autopilot, machine vision, monitoring, unmanned aerial vehicle control, augmented Reality (Augmented Reality, AR)/Virtual Reality (VR), instant positioning and map building (Simultaneous Localization and Mapping, SLAM), object proximity determination, etc., which are not limited in this application.

Taking a sweeping robot as an example, a turning mirror laser radar is arranged in the sweeping robot, and the turning mirror laser radar can scan the surrounding environment by rapidly and repeatedly emitting a sensing light beam so as to obtain point cloud data reflecting three-dimensional information of the surrounding environment. Specifically, the rotary mirror lidar emits a sensing beam to the surrounding environment, receives an echo beam reflected by each object in the surrounding environment, and determines distance/depth information of each object by calculating a time delay (i.e., a time of flight) between an emission time of the sensing beam and a time at which the echo beam is received for sensing. Meanwhile, the rotating mirror laser radar can also determine angle information of sensing light beams emitted to a field of view space, combine distance/depth information of each object with emission angles of sensing light beams corresponding to the obtained information, generate a three-dimensional map comprising each object in the scanned surrounding environment, and guide the movement of the sweeping robot by using the three-dimensional map.

Hereinafter, an embodiment of a rotary mirror lidar applied to an electronic device will be described in detail with reference to the drawings.

Fig. 1 is a schematic diagram of functional modules of a rotary mirror lidar according to an embodiment of the present application applied to an electronic device. Fig. 2 is a schematic diagram of a functional module of a rotary mirror lidar according to an embodiment of the present application.

Referring to fig. 1 and 2, the electronic device 1 comprises a turning mirror lidar 10. The rotary mirror lidar 10 may detect three-dimensional information of the object 2 in a field space, and the field space may be defined as a three-dimensional space range in which the rotary mirror lidar 10 can effectively detect three-dimensional information, and may also be referred to as a field angle or a field range of the rotary mirror lidar 10. Such as, but not limited to, one or more of proximity information of the object 2, depth information of the surface of the object 2, distance information of the object 2, and spatial coordinate information of the object 2.

The electronic device 1 may include an application module 20, where the application module 20 is configured to perform a preset operation or implement a corresponding function according to a detection result of the rotary mirror lidar 10, for example, but not limited to: the movement of the electronic equipment 1 can be controlled according to the three-dimensional information of the object 2 in the view field space so as to avoid obstacles or navigate; alternatively, 3D modeling, identification, machine vision, etc. may be implemented based on depth information of the surface of the object 2. That is, the application module 20 may be a collection of software that includes hardware required to perform the operations and implement the functions described above and control coordination of the hardware operations.

The electronic device 1 may further comprise a storage medium 30, which storage medium 30 may provide support for the storage requirements of the electronic device 1 and/or the rotary mirror lidar 10 during operation. As shown in fig. 1, in some embodiments, the storage medium 30 may be disposed inside the electronic device 1. As shown in fig. 2, in some embodiments, the storage medium 30 may also be disposed inside the rotary mirror lidar 10.

The electronic device 1 may further comprise a processor 40 which may provide support for data processing requirements of the electronic device 1 and/or the rotary mirror lidar 10 during operation. As shown in fig. 1, in some embodiments, the processor 40 may be disposed internal to the electronic device 1. As shown in fig. 2, in some embodiments, the processor 40 may also be disposed within the rotary mirror lidar 10.

Alternatively, in some embodiments, the rotary mirror lidar 10 may be, for example, a direct time of flight (direct Time of Flight, dtif) principle based dtif measurement device for three-dimensional information sensing. The dTOF measuring device can emit a sensing light beam in a field space and receive the sensing light beam reflected by an object 2 in the field space, the time difference between the emitting time and the receiving time of the reflected sensing light beam is called as the flight time t of the sensing light beam, and three-dimensional information of the object 2 can be obtained by calculating half the passing distance of the sensing light beam in the flight time t Wherein c is the speed of light.

In other embodiments, the rotary mirror lidar 10 may also be an iToF measurement device that senses three-dimensional information for an indirect time of flight (indirect Time of Flight, iToF) measurement principle. The iToF measuring device obtains three-dimensional information of the object 2 by comparing the phase difference of the sensing beam when emitted and when received back by reflection.

In the following examples of the present application, the rotary mirror lidar 10 is mainly described as a dtif measuring device.

In some embodiments, as shown in fig. 2, the rotary mirror lidar 10 includes a base 12, a reflecting member 14, at least one transceiver module 16, a driving module 17, and a control module 18. The transceiver module 16 transmits the sensing beam to the field space through the reflector 14 and receives the optical signal returned from the field space. The reflecting member 14 is rotatably connected to the base 12, and the driving module 17 is configured to rotate the reflecting member 14 to enable scanning sensing of different angular positions in the field of view space.

The transceiver module 16 includes a transmitting component 160, a receiving component 164, and a processing module 166. The emitting component 160 is configured to emit a sensing beam toward the field space for three-dimensional information detection of the object 2 in the field space, wherein a part of the sensing beam is reflected by the object 2 and returns, and the reflected sensing beam echo carries the three-dimensional information of the object 2, and a part of the sensing beam echo can be sensed by the receiving component 164 to obtain the three-dimensional information of the object 2. The receiving component 164 is configured to sense the light signal from the field of view space and output a corresponding light sensing signal, and by analyzing the light sensing signal, three-dimensional information detection of the object 2 in the field of view space can be achieved. It should be appreciated that the optical signals sensed by the receiving assembly 164 may include photons of the sensing beam echoes reflected back by the object 2 in the field of view space as well as photons of ambient light in the field of view space.

The processing module 166 is configured to analyze the light sensing signal to obtain a time of day at which the sensing beam echo is sensed by the receiving assembly 164, for example: the photo-sensing signals are processed and analyzed based on a Time-dependent single photon counting (Time-Correlated Single Photon Counting, TCSPC) technique to obtain the instants in Time at which the sensing beam echo is sensed by constructing a photon counting histogram. On this basis, the processing module 166 is further configured to obtain three-dimensional information of the object 2 from the time difference between the emission time of the sensing beam and the reflection time of the sensing beam.

Alternatively, in other embodiments, the processing module 166 may also perform three-dimensional information sensing based on an indirect time-of-flight (indirect Time of Flight, iToF) measurement principle, and obtain three-dimensional information of the object 2 by comparing the phase difference of the sensing beam as it is transmitted with that of the sensing beam as it is reflected back.

Alternatively, in other embodiments, the processing module 166 may also perform three-dimensional information sensing based on frequency modulated continuous wave (Frequency Modulated Continuous Wave, FMCW) measurement principle, by interfering the return light with the emitted light, measuring the frequency difference between the transmission and the reception by using a mixed frequency detection technique, and converting the frequency difference into the distance of the target object.

In the embodiment shown in fig. 2, the processing module 166 may be disposed on the rotary mirror lidar 10. It should be appreciated that in other embodiments, all or a portion of the functional units of the processing module 166 may be disposed on the electronic device 1.

In some embodiments, the sensing beam may be, for example, a plurality of laser pulses that are sequentially emitted. The emitting component 160 is configured to emit the laser pulses as sensing light beams according to a preset time sequence, the sensing light beams are reflected to the field of view space by the reflecting element 14, and the sensing light beams can be emitted to the field of view subareas located in different directions in the field of view space in a time sharing mode according to a preset scanning mode along with the rotation of the reflecting element 14. Therefore, the transceiver module 16 transmits a plurality of sensing beam pulses to each field of view partition through the reflecting element 14 according to a corresponding preset time sequence, and analyzes the time distribution of the sensed light signals to obtain three-dimensional information of the corresponding field of view partition. That is, one frame detection of the video field space includes a plurality of field-of-view partition detection periods corresponding to field-of-view partition scans.

