WO2021035428A1 - 激光雷达及自动驾驶设备 - Google Patents

激光雷达及自动驾驶设备 Download PDF

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Publication number
WO2021035428A1
WO2021035428A1 PCT/CN2019/102326 CN2019102326W WO2021035428A1 WO 2021035428 A1 WO2021035428 A1 WO 2021035428A1 CN 2019102326 W CN2019102326 W CN 2019102326W WO 2021035428 A1 WO2021035428 A1 WO 2021035428A1
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WIPO (PCT)
Prior art keywords
module
laser
lidar
receiving
rotating mirror
Prior art date
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PCT/CN2019/102326
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English (en)
French (fr)
Inventor
刘乐天
马丁昽
刘迎春
Original Assignee
深圳市速腾聚创科技有限公司
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Filing date
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to CN201980002241.0A priority Critical patent/CN112789512A/zh
Priority to EP19943711.2A priority patent/EP4020005A4/en
Priority to PCT/CN2019/102326 priority patent/WO2021035428A1/zh
Publication of WO2021035428A1 publication Critical patent/WO2021035428A1/zh
Priority to US17/673,944 priority patent/US20220171071A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/12—Scanning systems using multifaceted mirrors
    • G02B26/123—Multibeam scanners, e.g. using multiple light sources or beam splitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/14—Beam splitting or combining systems operating by reflection only
    • G02B27/144—Beam splitting or combining systems operating by reflection only using partially transparent surfaces without spectral selectivity

Definitions

  • the embodiment of the present invention relates to the field of radar technology, in particular to a laser radar and automatic driving equipment.
  • Lidar is a radar system that uses lasers to detect the position and speed of a target object. Its working principle is that the transmitting module first transmits the outgoing laser for detection to the target, and then the receiving module receives the echo reflected from the target object. Laser, after processing the received echo laser, the relevant information of the target object can be obtained, such as parameters such as distance, azimuth, height, speed, posture, and even shape.
  • the rotary lidar in the prior art makes the entire lidar device rotate around an axis to realize scanning of the detection area.
  • the original rotary lidar has complicated optical design, and the entire lidar device rotates around the axis, and the rotating part is bulky, resulting in a large product size, high energy consumption, poor stability, and no further miniaturization.
  • the main purpose of the embodiments of the present invention is to provide a lidar and an automatic driving device, which can reduce the size of the rotary lidar and ensure stability while meeting the detection requirements.
  • a technical solution adopted in the embodiment of the present invention is to provide a laser radar, the laser radar includes a transceiver component and a scanning component; the transceiver component includes n transceiver modules, where n is an integer and n>1, Each of the transceiver modules includes a corresponding transmitting module and a receiving module; the transmitting module is used to transmit the outgoing laser; the receiving module is used to receive the echo laser; the echo laser is the The outgoing laser is reflected by the object in the detection area and then returned; the scanning assembly includes a rotating mirror that rotates around a rotation axis, the rotating mirror includes at least two reflective surfaces; the n transceivers The module corresponds to the at least two reflecting surfaces, and is used to reflect the outgoing laser light emitted by the transmitting module to the detection area, and at the same time, it is also used to reflect the echo laser light to the corresponding Receiving module.
  • an included angle between at least one of the reflection surfaces of the rotating mirror and the rotation axis is different from an included angle between the other reflection surfaces and the rotation axis.
  • At least two reflecting surfaces corresponding to the n transceiver modules are arranged adjacently, and the adjacent reflecting surfaces are arranged at an angle K, 0° ⁇ K ⁇ 180°.
  • the rotating mirror includes m reflective surfaces, where m is an integer and m ⁇ n, and one reflective surface corresponds to at least one transceiver module.
  • the angle ⁇ between the outgoing laser beam directed to the rotating mirror and the rotation axis is 0° ⁇ 90°.
  • the rotating mirror has a polygonal column shape or a polygonal pyramid shape, and the outer side surface of the rotating mirror is the reflecting surface.
  • the outgoing laser light and the echo laser of the transceiving module are coaxially arranged, and the transceiving module further includes a light splitting module, and the light splitting module is used to allow the outgoing laser light to pass through and then emit
  • the rotating mirror is also used to receive the echo laser light reflected by the rotating mirror and deflect the echo laser light to the corresponding receiving module.
  • the emitting module includes a laser module and a emitting optical module; the laser module is used to emit the emitting laser; the emitting optical module is arranged on the optical path of the emitting laser emitted by the laser module for Collimate the outgoing laser.
  • the laser module is a laser line array, including several lasers arranged along the line array, and the arrangement of the laser line array is sparse at both ends and dense in the middle.
