WO2020114229A1

WO2020114229A1 - Laser radar optical system and scanning method

Info

Publication number: WO2020114229A1
Application number: PCT/CN2019/119172
Authority: WO
Inventors: 胡小波; 刘颖
Original assignee: 深圳市镭神智能系统有限公司
Priority date: 2018-12-04
Filing date: 2019-11-18
Publication date: 2020-06-11
Also published as: CN109343029A

Abstract

A laser radar optical system, comprising a transmit unit (1), a first reflective unit (2), a second reflective unit (3), and a receive unit (4). The transmit unit (1), the first reflective unit (2), the second reflective unit (3), and the receive unit (4) are sequentially arranged along a light propagation path. The transmit unit (1) is used for emitting a laser beam. The relative position of the transmit unit (1) and the receive unit (4) is fixed. The first reflective unit (2) comprises a first reflective surface, and the relative position relationship between the first reflective surface and the transmit unit (1) is variable to allow the laser beam to complete scanning in a first direction. The second reflective unit (3) comprises a second reflective surface, and the relative position relationship between the second reflective surface and the transmit unit (1) is variable to allow the laser beam to complete scanning in a second direction. The first direction intersects the second direction.

Description

Lidar optical system and scanning method

Cross-reference of related applications

This application requires the priority of the Chinese patent application filed on December 04, 2018 in the Chinese Patent Office, with the application number 201811473560.3 and the application name "A Lidar Optical System and Scanning Method", the entire contents of which are incorporated herein by reference Applying.

Technical field

Embodiments of the present application relate to the field of optical technology, and in particular, to a lidar optical system and scanning method.

Background technique

Lidar has the characteristics of high resolution, strong anti-interference ability, three-dimensional imaging, etc., and is suitable for a variety of use environments.

At present, the most commonly used lidars include single-line lidar optical systems and multi-line lidar optical systems. Among them, single-line lidar optical systems are emitted after collimating the laser light emitted by semiconductor lasers or fiber lasers, and driven by the rotation of the motor. The receiving optical system scans the surrounding ring mirror, the defect is that the single beam scan, the scanning area is too small; the multi-line laser radar optical system is to use a large target surface telephoto emission collimating optical system will be arranged according to a certain spatial position The laser beam emitted by the same type of laser generator is collimated and emitted, and the surrounding environment is scanned by the rotation of the motor. The telephoto large target surface receiving optical system focuses the light returned by the irradiated object on the corresponding photoelectric sensor. This type of optical system can emit and receive beams from multiple arrays and scan a certain area of the surrounding ring mirror. The disadvantage is that there are too many laser generators required, and there are many corresponding receiving sensors, and the processing circuit is relatively complicated. .

Summary of the invention

According to various embodiments of the present application, a lidar optical system and scanning method are provided.

In a first aspect, an embodiment of the present application provides a lidar optical system, including:

Launch unit, used to emit laser beam;

The first reflecting unit includes a first reflecting surface, and the relative positional relationship between the first reflecting surface and the emitting unit is variable, and the first reflecting surface is used to reflect the laser beam to the second reflecting unit, Making the laser beam scan in the first direction;

The second emitting unit includes a second reflecting surface, and the relative positional relationship between the second reflecting surface and the emitting unit is variable, and the second reflecting surface is used to reflect the laser beam to the scanning area to Scan the laser beam in the second direction; and

A receiving unit, configured to receive the laser beam reflected by the objects in the scanning area, and the relative positions of the transmitting unit and the receiving unit are fixed;

Wherein the first direction and the second direction intersect.

Further, the first direction is perpendicular to the second direction.

Further, at least one of the first reflecting unit and the second reflecting unit is a rotating prism;

At least one side surface of the rotating prism serves as a first reflecting surface of the first reflecting unit or a second reflecting surface of the second reflecting unit.

Further, at least one side surface of the rotating prism is provided with a reflecting mirror to form a first reflecting surface of the first reflecting unit or a second reflecting surface of the second reflecting unit.

Further, the shape of the rotating prism is a straight prism;

At least one side of the straight prism is provided with a reflecting mirror;

A straight line passing through the geometric center of the bottom surface of the straight prism and parallel to the side edges of the straight prism is an axis; the rotating prism can rotate around the axis.

Further, both the first reflecting unit and the second reflecting unit are rotating prisms; the axes of the two rotating prisms have different extending directions.

Further, at least one of the first reflecting unit and the second reflecting unit is a MEMS micro-galvanometer.

