CN219496662U - Laser radar and vehicle - Google Patents

Abstract

The utility model relates to a laser radar and vehicle, this laser radar includes the casing and set up at the inside core module that includes core main part, transmitting module, receiving module and including turning mirror and the scanning module of motor, the core main part sets up the receiving lens towards the one end of turning mirror, set up the light window that corresponds with the turning mirror on the casing, transmitting module sets up at the level side of core main part in order to compress laser radar height, set up first speculum and second speculum between core main part and the turning mirror, first speculum slope sets up on the light of transmitting module transmitted laser, the second speculum is parallel and the mirror surface is relative with first speculum, the laser of transmitting module transmission is through first speculum and second speculum reflection to the turning mirror and by the light window efflux, the distance of second speculum from the receiving lens central line is less than the distance of first speculum from the receiving lens central line in order to reduce the size requirement to the turning mirror surface, in order to compress laser radar's overall dimension.

Description

Laser radar and vehicle

Technical Field

The disclosure relates to the technical field of radars, and in particular relates to a laser radar and a vehicle.

Background

Along with the steady promotion of vehicle demand and the high-speed development of laser radar in fields such as autopilot, the demand of market to laser radar parameter index is promoted gradually, in order to guarantee that radar output point cloud does not produce omission and misjudgement of important target when long-range measurement, generally need the radar to guarantee sufficient angular resolution under the prerequisite that reaches certain angle of view coverage simultaneously, this just requires the radar to guarantee the line number that is enough, and the processing system of high line number requirement radar has higher size, and then leads to the increase of the size of whole laser radar. But in order to meet the demands of system stability and appearance, the size of the radar needs to be compressed.

In the prior art, a mode of superposing a single-line laser transceiver and a mode of adopting a line laser transceiver system are adopted to realize multi-line scanning, meanwhile, a mode of arranging a turning mirror in front of a transceiver module is adopted to carry out multi-view scanning, but the multi-line scanning technology simultaneously brings about the increase of the size of internal elements of a radar, and a scheme of adopting a turning mirror scheme to carry out the multi-view scanner to ensure the market angle requires that a sufficient distance is reserved between the transceiver module and the turning mirror, and a sufficient width is reserved for a light window on a shell for laser to pass through, so that the overall size of the radar is further increased, and the size requirement of the existing laser radar system under the premise of keeping indexes such as the limit measurement distance, precision and the like cannot be met.

Disclosure of Invention

In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a lidar and a vehicle.

A first aspect of the present disclosure provides a lidar, including a chassis, and a movement module and a scanning module sequentially disposed inside the chassis along a first direction;

the machine core module comprises a machine core main body, a transmitting module and a receiving module, wherein the transmitting module is arranged on one side of the machine core main body along the first direction, a receiving lens is arranged at one end of the machine core main body along the first direction, and the receiving module is arranged at the other end of the machine core main body along the first direction;

the scanning module comprises a rotating mirror and a motor for driving the rotating mirror to rotate, a receiving lens of the movement main body is arranged towards the rotating mirror, a light window corresponding to the rotating mirror is arranged on the machine shell, and the light window is positioned at one side of the rotating mirror along the first direction;

the machine core module is characterized in that the machine core module further comprises a first reflecting mirror and a second reflecting mirror, the first reflecting mirror and the second reflecting mirror are arranged between the machine core main body and the rotating mirror, the first reflecting mirror is arranged on an extension line of the transmitting module along the first direction and is obliquely arranged, the second reflecting mirror is parallel to the first reflecting mirror and is opposite to the mirror surface, the distance between the second reflecting mirror and the central line of the receiving lens along the first direction is smaller than the distance between the first reflecting mirror and the central line of the receiving lens along the first direction, and laser emitted by the transmitting module sequentially passes through the first reflecting mirror and the second reflecting mirror, is reflected to the rotating mirror and is emitted by the optical window.

Optionally, the first reflecting mirror and the laser emitted by the emitting module are arranged at an inclination angle of 45 degrees.