  • the transmitting optical module is a telecentric lens
  • the telecentric lens is used to collimate each beam of the outgoing laser light emitted by the laser module, and make the outgoing laser light to the telecentric lens
  • the center of the optical axis is deflected.
  • the emission module further includes an emission drive module, which is connected to the laser module and is used to drive and control the operation of the laser module.
  • the transceiving component further includes a transmission driving module, which is respectively connected to the laser modules of the n transmission modules, and is used to drive and control the operation of each of the laser modules.
  • a transmission driving module which is respectively connected to the laser modules of the n transmission modules, and is used to drive and control the operation of each of the laser modules.
  • the scanning assembly further includes a driving device and a transmission device, the driving device is provided with an output shaft, the output shaft is connected to the rotating mirror through the transmission device, and the output of the driving device The shaft drives the rotating mirror to rotate.
  • the receiving module includes a detector module and a receiving optical module; the receiving optical module is arranged on the optical path of the echo laser light reflected by the scanning component, and is used to converge the echo laser light The detector module is used to receive the echo laser light converged by the receiving optical module.
  • the detector module is a detector linear array, including several detectors arranged along the linear array, and the arrangement of the detector linear array is sparse at both ends and dense in the middle.
  • the receiving optical module is a telecentric lens, and the telecentric lens is used to condense the echo laser light and make each echo laser light incident perpendicular to the linear array of the detector.
  • the receiving module further includes a receiving driving module, which is connected to the detector module and used to drive and control the operation of the detector module.
  • a receiving driving module which is connected to the detector module and used to drive and control the operation of the detector module.
  • the transceiver component further includes a receiving drive module, the receiving drive module is respectively connected to the detector module of the n receiving modules, and is used to drive and control the operation of each of the detector modules. .
  • An embodiment of the present invention also provides an automatic driving device, including a driving device body and the above-mentioned lidar, and the lidar is installed on the driving device body.
  • the beneficial effect of the embodiment of the present invention is that, different from the prior art, in the lidar provided by the embodiment of the present invention, by setting a rotating mirror as the scanning module, only the scanning module rotates, and the transceiver component does not rotate. In the prior art, the entire device needs to be driven to rotate together.
  • the embodiment of the present invention requires fewer components to rotate, which is convenient for control, low driving power consumption, and good stability; the product size can be further reduced, and the miniaturization of the lidar is realized.
  • the n transceiver modules correspond to at least two reflective surfaces of the rotating mirror; the transceiver modules correspond to the angle of view formed by the at least two reflective surfaces and are spliced in the horizontal direction to enlarge the laser
  • Figure 1 shows a structural block diagram of a lidar provided by an embodiment of the present invention
  • Figure 2a shows a schematic structural diagram of a rotating mirror in an embodiment of the present invention
  • Figure 2b shows a schematic structural diagram of a rotating mirror in another embodiment of the present invention.
  • Figure 3a shows a schematic diagram of the optical path at the first moment of the embodiment of the present invention
  • Figure 3b shows a schematic diagram of the optical path at the second moment of the embodiment of the present invention
  • Figure 3c shows a schematic diagram of the optical path at the third moment of the embodiment of the present invention.
  • Fig. 3d shows a schematic diagram of the optical path at the fourth moment of the embodiment of the present invention.
  • Fig. 4 shows a schematic diagram of the field of view covered by the lidar shown in Figs. 3a-3d;
  • Figure 5 shows a schematic structural diagram of a lidar provided by another embodiment of the present invention.