Further, the MEMS micro-mirror includes a mirror and a micro-electromechanical control system;

The microelectromechanical control system is fixedly connected to the mirror, and the mirror can move relatively under the control of the microelectromechanical control system.

Further, one of the first reflecting unit and the second reflecting unit is a rotating prism and the other is a MEMS micro-mirror.

Further, the emitting unit includes a laser, and the laser includes a fiber laser, a semiconductor laser, a gas laser, or a solid-state laser.

Further, the laser is a single-wavelength laser or a multi-wavelength laser.

Further, the laser is a single-wavelength fiber laser or a multi-wavelength fiber laser.

Further, the multi-wavelength laser includes at least one laser; the at least one laser is used to emit laser light of different wavelengths in a time-sharing and angle-sharing manner.

Further, the lidar optical system further includes: at least one third reflection unit;

The reflecting unit is disposed on the path of light propagation between the emitting unit and the first reflecting unit.

Further, the lidar optical system further includes: a collimating unit;

The collimating unit is disposed on a path of light propagation between the emitting unit and the first reflecting unit; the collimating unit is used to collimate the laser beam emitted by the emitting unit and project it to the The first reflecting surface of the first reflecting unit.

Further, it also includes a first motor and a second motor; the first motor is used to drive the relative positional relationship between the first reflecting surface of the first reflecting unit and the transmitting unit to change; the second motor is used The relative positional relationship between the second reflecting surface driving the second reflecting unit and the emitting unit changes.

In a second aspect, an embodiment of the present application also provides a lidar scanning method for implementing the scanning process of the lidar optical system. The lidar optical system includes:

Launch unit, used to emit laser beam;

Wherein the first direction and the second direction intersect.

The method includes:

Turn on the emitting unit to form a laser beam;

Adjusting the relative positional relationship between the first reflecting surface of the first reflecting unit and the emitting unit to complete scanning in the first direction; and

Adjusting the relative positional relationship between the second reflecting surface of the second reflecting unit and the emitting unit to complete scanning in the second direction.

Further, the step of adjusting the relative positional relationship between the first reflective surface of the first reflective unit and the emitting unit and the step of adjusting the second reflective surface of the second reflective unit and the The steps of the relative positional relationship of the transmitting units are executed simultaneously; or

The step of adjusting the relative positional relationship between the first reflecting surface of the first reflecting unit and the emitting unit follows the step of adjusting the second reflecting surface of the second reflecting unit and the emitting unit The steps of the relative position relationship are executed.

Further, at least one of the first reflecting unit and the second reflecting unit is a rotating prism; at least one side surface of the rotating prism serves as the first reflecting surface of the first reflecting unit or the second reflecting The second reflective surface of the unit.

The details of one or more embodiments of the application are set forth in the drawings and description below. Other features and advantages of this application will become apparent from the description, drawings, and claims.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, without paying any creative work, drawings of other embodiments can be obtained based on these drawings.

FIG. 1 is a schematic structural diagram of a laser radar optical system provided by an embodiment of the present application.

2 is a schematic structural diagram of another lidar optical system provided by an embodiment of the present application.

FIG. 3 is a flowchart of a lidar scanning method provided by an embodiment of the present application.

detailed description

The present application will be described in further detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limit the present application. In addition, it should be noted that, for ease of description, the drawings only show parts, but not all structures related to the present application.

FIG. 1 is a schematic structural diagram of a lidar optical system provided by an embodiment of the present application. The lidar optical system includes a transmitting unit 1, a first reflecting unit 2, a second reflecting unit 3, and a receiving unit 4. The transmitting unit 1, the first reflecting unit 2, the second reflecting unit 3, and the receiving unit 4 are sequentially arranged along the light propagation path. It can be understood that the light propagation path referred to here includes the path of light emission and the light path formed by the reflection of light after encountering objects in the scanning area. The emitting unit 1 is used to emit a laser beam. The relative positions of the transmitting unit 1 and the receiving unit 4 are fixed. The first reflecting unit 2 includes a first reflecting surface, and the relative positional relationship between the first reflecting surface and the emitting unit 1 is variable. The first reflecting unit 2 is used to reflect the laser beam emitted by the emitting unit 1 to the second reflecting unit 3 to The laser beam is scanned in the first direction. The second reflecting unit 3 includes a second reflecting surface, the relative positional relationship between the second reflecting surface and the emitting unit 1 is variable, and the second reflecting surface is used to reflect the laser beam to the scanning area, so that the laser beam completes the second direction scanning. The receiving unit 4 receives the laser beam reflected by the objects in the scanning area. Among them, the first direction and the second direction intersect.