Optionally, the first reflector and the second reflector are vertically disposed on the bottom wall of the casing, the mirror surfaces of the first reflector and the second reflector are perpendicular to the bottom wall of the casing, and the projection of the second reflector on the movement main body along the first direction is smaller than the receiving lens.

Optionally, the turning mirror is a polyhedral turning mirror, the turning mirror is vertically arranged on the bottom wall of the casing, and the width of each mirror surface of the turning mirror in the vertical direction is greater than the distance from the second reflecting mirror to the edge point of the receiving lens, which is far away from the second reflecting mirror.

Optionally, the casing has a front panel and a rear cover plate that are disposed opposite to each other, the optical window is disposed on the front panel, and the movement body is disposed in the casing at a position close to the front panel.

Optionally, the emission module is disposed on a side of the movement body away from the optical window.

Optionally, the receiving module includes a laser receiving device and a laser receiving plate, the laser receiving device is disposed corresponding to the receiving lens, and a portion of the laser receiving plate extends out of one side of the movement main body along the first direction.

Optionally, the core module and one side of scanning module along the first direction are provided with the circuit board module, the circuit board module is used for the core module with scanning module power supply and transmission signal.

Optionally, an external connector is disposed on the casing, and the external connector is connected with the circuit board module, so as to provide power for the circuit board module and transmit signals.

A second aspect of the present disclosure provides a vehicle comprising a lidar as any of the above.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

according to the laser radar and the vehicle, the laser is emitted and received by sequentially arranging the core module comprising the core main body, the emitting module and the receiving module and the scanning module comprising the rotating mirror and the motor in the shell along the first direction; one end of the movement main body along the first direction is provided with a receiving lens and is arranged towards the turning mirror, so that reflected laser enters the movement main body through the turning mirror and the receiving lens; the rotating mirror is driven to rotate by the motor, so that laser emitted by the laser radar can cover a larger area; the light window corresponding to the turning mirror is arranged on the shell at one side of the turning mirror along the first direction, so that the emitted and reflected laser has a passage; compared with the prior art, the transmitting module is arranged at the top of the movement main body, and the transmitting module is arranged at one side of the movement main body along the first direction, so that the dimension of the laser radar in the height direction can be effectively compressed; the first reflecting mirror and the second reflecting mirror are arranged between the movement main body and the rotating mirror, the first reflecting mirror is arranged on an extension line of the transmitting module along the first direction and is obliquely arranged, the second reflecting mirror is arranged in parallel with the first reflecting mirror and is opposite to the first reflecting mirror, laser emitted by the transmitting module is sequentially reflected to the rotating mirror through the first reflecting mirror and the second reflecting mirror and is emitted out of the optical window, and the distance between the second reflecting mirror and the central line of the receiving lens along the first direction is smaller than the distance between the first reflecting mirror and the central line of the receiving lens along the first direction, so that the horizontal distance between the laser emitted to the rotating mirror and the receiving lens in the horizontal direction perpendicular to the first direction is reduced, namely the horizontal distance between the laser emitted by the laser radar and the received laser is reduced, the size requirement of the laser radar on each mirror surface of the rotating mirror is reduced, and the whole size of the rotating mirror is reduced, and the whole length and the whole width of the laser radar on the basis of high compression are also compressed, and the whole size requirement of the laser radar on the premise of reducing the whole size of the radar system under the premise of keeping indexes such as limit measurement distance and precision is effectively met.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic diagram of an explosion structure of a lidar according to an embodiment of the disclosure;

FIG. 2 is a schematic perspective view of a housing according to an embodiment of the disclosure;

FIG. 3 is a schematic side view of a front panel of a chassis according to an embodiment of the present disclosure;

FIG. 4 is a schematic side view of a back cover plate of a bottom wall according to an embodiment of the present disclosure;

fig. 5 is a schematic perspective view of a movement module according to an embodiment of the disclosure;

fig. 6 is a schematic perspective view of a scanning module according to an embodiment of the disclosure;

fig. 7 is a schematic perspective view of an electronic board module according to an embodiment of the disclosure;

FIG. 8 is a schematic diagram of an assembly sequence of a lidar according to an embodiment of the disclosure;

fig. 9 is a schematic diagram of a laser propagation design of a lidar according to an embodiment of the disclosure.