Alternatively, the sensing beam is, for example, visible, infrared or near infrared light, with wavelengths ranging, for example, from 390 nanometers (nm) to 780 nm, from 700 nm to 1400 nm, from 800 nm to 1000 nm, from 900nm to 1600nm, and the like.

The reflector 14, the driving module 17 and the transceiver module 16 are mounted on the base 12. In some embodiments, as shown in fig. 3 and 4, the base 12 includes a base 120, a side wall 122, and a cover plate 124, the side wall 122 extends from a side edge of the base 120 to enclose a receiving groove 126 together with the base 120, the cover plate 124 is disposed on the other side of the side wall 122 opposite to the base 120 to cover the receiving groove 126, and a surface of the side of the cover plate 124 facing away from the base 120 is a carrying surface 1240 exposed from the base 12.

The drive module 17 includes a drive member 172 and a rotational member 174. The rotating member 174 is rotatably connected to the base 12, the driving member 172 is mounted on the base 12 to drive the rotating member 174, and the reflecting member 14 is fixedly disposed on the rotating member 174 to rotate with the rotating member 174 relative to the base 12.

Alternatively, in the embodiment shown in fig. 3 and 4, the rotating member 174 includes a turntable 1742 and a rotating bearing 1744, and the turntable 1742 is rotatably coupled to the base plate 120 via the rotating bearing 1744. The driving component 172 includes a driving motor 1722, a belt pulley 1724 and a transmission belt 1726, the driving motor 1722, the belt pulley 1724 and the transmission belt 1726 can be disposed in the accommodating groove 126 of the base 12, the belt pulley 1724 is mounted on an output shaft of the driving motor 1722, and the belt pulley 1724 drives the turntable 1742 to rotate through the transmission belt 1726. The reflector 14 is fixedly disposed on the surface of the turntable 1742 and is rotatable with the turntable 1742 about an axis of rotation 140. It should be understood that the rotation shaft 140 may be a solid shaft, or may be a virtual axis about which the reflecting member 14 rotates, which is not limited in this application. The cover plate 124 is provided with a rotation through hole 1242, the cover plate 124 covers the accommodating groove 126, and the disk surface of the turntable 1742 and the reflecting piece 14 arranged on the disk surface are exposed through the rotation through hole 1242. The surface of the turntable 1742 is disposed substantially parallel to the support surface 1240 of the cover plate 124, and the axis of rotation 140 is disposed perpendicular to the surface of the turntable 1742 and thus perpendicular to the support surface 1240 of the cover plate 124.

Referring to fig. 5, the rotational bearing 1744 includes an inner race 1745 and an outer race 1746 that are rotatably coupled together. Optionally, the inner ring 1745 may be fixedly disposed on the base plate 120 of the base 12, the outer ring 1746 is fixedly connected to the bottom of the turntable 1742, and the outer ring 1746 is rotatably sleeved on the inner ring 1745 to achieve a rotational connection between the turntable 1742 and the base 12. Alternatively, in other examples, the outer ring may be fixedly disposed on the base plate 120 of the base 12, the inner ring is fixedly connected to the bottom of the turntable 1742 by a connecting member, and the inner ring is rotatably embedded in the hollow interior of the outer ring to achieve a rotational connection between the turntable 1742 and the base 12.

Alternatively, as shown in fig. 6, in other embodiments, the rotating member 174 includes a rotating shaft 1741 and a shaft sleeve 1743, and the reflecting member 14 is fixed to the rotating shaft 1741, and the rotating shaft 1741 is rotatably connected to the base 12 through the shaft sleeve 1743. The driving part 172 includes a driving motor, which is disposed in the base 12, and an output shaft of the driving motor is connected to the rotating shaft 1741, so as to drive the reflector 14 to rotate through the rotating shaft 1741. Alternatively, the rotation axis 1741 may pass through the reflecting member 14 along the symmetry axis of the reflecting member 14, in which case the rotation axis 140 of the reflecting member 14 is the rotation axis 1741 of the solid body.

Referring to fig. 2, 4, and 7 to 9, the reflecting member 14 includes a first reflecting surface 141 and a second reflecting surface 142 disposed opposite to each other, the sensing beam emitted from the transceiver module 16 is reflected to the field space of the rotary mirror lidar 10 by the first reflecting surface 141 or the second reflecting surface 142, and the optical signal from the field space is reflected to the transceiver module 16 by the first reflecting surface 141 or the second reflecting surface 142. The driving module 17 directs the first reflecting surface 141 and the second reflecting surface 142 to the transceiver module 16 at different time intervals by rotating the reflecting member 14, so that the transceiver module 16 senses three-dimensional information of the field space alternately through the first reflecting surface 141 and the second reflecting surface 142. The transceiver module 16 may be fixedly disposed on the carrying surface 1240 of the base 12 to emit the sensing light beam toward the reflector 14 and to receive the light signal reflected back by the reflector 14.

Alternatively, in the embodiment shown in fig. 7 to 9, the first reflecting surface 141 and the second reflecting surface 142 are both planar and perpendicular to the carrying surface 1240, and the first reflecting surface 141 and the second reflecting surface 142 are disposed parallel to each other. For example: the reflecting member 14 is a flat cuboid with a relatively thin thickness, and the first reflecting surface 141 and the second reflecting surface 142 are respectively a pair of rectangular planes parallel to and opposite to each other along the thickness direction of the flat cuboid. It should be understood that the reflecting member 14 may be formed by bonding a pair of flat mirrors opposite to each other, or may be formed by forming a plane having a reflecting function on a pair of outer surfaces of a flat plate opposite to each other, which is not particularly limited in this application.

Optionally, in other embodiments, the first reflective surface and/or the second reflective surface may also be disposed oblique to the bearing surface 1240; alternatively, the first reflecting surface 141 and/or the second reflecting surface 142 may be non-planar, such as: cylindrical, spherical or aspherical. It should be understood that the structure of the reflecting member 14, which enables scanning sensing of different orientations of the field of view space alternately by different reflection during rotation, falls within the scope of the inventive concept of the present application.

Referring to fig. 7-8, the field space scanned by the reflection energy of the reflecting member 14 includes a first field space and a second field space, the reflecting member 14 rotates on the base 12 around the rotation axis 140, the first reflecting surface 141 and the second reflecting surface 142 are respectively disposed on opposite sides of the rotation axis 140, and the first field space and the second field space formed correspondingly are separated from each other and are symmetrically distributed about the rotation axis 140. That is, the first field space and the second field space are not communicated and are discontinuously distributed, a first blind area and a second blind area are respectively spaced at two opposite sides of the first field space and the second field space, and the first field space, the first blind area, the second field space and the second blind area can be sequentially arranged around the rotation axis 140 of the reflecting member 14. In the above illustrated embodiment, the rotation axis 140 may be one of symmetry axes of the reflecting member 14. It should be understood that in other embodiments, the axis of rotation 140 may not be the axis of symmetry of the reflector 14.