After the laser beam exits from the emitting unit 1, it sequentially passes through the first reflecting unit 2 and the second reflecting unit 3 and then performs a two-dimensional scan toward the scanning area. After the object in the scanned area reflects into the receiving unit 4, the receiving unit 4 performs photoelectric conversion to form a corresponding electrical signal, and then completes the scanning.

According to the technical solution of this embodiment, the laser beam is emitted by the emitting unit 1, and the relative positional relationship between the first reflecting surface in the first reflecting unit 2 and the emitting unit 1 is variable, so that the laser beam can be scanned in the first direction. The relative positional relationship between the second reflecting surface in the second reflecting unit 3 and the emitting unit 1 is variable, so that the laser beam completes scanning in the second direction, and the second direction intersects the first direction, thereby realizing the lidar optical system Two-dimensional scanning. The use of the above-mentioned lidar optical system solves the problem that the scanning area of the single-line lidar optical system is small. The multi-line lidar optical system has a large number of transmitting units and receiving units, and the processing circuit is relatively complex, which achieves the effect of a large scanning area, and The number of transmission units and receiving units used is reduced, and the processing circuit is simplified.

Optionally, the lidar optical system further includes a motor (corresponding to the first motor) 5 and a motor (corresponding to the second motor) 6. The motor 5 is connected to the first reflecting unit 2 to drive the first reflecting unit 2 to move, so that the relative positional relationship between the first reflecting surface of the first reflecting unit 2 and the emitting unit 1 changes. The motor 6 is connected to the second reflecting unit 3 to drive the second reflecting unit 3 to move, so that the relative positional relationship between the second reflecting surface of the second reflecting unit 3 and the emitting unit 1 changes. The technical solution controls the rotation speeds of the first reflection unit 2 and the second reflection unit 3 by a motor, so that the scanning speed of the laser beam is uniform, and is periodically stable, which is convenient for sampling the scanning area.

In addition, in the above technical solution, only the motor is required to control the rotation of the first reflecting unit 2 and the second reflecting unit 3, and the transmitting unit 1, the receiving unit 4 and the related processing circuit do not need to rotate. That is, the transmitting unit 1 and the receiving unit 4 can be used as fixed parts of the lidar optical system, without the need to set the transmitting unit, the receiving unit, and the reflecting unit as a rotating structure like the traditional lidar optical system, simplifying the system structure. In addition, in the above-mentioned lidar optical system, only the first reflection unit 2 and the second reflection unit 3 need to be rotated, and other components do not need to be rotated. There is no other way to supply power to the circuit, and power can be directly supplied. The system is simple and stable.

Alternatively, the emitting unit 1 may emit one or more laser beams. If the emitting unit 1 emits multiple laser beams, the wavelengths of the multiple lasers may be the same or different. When different laser wavelengths are used, the transmitting unit 1 of the lidar optical system can use a multi-wavelength laser transmitter, which can select a relatively similar laser wavelength, so that the optical lens will be easier to implement when coating, reducing the process complexity Difficulty. The multi-wavelength laser emitter may be emitted by one laser, which emits lasers of different wavelengths in a time-sharing and angle-sharing manner, and multiple laser beams are incident on the first reflecting unit 2 and the second reflecting unit 3 at a certain angle to realize scanning of the light beam. The receiving unit 4 can receive the light beams emitted from different angles according to their angular distribution, and the focus points after the light beams are received will be arranged in an orderly manner without affecting each other. The above-mentioned lidar optical system combines the advantages of multi-wavelength lasers and the time-sharing of multiple lasers very cleverly. The use of multi-wavelength lasers can break through the limit frequency of lidar, and the use of multiple lasers can also break through lidar. The limit frequency can also increase the scanning angle of the lidar, which maximizes the number of scanning points, which increases the angular resolution.

The above-mentioned lidar optical system only needs to use a single beam or a few beams. The rotation of the first reflection unit 2 and the second reflection unit 3 can realize a two-dimensional scan of a certain area, which can greatly reduce the transmission unit 1 and the The number of receiving units 4 is used, and a very large number of scanning points can be realized with fewer transmitting units 1, thereby improving the angular resolution.