1, a shell; 11. a light window; 12. a bottom wall; 13. a front panel; 14. a back cover plate; 2. a movement module; 21. a movement body; 211. receiving a lens; 22. a transmitting module; 23. a receiving module; 24. a first mirror; 25. a second mirror; 3. a scanning module; 31. a turning mirror; 32. a motor; 4. a circuit board module; 5. an external connector.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

The following describes the lidar and the vehicle in detail by specific examples:

referring to fig. 1 to 8, the present embodiment provides a lidar including a chassis 1, and a movement module 2 and a scanning module 3 sequentially disposed inside the chassis 1 along a first direction. The movement module 2 comprises a movement main body 21, a transmitting module 22 and a receiving module 23, wherein the transmitting module 22 is arranged on one side of the movement main body 21 along the first direction, one end of the movement main body 21 along the first direction is provided with a receiving lens 211, and the receiving module 23 is arranged on the other end of the movement main body 21 along the first direction; the scanning module 3 includes a rotating mirror 31 and a motor 32 for driving the rotating mirror 31 to rotate, the receiving lens 211 of the movement main body 21 is disposed towards the rotating mirror 31, the casing 1 is provided with an optical window 11 corresponding to the rotating mirror 31, and the optical window 11 is located at one side of the rotating mirror 31 along the first direction. Further, the movement module 2 further includes a first mirror 24 and a second mirror 25 disposed between the movement main body 21 and the rotating mirror 31, the first mirror 24 is disposed on an extension line of the transmitting module 22 along the first direction and is obliquely disposed, the second mirror 25 is disposed parallel to the first mirror 24 and is opposite to the mirror surface, and a distance between the second mirror 25 and a center line of the receiving lens 211 along the first direction is smaller than a distance between the first mirror 24 and a center line of the receiving lens 211 along the first direction, and the laser light emitted by the transmitting module 22 is sequentially reflected to the rotating mirror 31 via the first mirror 24 and the second mirror 25 and is emitted by the optical window 11.

Referring to fig. 1 and 8, the first direction of the present disclosure is the X direction marked in the drawing, that is, the extending direction of the interior of the casing 1 from the deck body 21 to the turning mirror 31, as shown in the horizontal direction of fig. 9.

Specifically, the movement module 2 is mainly used for transmitting, receiving and processing laser signals, wherein the movement main body 21 includes a receiving lens 211 arranged at one end of the movement main body 21, and an optical filter and a main movement arranged inside the movement main body 21, the transmitting module 22 includes a laser transmitter and a laser transmitting plate, the transmitting module 22 is arranged at one side of the movement main body 21 along the first direction, compared with the prior art, the transmitting module 22 is arranged at the top of the movement main body 21, the dimension of the laser radar in the height direction can be effectively compressed at one side of the movement main body along the first direction, according to the space dimension and the element arrangement condition inside the casing 1, the distance between the transmitting module 22 and the movement main body 21 can be adaptively selected, and in particular, the transmitting module 22 is arranged on the side edge of the movement main body 21 in a clinging manner so as to improve the space utilization rate inside the casing 1. The turning mirror 31 is driven by a motor 32 and rotates at a set frequency to reflect the emitted laser beams at multiple angles, thereby realizing scanning detection of a space within a certain angle of view. The receiving lens 211 is disposed at one end of the movement body 21 facing the turning mirror 31 to receive the laser light and reflected by the object detected by the laser radar reflected by the turning mirror, and the receiving module 23 is disposed at the other end of the movement body 21 along the first direction to receive and process the laser light received by the receiving lens 211. Meanwhile, a light window 11 corresponding to the turning mirror 31 is provided on the housing 1 at one side of the turning mirror 31 in the first direction to provide a passage for laser light emitted from the laser radar and laser light to be received.