The first field space may be defined as a three-dimensional space range that can be scanned by the sensing beam emitted by the transceiver module 16 reflected by the first reflecting surface 141 during the rotation of the reflecting member 14. Since the transceiver module 16 is disposed on the carrying surface 1240, the transmitting assembly 160 and the receiving assembly 164 are arranged in a superimposed manner along a first direction perpendicular to the carrying surface 1240, and the angular variation range of the first field space along the first direction depends on the divergence angle of the sensing beam emitted by the transmitting assembly 160 and the field angle of the receiving assembly 164. The transceiver module 16 transmits in a second direction parallel to the carrying surface 1240The angular variation range of the sensing beam along the second direction in the first field space is a deflection range of the angle of the sensing beam reflected by the first reflecting surface 141 along with the rotation process of the reflecting member 14, and is related to the structural dimensions of the reflecting member 14 and the transceiver module 16 and the rotation angle of the reflecting member 14. The angular variation range of the first field space along the second direction can be intuitively displayed by the projection of the first field space on the first plane parallel to the bearing surface 1240, and the boundary angle of the projection of the first field space on the first plane comprises the distal boundary angle of the sensing beam which deviates from the transceiver module 16 furthest after being reflected by the first reflecting surface 141 And the sensing beam is reflected by the first reflecting surface 141 and deviates from the nearest near boundary angle of the transceiver module 16. It should be understood that, in the normal operating state set by the rotary mirror lidar 10, the first direction is a vertical direction, the second direction is a horizontal direction, and the first plane is a horizontal plane.

Fig. 8 and 9 are schematic diagrams of boundary angles of the projection of the first field space of view of the rotary radar 10 on a horizontal plane. In the embodiment shown in fig. 8 and 9, the first reflecting surface 141 and the second reflecting surface 142 of the reflecting element 14 are both planar, the reflecting element 14 is symmetrically distributed about its own rotation axis 140, the rotation axis 140 is perpendicular to the carrying surface 1240 of the base 12, and the transceiver module 16 emits the sensing beam in a second direction parallel to the carrying surface 1240 and aligned with the rotation axis 140 of the reflecting element 14. Taking the point where the rotation axis 140 of the reflecting element 14 perpendicularly intersects the bearing surface 1240 of the base 12 as an origin, taking the vertical upward direction of the rotation axis 140 away from the bearing surface 1240 as the forward direction of the Z axis, the direction of the sensing beam sent by the transceiver module 16 is the forward direction of the X axis, the direction from the origin to the outside of the rotary mirror lidar 10 is the forward direction of the Y axis, and establishing a rectangular coordinate system as a reference, wherein the distal boundary angle is the same as the reference The angle formed between the direction of the farthest direction of the transceiver module 16 and the positive direction of the X-axis after the sensing beam emitted from the transceiver module 16 is reflected by the reflecting member 14 can be defined as the angle formed by the edge light of the sensing beam emitted from the transceiver module 16 being reflected by the edge of the first reflecting surface 141 closest to the transceiver module 16, and the reflecting member 14 rotates to a critical position capable of totally reflecting the sensing beam>，，/>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For the cross-sectional width of the sensing beam emitted from the transceiver module 16, R is the radius of rotation of the reflector 14 about the rotation axis 140, H is the distance between the first reflecting surface 141 and the second reflecting surface 142,/>is the angle between a vertical line, which is the vertical line between the edge of the reflecting element 14 closest to the transceiver module 16 and the rotation axis 140, and the central axis of the sensing beam>Is the angle between the vertical line and the first reflecting surface 141. The proximal boundary angle->The angle formed between the direction of the sensing beam emitted from the transceiver module 16 and the positive direction of the X-axis after being reflected by the reflecting member 14 and deviating from the transceiver module 16 can be defined as the angle formed between the direction of the sensing beam emitted from the transceiver module 16 and the positive direction of the X-axis, when the edge light of the sensing beam emitted from the transceiver module 16 after being reflected by the reflecting member 14 just passes through the edge of the transceiver module 16, the reflecting member 14 rotates until the reflected sensing beam just can be completely transmitted to the transceiver module 1 A critical position behind 6 a is provided,，/>，/>the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For the cross-sectional width of the sensing beam emitted by the transceiver module 16, R is the radius length of the reflector 14 rotating around the rotation axis 140, H is the distance between the first reflecting surface 141 and the second reflecting surface 142, L is the distance between the transceiver module 16 and the center of the rotation axis 140, and R is the distance between the reflector and the center of the rotation axis 140>Is the angle between a vertical line and the central axis of the sensing beam reflected by the reflecting member 14, where the vertical line is the vertical line between the edge of the transceiver module 16, through which the sensing beam reflected by the transceiver module 16 just passes, and the intersection point of the central axis of the sensing beam on the reflecting surface when the sensing beam is emitted from the transceiver module 16>Is the angle between the vertical line and the central axis of the sensing beam as it emerges from the transceiver module 16.

The second field of view space may be defined as a spatial range in which the sensing beam emitted from the transceiver module 16 can be scanned by being reflected by the second reflecting surface 142 during the rotation of the reflecting member 14. Since the second field of view space is symmetrically distributed with the first field of view space about the rotational axis 140 of the reflector 14, the second field of view space projects at a distal boundary angle on a first plane parallel to the bearing surface 1240 And proximal boundary angle>Can also be usedCalculated in the manner described above. As shown in FIG. 7, the distal boundary angle of the first field of view space>Distal boundary angle to said second field of view space +.>The range between can be defined as the first blind zone, the proximal boundary angle of the first field of view space +.>Proximal boundary angle to said second field of view space +.>The range therebetween may be defined as the second blind zone. If the direction in which the reflective member 14 rotates to the first reflective surface 141 and the second reflective surface 142 parallel to the direction in which the transceiver module 16 emits the sensing beam is taken as the starting position, during the process that the reflective member 14 starts to rotate one circle from the starting position, the sensing beam is reflected by the first reflective surface 141 and the second reflective surface 142 of the reflective member 14, so that two-wheel scanning of the first view field space and the second view field space can be completed. Therefore, in the rotary mirror laser radar 10 of the present application, through the arrangement of the first reflecting surface 141 and the second reflecting surface 142, which are opposite to each other, the first view field space and the second view field space can be scanned by two wheels only by matching with one transceiver module 16 in the process of rotating the reflecting member 14 for one circle, which is beneficial to reducing the cost of components and improving the scanning frequency of the view field space.

It should be appreciated that for embodiments in which the transceiver module 16 is disposed on only one side of the reflector 14, the first blind zone may be referred to as a distal blind zone, and the second blind zone may be referred to as a proximal blind zone, and the first blind zone may be located farther from the transceiver module 16.

It should be appreciated that the angular extent of the first and second field of view spaces along the first direction perpendicular to the bearing surface 1240 is related to the divergence angle of the sensing beam emitted by the emitter assembly 160 and the viewing angle of the receiver assembly 164, independent of the angle at which the sensing beam is deflected within the first and second field of view spaces after being reflected by the reflector 14.

It should be understood that the first reflecting surface 141 and the second reflecting surface 142 are continuous and complete surfaces, and the sensing light beam emitted by the transceiver module 16 and the received light signal are reflected at corresponding positions on the first reflecting surface 141 and the second reflecting surface 142, respectively.

It should be understood that the transmitting element 160 and the receiving element 164 of the transceiver module 16 are arranged in a stacked manner along the first direction perpendicular to the carrying surface 1240, and the arrangement sequence of the transmitting element 160 and the receiving element 164 of the same transceiver module 16 along the first direction may be interchanged, that is, the transmitting element 160 is above the receiving element 164, or the receiving element 164 is above the transmitting element 160, which is not specifically defined herein.