Based on the above technical solution, optionally, the first direction is perpendicular to the second direction. Exemplarily, referring to FIG. 1, the first reflection unit 2 is set to rotate in the vertical direction (that is, the Y direction in FIG. 1 ), that is, its rotation axis is set along the horizontal direction. The second reflection unit 3 rotates in the horizontal direction (ie, the X direction in FIG. 1 ), that is, its rotation axis is provided in the vertical direction. Through the rotational cooperation of the first reflecting unit 2 and the second reflecting unit 3, periodic scanning at a certain angle in the vertical and horizontal directions is realized. Optionally, the first reflection unit 2 can also be rotated in the horizontal direction, and the second reflection unit 3 can be rotated in the vertical direction to achieve periodic scanning at a certain angle in the vertical and horizontal directions.

In the above technical solution, there are multiple arrangements of the first reflecting unit 2 and the second reflecting unit 3, and optionally, at least one of the first reflecting unit 2 and the second reflecting unit 3 is a rotating prism. The shape of the rotating prism is a straight prism. At least one side surface of the straight prism serves as a reflecting surface. The reflecting surface can reflect the laser beam, so as to realize the scanning of the laser beam in the corresponding direction. At this time, the material used for the straight prism is made of a material with high reflectivity to the laser beam. In an embodiment, a reflecting mirror structure may be formed on the reflecting surface, that is, a reflecting mirror is provided on at least one side surface of the straight prism. By providing mirrors on the sides of the straight prism, the material requirements for the straight prism can be reduced. A straight line passing through the geometric center of the bottom surface of the straight prism and parallel to the side edges of the straight prism is an axis, and the rotating prism can rotate around the axis. In another embodiment, at least one of the first reflective unit 2 and the second reflective unit 3 is a MEMS micro-galvanometer. MEMS micro-mirrors include mirrors and micro-electromechanical control systems. The micro-electromechanical control system is fixedly connected to the mirror, and the mirror can move relatively under the control of the micro-electromechanical control system. In other embodiments, one of the first reflecting unit 2 and the second reflecting unit 3 may be a rotating prism structure, and one may be a MEMS micro-mirror structure.

The following is a detailed description of typical examples, but does not constitute a limitation on the present application.

1, the first reflecting unit 2 and the second reflecting unit 3 in FIG. 1 are both rotating prisms, and the rotating prism corresponding to the first reflecting unit 2 is the first rotating prism. The first rotating prism is a twelve prism. At least one side surface of the twelve prisms is provided with a reflecting mirror, and this reflecting mirror serves as a first reflecting surface. The rotating prism corresponding to the second reflecting unit 3 is a second rotating prism, and the first rotating prism is a pentagonal prism. At least one side surface of the pentagonal prism is provided with a reflecting mirror, and the reflecting mirror serves as a second reflecting surface. The first rotating prism and the second rotating prism are placed at 90° to each other. Let a straight line passing through the geometric center of the bottom surface of the first rotating prism parallel to the side edge of the first rotating prism be the first axis, and a straight line passing through the geometric center of the bottom surface of the second rotating prism parallel to the side edge of the second rotating prism It is a second axis, in which the first rotating prism can rotate around the first axis and the second rotating prism can rotate around the second axis. The first axis and the second axis have different extension directions, so that the first direction and the second direction intersect. The central axis (that is, the optical axis) of the receiving lens of the receiving unit 4 is located in the vertical planes of the twelve side surfaces of the first rotating prism, and is perpendicular to the first axis. The second axis may be located in the vertical plane of the side surface of the first rotating prism, or may be parallel to the vertical plane, or at an angle.

The emitting unit 1 emits a laser beam, irradiates the first reflecting surface of the first rotating prism, reflects the first reflecting surface and then enters the second reflecting surface, and is reflected by the second reflecting surface and received by the receiving unit. In this process, the motor 5 drives the first rotating prism to rotate around the first axis, and then forms a certain scanning angle in the first direction to achieve the scanning in the first direction, and the motor 6 drives the second rotating prism to rotate about the second axis, and A certain scanning angle is formed in the second direction to realize scanning in the second direction.

FIG. 2 is a schematic structural diagram of another lidar optical system provided by an embodiment of the present application. Referring to FIG. 2, the first reflecting unit 2 is a MEMS micro-mirror, and the second reflecting unit 3 is a rotating prism. The transmitting unit 1 emits a laser beam, irradiates the first reflecting surface of the first rotating prism, reflects the first reflecting surface and then enters the second reflecting surface, and then reflects the second reflecting surface and is received by the receiving unit 4. In this process, the MEMS micro-mirror rotates the reflecting mirror 7 under the action of internal electromagnetics, and then forms a certain scanning angle in the first direction to realize scanning in the first direction. The motor 6 drives the rotating prism to rotate, thereby forming a certain scanning angle in the second direction to realize scanning in the second direction.