The movement module 2 further includes a first mirror 24 and a second mirror 25 disposed between the movement main body 21 and the rotating mirror 31, the first mirror 24 is disposed on an extension line of the emission module 22 along the first direction and is obliquely disposed, the second mirror 25 is disposed parallel to the first mirror 24 and is opposite to the first mirror, and the laser emitted by the emission module 22 is reflected to the rotating mirror 31 through the first mirror 24 and the second mirror 25 in sequence and is emitted by the optical window 11. Meanwhile, in the mirror arrangement, the distance between the second reflecting mirror 25 and the center line of the receiving lens 211 along the first direction is smaller than the distance between the first reflecting mirror 24 and the center line of the receiving lens 211 along the first direction, so that the distance between the laser emitted by the emitting module 22 and the center line of the receiving lens 211 along the first direction before being reflected by the rotating mirror 31 is reduced, that is, the horizontal distance between the laser emitted by the laser radar reflected by the rotating mirror 31 and the received laser is reduced, thus reducing the size requirement of the laser radar on each mirror surface of the rotating mirror 31, and further reducing the overall size of the rotating mirror 31, so that the overall length and width of the laser radar are also compressed on the basis of high compression, and the size requirement of the existing laser radar system on the premise of keeping the indexes such as limit measurement distance and precision is effectively met. Meanwhile, by reducing the distance between the emitted laser and the received laser, the included angle between the emitted laser and the received laser when the same detection object is actually detected can be effectively reduced, the overlapping range of the receiving and transmitting view angles of the laser is enlarged, the visual blind area in the detection view angle is further reduced, and the limit detection distance and the detection definition of the laser radar are improved.

Illustratively, in particular use, the first mirror 24 is disposed at a 45 degree angle with respect to the laser light emitted by the emission module 22. It should be noted that, the 45-degree tilt angle is the optimal setting tilt angle between the laser light emitted by the first mirror 24 and the emission module 22, and since the first mirror 24 and the second mirror 25 are parallel to each other, that is, the laser light emitted by the emission module 22 and the laser light reflected by the second mirror 25 are parallel to each other to the rotating mirror 31, and the reflection angle of the reflected laser light of the 45-degree tilt angle is also 45 degrees, that is, the included angle between the laser light emitted by the first mirror 24 and the laser light reflected by the first mirror 24 is 90 degrees, so that, under the condition that the connection line between the first mirror 24 and the second mirror 25 is perpendicular to the first direction, that is, the connection line between the first mirror 24 and the second mirror 25 is parallel to the side surface of the movement main body 21 where the receiving lens 211 is located, the size requirement of the first mirror 24 and the second mirror 25 along the first direction can be effectively reduced, that is, the arrangement distance between the movement main body 21 and the rotating mirror 31 can be further shortened by setting the first mirror 24 and the laser light emitted by the 45-degree tilt angle of the emission module 22. Of course, the inclination angle between the first reflecting mirror 24 and the laser beam emitted by the emitting module 22 can be adaptively adjusted according to the actual setting conditions and the use requirements, which is not particularly limited in the present disclosure.