Optionally, in the embodiment shown in fig. 10 and 11, the transceiver module 16 further includes a module frame 1671 and a module chassis 1672. The module frame 1671 is internally provided with a transmitting light channel 169 and a receiving light channel 166 which are isolated from each other and correspond to the transmitting component 160 and the receiving component 164 respectively. The module chassis 1672 may be, for example, a circuit board mounted at one of the ends of the module frame 1671 to enclose the openings of the emission light channel 169 and the receiving light channel 166 respectively formed at the end of the module frame 1671. The other end of the module frame 1671 opposite to the module chassis 1672 is provided with a transmitting through hole 163 and a receiving through hole 165 corresponding to the transmitting light channel 169 and the receiving light channel 166, respectively.

The emission component 160 includes an emission lens 1620 and a light source 1622, the light source 1622 is disposed on the module bottom plate 1672 and corresponds to the emission light channel 169, the emission lens 1620 is disposed in the emission through hole 163, and the light beam emitted by the light source 1622 is emitted outwards through the emission lens 1620 to be used as the sensing light beam emitted by the emission component 160. It should be appreciated that the emission lens 1620 may be one lens or a lens combination including a plurality of lenses.

The light source 1622 includes one or more light emitting units 1623, the light emitting units 1623 configured to emit light beams. The light emitting unit 1623 may be a light emitting device in the form of a vertical cavity surface emitting Laser (Vertical Cavity Surface Emitting Laser, VCSEL for short, or a vertical cavity surface emitting Laser), an edge emitting Laser (Edge Emitting Laser, EEL), a light emitting Diode (Light Emitting Diode, LED), a Laser Diode (LD), a fiber Laser, or the like. The edge emitting laser may be a Fabry Perot (FP) laser, a distributed feedback (Distribute Feedback, DFB) laser, an Electro-absorption modulated laser (Electro-absorption Modulated, EML), or the like, which is not limited in the embodiments of the present application.

The receiving component 164 includes a receiving lens 1640 and a photo sensor chip 1642. The photo-sensing chip 1642 is disposed on the module chassis 1672 at a location corresponding to the receiving optical channel 166 and is configured to sense optical signals propagating from the field of view space via the receiving optics 144 and output corresponding photo-sensing signals. Alternatively, the photo-sensing chip 1642 may include a single sensing pixel 1643 or include a plurality of sensing pixels 1643 to form a pixel array. The receiving lens 1640 is correspondingly disposed in the receiving through hole 165. Alternatively, the receiving lens 1640 may be a single lens or a lens group including a plurality of lenses. The field space can be correspondingly divided into a plurality of field areas according to the reflection angle of the reflector 14, and the light signals from the corresponding field areas are transmitted to the corresponding sensing pixels for sensing by the receiving lens 1640 after being reflected by the reflector 14. The optical signal from the field of view partition includes photons of ambient light of the field of view partition, and when the object 2 exists in the field of view partition, the photons also include a sensing beam echo formed by the sensing beam emitted to the field of view partition being reflected back by the object 2, and the processing module 166 can obtain three-dimensional information of the object 2 in the corresponding field of view partition by processing and analyzing the photo-sensing signal output by the sensing pixel 1643 sensing the optical signal. Optionally, in some embodiments, an optical film layer 1644 may be provided on the light incident side of the photosensitive pixels 1643.

Alternatively, one of the photosensitive pixels 1643 may include a single or a plurality of photoelectric conversion devices. The photoelectric conversion device is configured to sense a received optical signal and convert the received optical signal into a corresponding electrical signal to be output as the photo-sensing signal. Optionally, the photoelectric conversion device is, for example, a single photon avalanche diode (Single Photon Avalanche Diode, SPAD), an avalanche photodiode (Avalanche Photon Diode, APD), a silicon photomultiplier (Silicon Photomultiplier, siPM) provided by a plurality of SPADs in parallel, and/or other suitable photoelectric conversion element.

Optionally, in some embodiments, the receiving component 164 may further include a peripheral circuit (not shown) formed by one or more of a signal amplifier, an Analog-to-Digital Converter (ADC), and the like, and the peripheral circuit may be partially or fully integrated in the photo sensing chip 1642.

Alternatively, in the embodiment shown in fig. 10 and 11, the diameter of the receiving lens 1640 is larger than the diameter of the transmitting lens 1620, and the focal length of the receiving lens 1640 is larger than the focal length of the transmitting lens 1620. Correspondingly, the distance between the receiving lens 1640 and the module chassis 1672 is higher than the distance between the transmitting lens 1620 and the module chassis 1672, so that the module frame 1671 forms a step shape with a height drop at the other end opposite to the module chassis 1672. It should be appreciated that the receiving lens 1640 has a larger size and a longer focal length to fit the optical sensing chip with a larger sensing area, which is beneficial to receiving optical signals and can improve the signal-to-noise ratio of the rotary mirror lidar 10.

Alternatively, in some embodiments as shown in fig. 3, 4 and 6, the rotary mirror lidar 10 comprises a single transceiver module 16, the transceiver module 16 being positionable on a bearing surface 1240 of the base 12, the transceiver module 16 having a transmit optical axis and a receive optical axis both disposed parallel to the bearing surface 1240 and directed toward the rotational axis 140 of the reflector 14. In this case, the angular range covered by the field of view space of the entire rotary mirror lidar 10 along the first direction perpendicular to the carrying surface 1240 depends on the angular range covered by the integrated field of view of the single transceiver module 16 along the first direction, and the integrated field of view of the transceiver module 16 may be understood as the portion where the transmitting field of view of the sensing beam emitted by the emitting component 160 and the receiving field of view of the optical signal received by the receiving component 164 overlap.

Optionally, in other embodiments, the rotary mirror lidar 10 may also include a plurality of transceiver modules 16 disposed on the carrying surface 1240, where the plurality of transceiver modules 16 may be sequentially arranged one by one along a first direction perpendicular to the carrying surface 1240, and the plurality of transceiver modules 16 may have the same projection position on the carrying surface 1240. In this case, the angular range covered by the field space of the entire rotary mirror lidar 10 along the first direction may be a superposition of the respective integrated angles of view of the plurality of transceiver modules 16 along the first direction. Thus, by arranging the plurality of transceiver modules 16 in the vertical first direction, the angular range covered by the field of view space of the rotary mirror lidar 10 in the first direction can be increased.

Specifically, as shown in fig. 5, a plurality of transceiver modules 16 may be disposed at the same position around the reflector 14, that is, the transceiver modules 16 have the same projection position on the plane of the carrying surface 1240 of the base 12. The transmitting optical axis and the receiving optical axis of the same transceiver module 16 are parallel to each other and have a relatively short distance, so that the transmitting optical axis and the receiving optical axis of the same transceiver module 16 can be approximated to the corresponding transceiver optical axes of the transceiver module 16. Alternatively, in the embodiment shown in fig. 5, the transceiver axes of the transceiver modules 16 may be all parallel to the bearing surface 1240 of the base 12. Alternatively, in other embodiments, the transceiver optical axis of some of the transceiver modules 16 may be tilted with respect to the transceiver optical axes of other transceiver modules 16.