The transmission unit 1 includes a laser. The laser may be a semiconductor laser fiber laser, a semiconductor laser, a gas laser, a solid-state laser, or the like. The laser may be a single-wavelength laser or a multi-wavelength laser, such as a single-wavelength fiber laser or a multi-wavelength fiber laser.

In one embodiment, the transmitting unit 1 includes a multi-wavelength fiber laser, which can time-divisionally emit laser beams of different wavelengths. This multi-wavelength laser is emitted by one laser, so that the laser beams of different wavelengths are emitted at time-division angles. Increased the number of Lidar measurement points, that is, increased angular resolution.

Based on the above technical solution, optionally, the lidar optical system further includes at least one third reflection unit 8.

The third reflecting unit 8 is disposed on the path of light propagation between the emitting unit 1 and the first reflecting unit 2. Among them, the laser beam emitted by the emitting unit 1 is emitted to the third reflecting unit 8 and reflected by the third reflecting unit 8 to the first reflecting surface of the first reflecting unit 2, changing the propagation direction of the laser beam.

On the basis of the above technical solution, optionally, the lidar optical system further includes a collimating unit 9. The collimating unit 9 is arranged on the path of light propagation between the emitting unit 1 and the first reflecting unit 2. The laser beam emitted by the emitting unit 1 is a divergent beam, and the collimating unit 9 is used to collimate the laser beam emitted by the emitting unit 1 while controlling the size of the laser beam spot. Exemplarily, the collimating unit 9 can make the spot diameter of the laser beam emitted by the emitting unit 1 at 100 meters smaller than 200 mm. The collimating unit 9 collimates the divergent light beam emitted by the emitting unit 1 to gather the laser beams together to concentrate the energy of the laser beam to form parallel beams and irradiates the first reflecting surface of the first reflecting unit 2 to further improve The intensity of the signal of the laser beam emitted by the emitting unit 1 can realize long-distance laser scanning, which is convenient to use and has low cost.

FIG. 3 is a flowchart of a lidar scanning method provided by an embodiment of the present application. The lidar scanning method is implemented based on any one of the lidar optical systems in the foregoing embodiments to complete the scanning process of the lidar optical system.

Lidar scanning methods include:

S110. Turn on the emitting unit to form a laser beam.

S120. Adjust the relative positional relationship between the first reflecting surface of the first reflecting unit and the emitting unit to complete the scanning in the first direction.

S130. Adjust the relative positional relationship between the second reflecting surface of the second reflecting unit and the emitting unit to complete scanning in the second direction.

In the technical solution of this embodiment, the laser beam is emitted by the emitting unit, and the relative positional relationship between the first reflecting surface and the emitting unit in the first reflecting unit is variable, so that the laser beam is scanned in the first direction, and the second reflecting unit The relative positional relationship between the second reflecting surface and the emitting unit in the variable, so that the laser beam completes the scan in the second direction, which solves the scanning area of the single-line lidar optical system is too small, the multi-line lidar optical system The processing circuit has a complicated problem, which achieves the effect of a large scanning area, and reduces the number of transmitter and receiver units used, simplifying the purpose of the processing circuit.

In an embodiment, step S120 and step S130 may be performed synchronously or step S130 is performed first and then step S120, and the order of the two is not strictly limited.

Note that the above are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of protection of the present invention. Therefore, although the present application has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the concept of the present application. The scope is determined by the scope of the appended claims.

Claims

A laser radar optical system, including:

Launch unit, used to emit laser beam;

The first reflecting unit includes a first reflecting surface, and the relative positional relationship between the first reflecting surface and the emitting unit is variable, and the first reflecting surface is used to reflect the laser beam to the second reflecting unit, Making the laser beam scan in the first direction;

The second emitting unit includes a second reflecting surface, and the relative positional relationship between the second reflecting surface and the emitting unit is variable, and the second reflecting surface is used to reflect the laser beam to the scanning area to Scan the laser beam in the second direction; and

A receiving unit, configured to receive the laser beam reflected by the objects in the scanning area, and the relative positions of the transmitting unit and the receiving unit are fixed;

Wherein the first direction and the second direction intersect.
The lidar optical system according to claim 1, wherein the first direction is perpendicular to the second direction.
The lidar optical system according to claim 1, wherein at least one of the first reflecting unit and the second reflecting unit is a rotating prism;