With continued reference to fig. 5, in some embodiments, the first mirror 24 and the second mirror 25 are disposed vertically on the bottom wall 12 of the chassis 1, the mirror surfaces of the first mirror 24 and the second mirror 25 are perpendicular to the bottom wall 12, and the projection of the second mirror 25 on the deck body 21 along the first direction is smaller than the receiving lens 211. In specific implementation, the first mirror 24 and the second mirror 25 may be fixed on the bottom wall 12 by using an adhesive manner, or a clamping groove may be provided on the bottom wall 12, where the first mirror 24 and the second mirror 25 are clamped in the clamping groove of the bottom wall 12, or may be fixed on the bottom wall 12 by using a frame constraint and screw fixation manner, and the fixing manner of the first mirror 24 and the second mirror 25 is not specifically limited in this disclosure. It will be appreciated that the mirror surfaces of the first mirror 24 and the second mirror 25 are perpendicular to the bottom wall 12, which is advantageous in that: the laser emitted by the emitting module 23 is reflected by the first reflecting mirror 24 and the second reflecting mirror 25 and does not change in height, and according to the height relation between the laser emitter and the receiving lens 211 in the emitting module 22, the emitted laser and the received laser are positioned on the same horizontal height, so that the included angle between the emitted laser and the received laser in the vertical direction can be reduced as much as possible, the overlapping range of the receiving and transmitting field angle of the laser in the vertical direction is effectively enlarged, and the vision blind area in the vertical direction in the detection field angle is reduced. Of course, according to practical application and the optical path design, the included angles between the mirror surfaces of the first mirror 24 and the second mirror 25 and the bottom wall 12 can be adaptively adjusted, which is not particularly limited in the disclosure. On the other hand, in the practical use process, the distance between the second reflecting mirror 25 and the first reflecting mirror 24 may be adaptively adjusted according to the practical situation, in some special cases, the second reflecting mirror 25 is disposed directly in front of the receiving lens 211 along the first direction, in particular, in order to implement the common optical path of the receiving and transmitting laser, the second reflecting mirror 25 is disposed in front of the receiving lens 211 along the right center of the first direction, in order to avoid the total shielding of the receiving lens 211 by the second reflecting mirror 25, so that most or part of the light beam and energy of the laser to be received can enter the receiving lens 211 to implement the receiving of the laser signal, and in some practical cases, the projection of the second reflecting mirror 25 on the movement main body 21 along the first direction is smaller than the receiving lens 211.

With continued reference to fig. 1, 6, 8, and 9, in some embodiments, the turning mirror 31 is a polyhedral turning mirror. The turning mirror 31 may be a three-sided turning mirror as shown in fig. 1, 5, 7 and 8, or may be replaced by another polyhedral turning mirror such as a tetrahedron or a pentahedron according to the use requirement, and the sizes of the respective mirrors of the turning mirror 31 may be the same, or may be adjusted to different sizes according to the actual requirement, and the arrangement form of the turning mirror 31 and the arrangement of the sizes of the respective mirrors are not particularly limited in this disclosure. In particular, the rotary mirror 31 is vertically disposed on the bottom wall 12 of the casing 1, and the motor 32 is disposed at the bottom of the rotary mirror 31 to realize rotation of the rotary mirror 31. Since the propagation speed of light is much greater than the rotation speed of the motor 32, it is considered that the turning mirror 31 is in a stationary state from the emission to the reception of one laser spot, and at the same time, when the laser light to be received enters the receiving lens 211, it is possible to enter the receiving lens 211 from any position of the receiving lens 211, and thus the width of each mirror surface of the turning mirror 31 in the vertical direction is greater than the distance from the second reflecting mirror 25 to the edge point of the receiving lens 211 away from the second reflecting mirror 25, so that the reflection of the laser light emitted by the laser radar and the reflection of the received laser light can be simultaneously achieved.

Illustratively, in some embodiments, the chassis 1 has a front panel 13 and a rear cover 14 disposed opposite to each other, the light window 11 is disposed on the front panel 13, and the deck body 21 is disposed in the chassis 1 near the front panel 13. It should be noted that, according to the characteristic that light propagates along a straight line, under the condition that the same horizontal viewing angle (i.e., angle θ in fig. 9) is ensured, the farther the turning mirror 31 is from the optical window 11, the longer the length of the optical window 11 that needs to be opened along the first direction is, and meanwhile, in order to avoid blocking the laser light reflected by the turning mirror 31 by the movement module 2, the higher the distance requirement between the movement module 2 and the turning mirror 31 is, so that the longer the length dimension of the laser radar is, the farther the distance in the vertical direction from the optical window 11 is, the longer the dimension requirement of the optical window 11 that is opened in the height direction is, and the higher the height requirement of the laser radar is. The position of the turning mirror 31 in the direction from the front panel 13 to the rear panel 14 corresponds to the second reflecting mirror 25 and the movement body 21 to correspond to the laser light emitted and received by the laser radar according to the light propagation path, and therefore, in order to reduce the influence of the spatial arrangement on the size of the laser radar as much as possible, the movement body 21 is arranged as close to the front panel 13 where the optical window 11 is located when the internal elements of the laser radar are arranged, and in particular, the movement body 21 abuts against the front panel 13.