Since the transceiver modules 16 in the above embodiments are all disposed at the same position around the reflector 14, the transceiver modules 16 can be regarded as a group of transceiver modules 16. For example, a plurality of transceiver modules 16 may be sequentially stacked on the carrying surface 1240 of the base 12 along a first direction perpendicular to the carrying surface 1240; alternatively, the rotary mirror lidar 10 may further include a bracket 15 (see fig. 13), where a plurality of the transceiver modules 16 are respectively disposed on the bracket 15, the bracket 15 is fixedly disposed on the bearing surface 1240 of the base 12, and the transceiver modules 16 are fixed by the bracket 15 to facilitate setting of an inclination angle of the transceiver modules 16 relative to the bearing surface 1240.

Optionally, in some embodiments, the rotary-mirror lidar 10 includes at least two transceiver modules 16, which may be divided into at least two groups, where each group includes at least one transceiver module 16, where the transceiver modules 16 belonging to the same group of transceiver modules 16 are located at the same position around the reflector 14, and the transceiver modules 16 of different groups are respectively located at different positions around the reflector 14, that is, the same projection position of one or more transceiver modules 16 of the same group on the plane on which the bearing surface 1240 of the base 12 is located, and the projection of the transceiver modules 16 of different groups on the plane on which the bearing surface 1240 of the base 12 is located are respectively located at different positions. It should be understood that, by disposing the plurality of transceiver modules 16 at different positions around the reflector 14, the rotary mirror laser radar 10 may respectively and correspondingly form different field of view spaces, and the range covered by the overall field of view space of the rotary mirror laser radar 10 may be increased after the transceiver modules are mutually overlapped.

Specifically, in some embodiments as shown in fig. 12 and 13, the multiple transceiver modules 16 included in the rotary-mirror lidar 10 are divided into two groups, which may be respectively denoted as a first group of transceiver modules 161 and a second group of transceiver modules 162, where the two groups of transceiver modules 161 and 162 are disposed around the reflecting member 14 and are symmetrically distributed about the rotation axis 140 of the reflecting member 14, and the transceiver optical axes of the two groups of transceiver modules 161 and 162 are both directed toward the rotation axis 140. It should be understood that the field of view space formed by each transceiver module 16 of the set by the reflector 14 is a collection of field of view spaces formed by each transceiver module 16 of the set by the reflector 14. The first transceiver module 161 corresponds to the first field of view space and the second field of view space through the reflecting member 14, and the second transceiver module 162 corresponds to the third field of view space and the fourth field of view space through the reflecting member 14. Since the two sets of transceiver modules 161 and 162 are symmetrically distributed about the rotation axis 140 of the reflecting member 14, according to the analysis related to the field of view space, the projection area of the first field of view space on the plane on which the carrying surface 1240 of the base 12 is located corresponds to the projection area of the third field of view space on the plane on which the carrying surface 1240 of the base 12 is located, the projection area of the second field of view space on the plane on which the carrying surface 1240 of the base 12 is located corresponds to the projection area of the fourth field of view space on the plane on which the carrying surface 1240 of the base 12 is located, the angular ranges covered by the first field of view space and the second field of view space along the first direction perpendicular to the carrying surface 1240 of the base 12 are related to the tilt angle of the respective transceiver optical axis of each transceiver module 16 in the first set of transceiver modules 161 with respect to the carrying surface 1240, and the angular ranges covered by the third field of view space and the fourth field of view space along the first direction perpendicular to the carrying surface 1240 of the base 12 are related to the tilt angle of each transceiver module 16 in the second set of transceiver modules 162 with respect to the carrying surface 1240. Thus, the first transceiver module 161 and the second transceiver module 162 can jointly form two mutually separated view field spaces symmetrically distributed about the rotation axis 140 of the reflector 14 through the reflector 14. It should be understood that the turning mirror laser radar 10 in the present application adopts multiple groups of transceiver modules 16 symmetrically distributed about the rotation axis 140 of the reflecting member 14, and different groups of transceiver modules 16 can simultaneously utilize the first reflecting surface 141 and the second reflecting surface 142 of the reflecting member 14 to respectively sense different field of view spaces, so that the frame rate of sensing the field of view spaces by the turning mirror laser radar 10 can be improved.

Optionally, in some embodiments, each group of transceiver modules 16 includes a plurality of transceiver modules 16, and the plurality of transceiver modules 16 in the same group have the same projection position on the plane of the carrying surface 1240 and are sequentially arranged along the first direction perpendicular to the carrying surface 1240 of the base 12. The transceiver optical axes of the transceiver modules 16 of the same group respectively have different upward inclination angles compared with the bearing surface 1240 of the base 12, and the inclination angles corresponding to the transceiver modules 16 respectively are changed in an equal difference. For example: the respective upward tilt angles of the transceiver modules 16 in the same group decrease in sequence with a predetermined first tilt angle interval in the order in which the transceiver modules 16 are arranged vertically upward from the carrying surface 1240, that is, the transceiver modules 16 with higher vertical upward positions along the first direction have smaller upward tilt angles of the transceiver optical axes compared with the carrying surface 1240 of the base 12, and the transceiver optical axes of two transceiver modules 16 adjacent in the arrangement order have the same first tilt angle interval compared with the upward tilt angle of the carrying surface 1240 of the base 12. Among the multiple groups of transceiver modules 16 sequentially arranged along the direction perpendicular to the carrying surface 1240, transceiver optical axes corresponding to two transceiver modules 16 respectively belonging to the same sequence in different groups each have a preset second inclination angle interval compared with the upward inclination angle of the carrying surface 1240 of the base 12, and the second inclination angle interval is smaller than the first inclination angle interval. It should be understood that, by providing the transceiver modules 16 with sequentially varying tilt angles of the transceiver optical axis along the vertical first direction, the rotary mirror lidar 10 may detect, by using the principle of specular reflection, a plurality of field-of-view partitions arranged along the first direction and corresponding to the sequentially varying tilt angles, so as to expand the range of angles of view that the whole rotary mirror lidar 10 can detect along the first direction. It should be understood that the inventive concept related to the arrangement of the tilt angles of the transceiver modules 16 described in this embodiment can be applied to reflectors having different reflection surface configurations, for example: a single-sided turning mirror having only one reflecting surface, a multi-sided turning mirror having a plurality of reflecting surfaces, and the like.

Optionally, in some embodiments, the transceiver optical axes corresponding to the transceiver modules 16 of the rotary mirror lidar 10 may all be directed to the same position on the reflecting member 14, that is, the transceiver modules 16 emit the sensing beam to the field space through the same reflection position on the first reflecting surface 141 and/or the second reflecting surface 142, and receive the optical signal from the field space through the same reflection position on the first reflecting surface 141 and/or the second reflecting surface 142. Therefore, the arrangement mode that the inclination angles of the transceiving optical axes corresponding to the transceiver modules 16 are sequentially reduced according to the order in which the transceiver modules 16 are arranged along the first direction is matched, and the transceiver modules 16 can detect the multiple view field areas with different inclination angles respectively only by using a small reflection area, so that the size of the reflecting piece 14 is reduced, and the miniaturization of the rotary mirror laser radar 10 is facilitated. It should be understood that the inventive concept described in this embodiment related to setting the reflection positions of the plurality of transceiver modules 16 on the reflecting member can be applied to reflecting members having different reflection surface configurations, for example: a single-sided turning mirror having only one reflecting surface, a multi-sided turning mirror having a plurality of reflecting surfaces, and the like.