At least one side surface of the rotating prism serves as a first reflecting surface of the first reflecting unit or a second reflecting surface of the second reflecting unit.
The lidar optical system according to claim 3, wherein at least one side surface of the rotating prism is provided with a reflecting mirror to form a first reflecting surface of the first reflecting unit or a surface of the second reflecting unit Second reflective surface.
The lidar optical system according to claim 3, wherein the rotating prism is a straight prism; at least one side of the straight prism is provided with a reflecting mirror;

A straight line passing through the geometric center of the bottom surface of the straight prism and parallel to the side edges of the straight prism is an axis; the rotating prism can rotate around the axis.
The lidar optical system according to claim 3, wherein the first reflecting unit and the second reflecting unit are both rotating prisms; the axes of the two rotating prisms have different extending directions.
The lidar optical system according to claim 1, wherein at least one of the first reflecting unit and the second reflecting unit is a MEMS micro-mirror.
The lidar optical system according to claim 7, wherein the MEMS micro-mirror includes a mirror and a micro-electromechanical control system;

The microelectromechanical control system is fixedly connected to the mirror, and the mirror can move relatively under the control of the microelectromechanical control system.
The lidar optical system of claim 1, wherein one of the first reflecting unit and the second reflecting unit is a rotating prism and the other is a MEMS micro-mirror.
The lidar optical system according to claim 1, wherein the emitting unit includes a laser, and the laser includes a fiber laser, a semiconductor laser, a gas laser, or a solid-state laser.
The lidar optical system according to claim 10, wherein the laser is a single-wavelength laser or a multi-wavelength laser.
The lidar optical system according to claim 11, wherein the laser is a single-wavelength fiber laser or a multi-wavelength fiber laser.
The lidar optical system according to claim 11, wherein the multi-wavelength laser includes at least one laser; the at least one laser is used to emit laser light of different wavelengths in a time-sharing and angle-sharing manner.
The lidar optical system according to claim 1, further comprising: at least one third reflecting unit;

The third reflecting unit is disposed on a path of light propagation between the emitting unit and the first reflecting unit.
The lidar optical system according to claim 1, further comprising: a collimating unit;

The collimating unit is disposed on a path of light propagation between the emitting unit and the first reflecting unit; the collimating unit is used to collimate the laser beam emitted by the emitting unit and project it to the The first reflecting surface of the first reflecting unit.
The lidar optical system according to claim 1, further comprising a first motor and a second motor; the first motor is used to drive the first reflecting surface of the first reflecting unit and the transmitting unit The relative positional relationship of is changed; the second motor is used to drive the relative positional relationship between the second reflecting surface of the second reflecting unit and the emitting unit to change.
A lidar scanning method is used to realize the scanning process of a lidar optical system. The lidar optical system includes:

Launch unit, used to emit laser beam;

The first reflecting unit includes a first reflecting surface, and the relative positional relationship between the first reflecting surface and the emitting unit is variable, and the first reflecting surface is used to reflect the laser beam to the second reflecting unit, Making the laser beam scan in the first direction;

The second emitting unit includes a second reflecting surface, and the relative positional relationship between the second reflecting surface and the emitting unit is variable, and the second reflecting surface is used to reflect the laser beam to the scanning area to Scan the laser beam in the second direction; and

A receiving unit, configured to receive the laser beam reflected by the objects in the scanning area, and the relative positions of the transmitting unit and the receiving unit are fixed;

Wherein the first direction and the second direction intersect.

The method includes:

Turn on the emitting unit to form a laser beam;

Adjusting the relative positional relationship between the first reflecting surface of the first reflecting unit and the emitting unit to complete the scanning in the first direction; and

Adjusting the relative positional relationship between the second reflecting surface of the second reflecting unit and the emitting unit to complete scanning in the second direction.
The method according to claim 17, wherein the step of adjusting the relative positional relationship between the first reflecting surface of the first reflecting unit and the emitting unit and the adjusting of the second reflecting unit The step of adjusting the relative positional relationship between the second reflecting surface and the emitting unit at the same time; or, the step of adjusting the relative positional relationship between the first reflecting surface of the first reflecting unit and the emitting unit The step of adjusting the relative positional relationship between the second reflecting surface of the second reflecting unit and the emitting unit is performed.
The method according to claim 17, wherein at least one of the first reflecting unit and the second reflecting unit is a rotating prism; at least one side of the rotating prism is used as the first reflecting unit The first reflecting surface or the second reflecting surface of the second reflecting unit.
The method according to claim 17, wherein at least one of the first reflecting unit and the second reflecting unit is a MEMS micro-galvanometer.