Further, in particular, since the movement body 21 is larger in space size and more difficult to compress than the emission module 22, and at the same time, the propagation path of the laser light emitted by the emission module 22 is changed after being reflected by the first mirror 24 and the second mirror 25, that is, at this time, the movement body 21 has become a determining factor for determining the distance between the movement module 2 and the scanning module 3 and the front panel 13, the emission module 22 is disposed on a side of the movement body 21 away from the optical window 11 in some embodiments.

Specifically, in some embodiments, the receiving module 23 includes a laser receiving device provided in correspondence with the receiving lens 211, and a laser receiving plate, a portion of which protrudes from one side of the deck body 21 in the first direction. The laser receiving device is arranged on the laser receiving plate, the laser receiving device refers to a photosensitive device, such as a photodiode, internally provided with an optical sensor, when laser to be received enters the machine core main body through the receiving lens, the laser is processed through the optical filter and then is transmitted to the laser receiving device, so that the receiving module receives the laser, and the laser receiving device generates corresponding photo-generated current according to different received laser and converts the photo-generated current into corresponding electric signals. In order not to affect the arrangement between the deck 21 and the front panel 13, the direction in which a part of the laser receiving board protrudes from the deck 21 is the direction facing away from the front panel 13 in practical production, based on the fact that the smaller the distance between the deck 21 and the front panel 13 is, the more advantageous the compression of the size of the laser radar is.

With continued reference to fig. 1, 7 and 8, in some embodiments, a circuit board module 4 is disposed on one side of the movement module 2 and the scan module 3 along the first direction, and the circuit board module 4 is configured to supply power and transmit signals to the movement module 2 and the scan module 3. Specifically, the circuit board module 4 includes a mounting bracket, a circuit board, and a connection line provided on the circuit board and connected to the receiving module 23, the circuit board being for transmitting an electrical signal generated by the receiving module 23. In the actual production and assembly, in order not to influence the propagation of the laser of the movement module 2 and the scanning module 3, the circuit board module 4 is arranged on one side of the movement module 2 and the scanning module 3, which is away from the optical window 11.

With continued reference to fig. 4 and 8, in some embodiments, the housing 1 is provided with an external connector 5, and the external connector 5 is connected to the circuit board module 4 to provide power to the circuit board module 4 and transmit signals. In order to facilitate the connection between the external connector 5 and the circuit board module 4, in practical production, the external connector 5 is disposed on the housing 1 at one end of the circuit board module 4 and near one end of the back cover 14.

Referring to fig. 1 and 2, a waterproof ventilation valve is further disposed on the casing 1, and referring to fig. 8, in the actual production process, the casing 1, the core module 2, the scanning module 3, the circuit board module 4 and the external connector 5 included in the lidar can be produced by different suppliers on different production lines respectively, and the respective assembly procedures of each module can be completed, and the detection work of each module can be completed, and on this basis, the final assembly is performed on each module of the lidar, that is, the assembly of the external connector 5, the core module 2, the scanning module 3 and the circuit board module 4 is completed on the bottom wall sequentially, and finally the assembly of the casing 1 is completed. In the process, the working procedures of production, assembly, detection and the like of each module of the laser radar are independent and do not interfere with each other, so that the overall production efficiency of the laser radar is improved, the production time is shortened, the assembly quality is improved, and meanwhile, the process difficulty and the production cost are reduced.