Specifically, in the embodiment shown in fig. 13, the rotary-mirror lidar 10 includes a first group of transceiver modules 161 and a second group of transceiver modules 162, where the positions of the first group of transceiver modules 161 and the second group of transceiver modules 162 disposed around the reflecting member 14 are symmetrically distributed about the rotation axis 140 of the reflecting member 14, that is, the projection positions of the plurality of transceiver modules 1611-1614 of the first group of transceiver modules 161 on the plane of the bearing surface 1240 of the base 12 and the projection positions of the plurality of transceiver modules 1625-1628 of the second group of transceiver modules 162 on the plane of the bearing surface 1240 of the base 12 are about the reflecting member 14. The first transceiver module 161 includes four transceiver modules 16, which may be respectively labeled as a first transceiver module 1611, a second transceiver module 1612, a third transceiver module 1613, and a fourth transceiver module 1614 in order of being sequentially arranged from top to bottom along a first direction perpendicular to the carrying surface 1240 of the base 12. The transceiver optical axis of the first transceiver module 16 is parallel to the plane of the carrying surface 1240 of the base 12, that is, the tilt angle of the transceiver optical axis of the first transceiver module 1611 relative to the carrying surface 1240 of the substrate 120 is zero, and the field of view zone inclined by-2 degrees to 2 degrees relative to the carrying surface 1240 of the base 12 can be detected. The transceiver optical axis of the second transceiver module 1612 is inclined upward by 8 degrees relative to the bearing surface 1240 of the base 12, and the reflection element 14 can detect the field of view in the range of 6 degrees to 10 degrees relative to the bearing surface 1240 of the base 12. The transceiver optical axis of the third transceiver module 1613 is inclined at an angle of 16 degrees relative to the top surface 1240 of the base 12, and the reflective element 14 detects a field of view in the range of 14 degrees to 18 degrees relative to the top surface 1240 of the base 12. The angle of inclination of the transceiver optical axis of the fourth transceiver module 1614 is 24 degrees relative to the carrying surface 1240 of the base 12, and the reflective element 14 can detect the field of view in the range of 22 degrees to 26 degrees relative to the carrying surface 1240. As can be seen, the transceiver optical axes corresponding to the two transceiver modules 16 located adjacent to each other in the first group of transceiver modules 161 have the same first inclination angle interval compared to the upward inclination angle of the carrying surface 1240 of the base 12: 8 degrees. The second transceiver module 162 includes four transceiver modules 16, which may be respectively labeled as a fifth transceiver module 1625, a sixth transceiver module 1626, a seventh transceiver module 1627, and an eighth transceiver module 1628 in order of being sequentially arranged from top to bottom along a first direction perpendicular to the carrying surface 1240 of the base 12. The transceiver optical axis of the fifth transceiver module 1625 is tilted upward by 4 degrees relative to the bearing surface 1240 of the base 12, and the reflection element 14 can detect the field of view in the range of 2 degrees to 6 degrees relative to the bearing surface 1240 of the base 12. The transceiver optical axis of the sixth transceiver module 1626 is inclined at an angle of 12 degrees relative to the bearing surface 1240 of the base 12, and the reflective element 14 detects a field of view zone inclined at an angle ranging from 10 degrees to 14 degrees relative to the bearing surface 1240 of the base 12. The transceiver optical axis of the seventh transceiver module 1627 is inclined at an angle of 20 degrees relative to the bearing surface 1240 of the base 12, and the reflective element 14 detects a field of view zone inclined at an angle ranging from 18 degrees to 22 degrees relative to the bearing surface 1240 of the base 12. The eighth transceiver module 1628 is inclined at 28 degrees relative to the bearing surface 1240 of the base 12, and the reflecting element 14 detects the region of the field of view inclined at 26-30 degrees relative to the bearing surface 1240 of the base 12. Therefore, the transceiver optical axes corresponding to the two adjacent transceiver modules 16 in the second transceiver module 1628 have the same first inclination angle interval as compared with the inclination angle of the bearing surface 1240 of the base 12: 8 degrees. Two transceiver modules 16 of the same order in the first group of transceiver modules 161 and the second group of transceiver modules 162, for example: the first transceiver module 1611 and the fifth transceiver module 1625, the second transceiver module 1612 and the sixth transceiver module 1626, the third transceiver module 1613 and the seventh transceiver module 1627, and the fourth transceiver module 1614 and the eighth transceiver module 1628 have a predetermined second inclination angle interval between the corresponding transceiver optical axes, compared with the upward inclination angle of the bearing surface 1240 of the base 12, respectively: 4 degrees. Thus, the four transceiver modules 16 of the first group of transceiver modules 161 and the four transceiver modules 16 of the second group of transceiver modules 162 can cover 8 view field partitions of different angles, which are sequentially spliced within a range of-2 to 30 degrees, along the first direction perpendicular to the carrying surface 1240 of the base 12 by the first view field space and the second view field space formed by the reflecting member 14 correspondingly, each view field partition is detected by a corresponding transceiver module 16, and the angle range covered by each view field partition is the second inclination angle interval: 4 degrees. The transceiver optical axes of the total of eight transceiver modules 16 of the first set of transceiver modules 161 and the second set of transceiver modules 162 may all be directed to the same position of the reflecting member 14, that is, the eight transceiver modules 16 may transmit the sensing beam and receive the optical signal by reflection at substantially the same position on the first reflecting surface 141 and the second reflecting surface 142. In this case, the height of the reflecting member 14 is only slightly higher than that of the first transceiver module 16 arranged at the uppermost position, and the corresponding transceiver optical axis is parallel to the carrying surface 1240 of the base 12, so that the size of the reflecting member 14 is reduced to a large extent, which is beneficial to miniaturization of the rotary mirror lidar 10.

The rotary mirror lidar 10 may further include a support 15, where the support 15 is disposed corresponding to a group of transceiver modules 16, and is configured to support and fix a plurality of transceiver modules 16 in the same group, so that respective transceiver optical axes of the transceiver modules 16 point to the reflecting element 14 at corresponding tilt angles. The support 15 includes a support plate 150 for supporting one transceiver module 16 located at the lowest position, and a support plate 154 extending from an end of the support plate 150 along the arrangement direction of the transceiver modules 16, where a plurality of transceiver modules 16 in the same group are respectively fixed on the support plate 154 at respective corresponding inclination angles. In the embodiment shown in fig. 13, the rotary-mirror lidar 10 includes a first bracket 151 corresponding to the first group of transceiver modules 161 and a second bracket 152 corresponding to the second group of transceiver modules 162, where the first bracket 151 and the second bracket 152 extend from opposite sides of the base 12, four transceiver modules 16 on the first group of transceiver modules 161 are respectively fixed on the first bracket 151 at a preset inclination angle, and four transceiver modules 16 on the second group of transceiver modules 162 are respectively fixed on the second bracket 152 at a preset inclination angle. Alternatively, the first bracket 151 and the second bracket 152 may be a structure integral with the base 12, that is, a part of the base 12; the first bracket 151 and the second bracket 152 may be separate components from the base 12 and mounted to the base 12 by a fixing member.

Optionally, in the embodiment shown in fig. 14, the transceiver modules 16 in a group may further include transceiver modules 16 with their transceiver optical axes inclined downward, where the angles of inclination of the transceiver optical axes of the transceiver modules 16 in the same group gradually decrease to the horizontal in the order of arranging the transceiver modules 16 from bottom to top along the first direction perpendicular to the carrying surface 1240 of the base 12, and then gradually increase in the downward inclination. For the transceiver module 16 with its transceiver axis inclined downward, the field of view below the horizontal plane can be detected by the reflecting element 14, so that the angular range that can be covered by the field of view space of the rotary mirror lidar 10 along the first direction perpendicular to the carrying surface 1240 of the base 12 can be enlarged.

In the embodiment shown in fig. 13 and 14, the first reflecting surface 141 and the second reflecting surface 142 of the reflecting member 14 disposed opposite to each other are parallel to each other and perpendicular to the carrying surface 1240 of the base 12. In this case, the same transceiver module 16 can detect the field of view of the same inclination angle twice through the first reflecting surface 141 and the second reflecting surface 142 respectively in the process of rotating the reflecting member 14 for one revolution, and has a relatively high detection frame rate.

Alternatively, in other embodiments, one of the reflective surfaces on the reflective element 14, the first reflective surface 141 or the second reflective surface 142, may be inclined at a predetermined angle with respect to the other reflective surface, i.e., one of the reflective surfaces is still perpendicular to the supporting surface 1240 of the base 12 and the other reflective surface is inclined at a predetermined angle with respect to the supporting surface 1240. For example, in the embodiment shown in fig. 15, the first reflecting surface 141 is perpendicular to the carrying surface 1240 of the base 12, and the second reflecting surface 142 is inclined by 2 degrees with respect to the first reflecting surface 141, and correspondingly, the second reflecting surface 142 is inclined by 88 degrees with respect to the carrying surface 1240. The first set of transceiver modules 161 and the second set of transceiver modules 162 are still symmetrically distributed about the rotation axis 140 of the reflecting member 14. In this case, the same transceiver module 16 may detect two view field partitions with different inclination angles through the first reflecting surface 141 and the second reflecting surface 142, and the number of view field partitions with different inclination angles that can be detected by the corresponding rotary mirror lidar 10 may be doubled. However, during one rotation of the reflecting member 14, the same transceiver module 16 can only detect the field of view partition corresponding to the inclination angle through one reflecting surface, and the detected frame rate is reduced compared with the case that the two reflecting surfaces are arranged in parallel. It should be understood that in some embodiments, one of the reflecting surfaces on the reflecting element 14 may be configured to be capable of being switched between two states parallel to the other reflecting surface and inclined to the other reflecting surface, so that two kinds of view field spaces covering different angular ranges in the vertical direction can be realized according to the usage scenario.

In the embodiment shown in fig. 13-15, the transceiver optical axes corresponding to the transceiver modules 16 are directed to the reflecting element 14, that is, the transceiver modules 16 emit the sensing light beam and the receiving light signal at respective corresponding oblique angles, and the emitted sensing light beam and the receiving light signal are reflected directly by the reflecting element 14. In this case, the transceiver modules 16 must be disposed obliquely according to the inclination angles of the respective transceiver axes on the basis of being sequentially disposed along the first direction perpendicular to the carrying surface 1240, and the transceiver modules 16 that are respectively inclined at different angles need a relatively large transverse disposition space as a whole in consideration of spatial interference therebetween.

Optionally, in other embodiments, the rotary-mirror lidar 10 further includes a mirror 168 corresponding to each transceiver module 16, and the transceiver optical axes of the transceiver modules 16 may be bent by the mirrors 168 and then directed to the reflecting member 14 at corresponding tilt angles. Therefore, the transceiver modules 16 of the same group may be closely arranged in parallel to each other in a unified direction, and the respective transceiver optical axes are first emitted from the corresponding transceiver modules 16 in parallel to each other, and then bent by the corresponding reflecting mirrors 168 to be directed to the reflecting member 14 at a predetermined inclination angle. It should be appreciated that the tilt position of each mirror 168 is set according to the tilt angle at which the corresponding transceiver axis is required to be directed toward the reflector 14. In this case, the plurality of transceiver modules 16 may be closely arranged in a regular manner, so that the transverse dimension of the entire rotary mirror laser radar 10 can be reduced. For example, in the embodiment shown in fig. 16, the rotary-mirror lidar 10 includes a first group of transceiver modules 161 and a second group of transceiver modules 162, the first group of transceiver modules 161 includes four transceiver modules 16, the second group of transceiver modules 162 includes four transceiver modules 16, and the first group of transceiver modules 161 and the second group of transceiver modules 162 are respectively disposed on opposite sides of the reflecting member 14 and symmetrically distributed about the rotation axis 140 of the reflecting member 14. The four transceiver modules 16 of the same group are disposed in parallel with each other in a unified upward direction, and the respective transceiver optical axes are firstly emitted from the corresponding transceiver modules 16 along a first direction perpendicular to the carrying surface 1240 of the base 12, and then respectively bent by the four corresponding reflectors 168 and then directed to the reflecting member 14 at respective corresponding inclination angles. The rotary mirror lidar 10 may further include a carrier plate 13, where the carrier plate 13 is disposed corresponding to a group of transceiver modules 16, and is configured to support and fix a plurality of transceiver modules 16 in a same group and a plurality of reflectors 168 disposed corresponding to the transceiver modules 16, so that respective transceiver optical axes of the transceiver modules 16 are bent by corresponding reflectors 14 and then directed to the reflectors 14 at corresponding tilt angles. Specifically, the rotary mirror lidar 10 includes a first carrier plate 131 corresponding to the first group of transceiver modules 161 and a second carrier plate 132 corresponding to the second group of transceiver modules 162, where the first carrier plate 131 and the second carrier plate 132 are respectively disposed on two opposite sides of the reflecting member 14, four transceiver modules 16 of the first group of transceiver modules 161 and four corresponding reflectors 168 are fixedly disposed on the board surface of the first carrier plate 131, four transceiver modules 16 of the second group of transceiver modules 162 and four corresponding reflectors 168 are fixedly disposed on the board surface of the second carrier plate 132, and the first carrier plate 131 and the second carrier plate 132 are respectively connected with two opposite sides of the base 12. It should be understood that the inventive concept described in this embodiment related to the arrangement of the reflecting mirror 168 corresponding to each of the plurality of transceiver modules 16 may be applied to reflecting members having different reflecting surface configurations, for example: a single-sided turning mirror having only one reflecting surface, a multi-sided turning mirror having a plurality of reflecting surfaces, and the like.

Optionally, in some embodiments, as shown in fig. 2, the rotary mirror lidar 10 further includes an angle sensor 19 configured to sense a rotation angle of the reflecting member 14 to determine a corresponding orientation of the field of view space sensed by the transceiver module 16 at the rotation angle. The angle sensor 19 may be, for example, a capacitive encoder, a photoelectric encoder, a magnetic encoder, or the like, which is not limited in this application.

The control module 18 may be configured to control the transceiver module 16 to emit the sensing beam at a preset frequency; can also be configured to adjust the preset rotational speed of the reflector 14 according to the detected frame rate that needs to be achieved; and may be configured to adjust the stepping angle of rotation of the reflecting member 14 by the driving module 17 according to the angular resolution to be satisfied by the detection, and so on. Therefore, the rotary mirror lidar 10 can detect the three-dimensional information of the field of view partition corresponding to the rotation angle of the reflecting member 14 in the field of view space through the transceiver module 16, and can obtain the three-dimensional information of all the field of view partition corresponding to each rotation angle in the field of view space along with the rotation of the reflecting member 14, so as to construct the three-dimensional point cloud of the field of view space.