Other embodiments of the present disclosure provide a vehicle comprising a lidar as in any of the embodiments above.

It should be noted that, the vehicle is only a common carrier of the lidar, the application carrier of the lidar in this embodiment is not limited to the vehicle, but may be other tools such as an airplane, a ship, etc., and the type and the model of the device used by the lidar are not limited.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The laser radar is characterized by comprising a shell (1), and a core module (2) and a scanning module (3) which are sequentially arranged in the shell (1) along a first direction;

the machine core module (2) comprises a machine core main body (21), a transmitting module (22) and a receiving module (23), wherein the transmitting module (22) is arranged on one side of the machine core main body (21) along the first direction, one end of the machine core main body (21) along the first direction is provided with a receiving lens (211), and the receiving module (23) is arranged on the other end of the machine core main body (21) along the first direction;

the scanning module (3) comprises a rotating mirror (31) and a motor (32) for driving the rotating mirror (31) to rotate, a receiving lens (211) of the movement main body (21) is arranged towards the rotating mirror (31), a light window (11) corresponding to the rotating mirror (31) is arranged on the machine shell (1), and the light window (11) is positioned at one side of the rotating mirror (31) along the first direction;

the movement module (2) further comprises a first reflecting mirror (24) and a second reflecting mirror (25) which are arranged between the movement main body (21) and the rotating mirror (31), the first reflecting mirror (24) is arranged on an extension line of the transmitting module (22) along the first direction and is obliquely arranged, the second reflecting mirror (25) is arranged in parallel with the first reflecting mirror (24) and is opposite to the first reflecting mirror, the distance between the second reflecting mirror (25) and the central line of the receiving lens (211) along the first direction is smaller than the distance between the first reflecting mirror (24) and the central line of the receiving lens (211) along the first direction, and laser emitted by the transmitting module (22) sequentially passes through the first reflecting mirror (24) and the second reflecting mirror (25) to the rotating mirror (31) and is emitted by the optical window (11).

2. The lidar according to claim 1, wherein the first mirror (24) is arranged at an angle of 45 degrees to the laser light emitted by the emitting module (22).

3. Lidar according to claim 1, characterized in that the first mirror (24) and the second mirror (25) are both arranged vertically on the bottom wall (12) of the housing (1), the mirror surfaces of the first mirror (24) and the second mirror (25) being perpendicular to the bottom wall (12) of the housing (1), the projection of the second mirror (25) onto the movement body (21) in the first direction being smaller than the receiving lens (211).

4. The lidar according to claim 1, wherein the turning mirror (31) is a polyhedral turning mirror (31), the turning mirror (31) is vertically arranged on the bottom wall (12) of the housing (1), and the width of each mirror surface of the turning mirror (31) in the vertical direction is larger than the distance from the second mirror (25) to the edge point of the receiving lens (211) away from the second mirror (25).

5. Lidar according to claim 1, characterized in that the chassis (1) has a front panel (13) and a rear cover plate (14) arranged opposite each other, the light window (11) being arranged on the front panel (13), the movement body (21) being arranged in the chassis (1) close to the front panel (13).

6. Lidar according to claim 1, characterized in that the transmitting module (22) is arranged at the side of the movement body (21) remote from the light window (11).

7. The lidar according to claim 1, wherein the receiving module (23) comprises a laser receiving device provided in correspondence with the receiving lens (211), and a laser receiving plate, a portion of which protrudes from one side of the movement main body (21) in the first direction.

8. Lidar according to claim 1, characterized in that the movement module (2) and the scanning module (3) are provided with a circuit board module (4) on one side in the first direction, which circuit board module (4) is used for powering and transmitting signals to the movement module (2) and the scanning module (3).

9. The lidar according to claim 8, wherein an external connector (5) is provided on the housing (1), the external connector (5) being connected to the circuit board module (4) for providing power to the circuit board module (4) and for transmitting signals.

10. A vehicle comprising a lidar according to any of claims 1 to 9.