In some embodiments, all or a portion of the functional elements in the control module 18 and/or the processing module 166 may comprise firmware solidified within the storage medium 30 or computer software code stored within the storage medium 30 and executed by the corresponding one or more processors 40 to control the relevant components to implement the corresponding functions. Such as, but not limited to, an application processor (Application Processor, AP), a central processing unit (Central Processing Unit, CPU), a microcontroller (Micro Controller Unit, MCU), etc. The storage medium 30 includes, but is not limited to, flash Memory (Flash Memory), charged erasable programmable read-only storage medium (Electrically Erasable Programmable read only Memory, EEPROM), programmable read-only storage medium (Programmable read only Memory, PROM), hard disk, and the like.

In some embodiments, the processor 40 and/or storage medium 30 may be disposed within the rotary mirror lidar 10, such as: is integrated on the same circuit board as the beam scanning module 12 or the receiving assembly 164. Alternatively, in other embodiments, the processor 40 and/or the storage medium 30 may be located elsewhere in the electronic device 1, such as: on the main circuit board of the electronic device 1.

In some embodiments, some or all of the functional elements of the control module 18 and/or the processing module 166 may also include hardware, such as by any one or combination of the following techniques: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), driver circuits for specific objects, and the like.

It will be appreciated that the hardware described above for implementing the functions of the control module 18 and/or the processing module 166 may be provided within the rotary mirror lidar 10. The hardware described above for implementing the functions of the control module 18 and/or the processing module 166 may also be provided in other locations of the electronic device 1, such as: is provided on a main circuit board of the electronic device 1.

As shown in fig. 17, in some embodiments, the rotary mirror lidar 10 is, for example, a lidar, and the electronic device 1 is, for example, a sweeping robot. The laser radar can be arranged at the top of the sweeping robot to detect three-dimensional information in the field of view space around the sweeping robot and realize navigation of the sweeping robot accordingly.

Compared with the laser radar which adopts the rotating 45-degree inclined angle reflector to match with the transceiver module 16 fixedly arranged below the reflector to realize sensing, the laser radar provided by the application adopts the mode of arranging the double-sided reflecting piece 14 and the transceiver module 16 side by side, the frame rate of detection can be improved through double reflecting surfaces, and the angle range covered by the field of view space of the rotary mirror laser radar 10 in the vertical direction can be obviously enlarged by arranging a plurality of groups of transceiver modules 16 with different inclined angles.

It should be noted that, the technical solution to be protected in the present application may only satisfy one of the embodiments described above or simultaneously satisfy the embodiments described above, that is, the embodiment formed by combining one or more embodiments described above also belongs to the protection scope of the present application.

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It is to be understood that portions of embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the plurality of functional units may be implemented in software or firmware stored in a storage medium and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims

1. A rotary mirror lidar configured to sense three-dimensional information of an object in a preset field of view space based on time-of-flight principles, comprising:

the base comprises a bearing surface;

2. The rotary mirror lidar of claim 1, wherein the first reflective surface and the second reflective surface are each continuous and complete surfaces.

3. The rotary mirror lidar according to claim 1, wherein the first and the second reflection surfaces are both planar and perpendicular to the bearing surface, and the first and the second reflection surfaces are arranged parallel to each other.

4. The rotary mirror lidar of claim 1, wherein the first reflecting surface and the second reflecting surface are each planar, one of the first reflecting surface and the second reflecting surface being perpendicular to the bearing surface and the other being inclined at a predetermined angle with respect to the bearing surface.

5. The rotary mirror lidar according to claim 1, wherein the rotary mirror lidar comprises at least two transceiver modules, the at least two transceiver modules are divided into at least two groups, each group comprises at least one transceiver module, and the at least two groups of transceiver modules are respectively arranged at different positions around the reflecting member so as to correspondingly transmit sensing optical signals to and receive optical signals from the field space from different angles through the reflecting member.

6. The rotary mirror lidar according to claim 5, wherein the transceiver modules are divided into two groups, the two groups of transceiver modules are respectively disposed at two positions on the base symmetrically distributed about the rotation axis of the reflector, and the two groups of transceiver modules together form two mutually separated view field spaces symmetrically distributed about the rotation axis of the reflector through the reflector.

7. The rotary mirror lidar of claim 5, wherein each group comprises a plurality of the transceiver modules that respectively transmit and receive the sensing light signals to and from the field of view space through the reflecting member at different tilt angles compared to the bearing surface; wherein, the inclination angles corresponding to the different receiving and transmitting modules are changed in an equal difference.

8. The rotary mirror lidar according to claim 7, wherein the transceiver module directly transmits the sensing beam to the field space and receives the optical signal from the field space by reflection of the reflecting member, and the plurality of transceiver modules respectively transmit the sensing beam and receive the optical signal from the field space at the respective corresponding tilt angles.

9. The rotary mirror lidar of claim 7, further comprising a plurality of reflectors, wherein the plurality of reflectors are respectively arranged corresponding to the plurality of transceiver modules, and the plurality of transceiver modules respectively transmit the sensing light beam to the field space and receive the light signal from the field space through the reflectors at the respective inclination angles after being reflected by the corresponding arranged reflectors.

10. The rotary mirror lidar according to claim 1, comprising at least two transceiver modules, different ones of the transceiver modules emitting the sensing beam to the field of view space through the same reflection position on the first and/or second reflection surfaces, different ones of the transceiver modules receiving the optical signal from the field of view space through the same reflection position on the first and/or second reflection surfaces.

11. The rotary mirror lidar according to claim 7, wherein the plurality of transceiver modules can transmit and receive the sensing light signal to and from the field of view space through the reflecting member at an angle inclined upward compared to the bearing surface, an angle parallel to the bearing surface, and/or an angle inclined downward compared to the bearing surface.

12. The rotary mirror lidar according to claim 1, wherein the reflecting member is rotated around a rotation axis perpendicular to the bearing surface, and the first reflecting surface and the second reflecting surface are respectively provided on opposite sides of the rotation axis; the receiving and transmitting module comprises a receiving module and a transmitting module, wherein a view field space formed by the receiving and transmitting module through a reflecting piece comprises a first view field space and a second view field space which are mutually separated, and the first view field space and the second view field space are symmetrically distributed about the rotating shaft.

13. The rotary mirror lidar according to claim 1, wherein the transceiver module includes a transmitting module, a receiving module, a module frame and a module substrate, the module frame has a transmitting light channel corresponding to the transmitting module, the module frame has a receiving light channel corresponding to the receiving module, the transmitting light channel and the receiving light channel are isolated from each other, the module substrate is mounted at one end of the module frame to seal an opening formed at the end of the module frame by the transmitting light channel and the receiving light channel, the other end of the module frame opposite to the module substrate has a transmitting through hole and a receiving through hole corresponding to the transmitting light channel and the receiving light channel, the transmitting module includes a transmitting lens and a light source chip, the receiving module frame includes a receiving lens and a photoelectric sensing chip, the light source chip is disposed at a position on the module substrate corresponding to the transmitting light channel, the transmitting lens is disposed in the transmitting through hole correspondingly, the receiving lens is disposed in the receiving through hole correspondingly, and the receiving lens has a step-like height difference between the transmitting lens and the module substrate and the other end of the module frame.

14. An electronic device comprising a rotary mirror lidar according to any of claims 1 to 13, the electronic device further comprising an application module configured to implement a corresponding function depending on the detection result of the rotary mirror lidar.