  • FIG. 6 shows a schematic diagram of the structure of a rotating mirror and a rotating shaft provided by an embodiment of the present invention
  • Figure 7a shows a schematic diagram of the optical path in the vertical plane where the angle between the reflective surface a and the rotation axis is 0° in an embodiment of the present invention
  • FIG. 7b shows a schematic diagram of the optical path in the vertical plane where the angle between the reflective surface b and the rotation axis is ⁇ in the embodiment of the present invention
  • FIG. 8a shows a schematic diagram of the optical path in the vertical plane with the angle ⁇ between the reflecting surface a of the four-sided mirror and the rotation axis in the embodiment of the present invention
  • FIG. 8b shows a schematic diagram of the optical path in the vertical plane with the angle ⁇ between the reflecting surface b of the four-sided mirror and the rotation axis in the embodiment of the present invention
  • FIG. 8c shows a schematic diagram of the optical path in the vertical plane where the angle between the reflecting surface c of the four-sided mirror and the rotation axis is ⁇ in the embodiment of the present invention
  • FIG. 8d shows a schematic diagram of the optical path in the vertical plane where the angle between the reflecting surface d of the four-sided mirror and the rotation axis is ⁇ in an embodiment of the present invention
  • Fig. 9a shows a schematic diagram of the optical path in a vertical plane where the angle between the reflecting surface a of the four-sided mirror and the rotation axis is 0° in an exemplary embodiment of the present invention
  • Fig. 9b shows a schematic diagram of the optical path in the vertical plane where the angle between the reflective surface b of the four-sided mirror and the rotation axis is 12.5° in an exemplary embodiment of the present invention
  • Fig. 9c shows a schematic diagram of the optical path in a vertical plane where the angle between the reflective surface c of the four-sided mirror and the rotation axis is 25° in an exemplary embodiment of the present invention
  • Fig. 9d shows a schematic diagram of the optical path in the vertical plane where the included angle between the reflecting surface d of the four-sided mirror and the rotation axis is 37.5° in an exemplary embodiment of the present invention
  • FIG. 10 shows a schematic diagram of an optical path in a vertical plane where the included angle between the reflecting surface d of the four-sided mirror and the rotation axis is -12.5° in another exemplary embodiment of the present invention
  • Fig. 11a shows a schematic diagram of the optical path in a vertical plane where the angle between the reflecting surface c of the four-sided mirror and the rotation axis is 12.5° in an exemplary embodiment of the present invention
  • Fig. 11b shows a schematic diagram of a light path in a vertical plane with an angle of 25° between the reflecting surface d of the four-sided mirror and the rotation axis in an exemplary embodiment of the present invention
  • Fig. 12a shows a schematic diagram of the vertical field of view covered by a transceiver module after the four-sided mirror of the exemplary embodiment shown in Figs. 9a, 9b, 11a, and 11b rotates and scans one circle;
  • Figure 12b shows a schematic diagram of the overall field of view of the lidar shown in Figures 4 and 12a;
  • FIG. 13 shows a schematic diagram of a horizontal layout in which the emitted laser light is incident on the rotating mirror at an incident angle close to the vertical rotation axis;
  • FIG. 14 shows a schematic diagram of a vertical layout in which the emitted laser light is incident on the rotating mirror at an angle of incidence less than 90° from the rotation axis;
  • Figure 15a shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • Figure 15b shows a schematic diagram of the optical path of a lidar provided by another embodiment of the present invention.
  • 15c shows a schematic diagram of the optical path of a lidar according to another embodiment of the present invention.
  • FIG. 16 shows a schematic diagram of an optical path of a lidar provided by another embodiment of the present invention.
  • FIG. 17 shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • Figure 18a shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • Figure 18b shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • FIG. 19 shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • Fig. 20a shows a schematic diagram of the optical path of the laser line array and the transmitting optical module in Fig. 19;
  • Fig. 20b shows a schematic diagram of the optical path of the detector line array and the receiving optical module in Fig. 19;
  • Fig. 21a shows a schematic diagram of a partial optical path when the transmitting optical module is a telecentric lens
  • Fig. 21b shows a schematic diagram of a partial optical path when the receiving optical module is a telecentric lens
  • FIG. 22 shows a schematic structural diagram of an automatic driving device provided by an embodiment of the present invention.
  • FIG. 23 shows a schematic structural diagram of an automatic driving device provided by another embodiment of the present invention.
  • Lidar 100 transceiver module 1, transceiver module 10, first transceiver module 101, second transceiver module 102, third transceiver module 103, fourth transceiver module 104, fifth transceiver module 105, sixth Transceiver module 106, seventh transceiver module 107, eighth transceiver module 108, transmitter module 11, laser module 111, transmitter driver module 112, transmitter optical module 113, receiver module 12, detector module 121, receiver driver Module 122, receiving optical module 123, beam splitting module 13, mirror module 14, deflection module 15, first reflection module 16, second reflection module 17, scanning component 2, rotating mirror 21, four-sided mirror 21a, eight The mirror 21b, the driving device 22, the transmission device 23, the output shaft 24, the rotating shaft 3, the automatic driving device 200, and the driving device body 201.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • installed can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may be that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the laser radar 100 includes a transceiver component 1 and a scanning component 2.
  • the transceiver assembly 1 includes n transceiver modules 10, where n is an integer and n>1.
  • Each transceiver module 10 includes a corresponding transmitting module 11 and a receiving module 12, and the transmitting module 11 is used to emit laser light.
  • the receiving module 12 is used for receiving echo laser light, which is laser light returned after the outgoing laser light is reflected by an object in the detection area.
  • the scanning assembly 2 includes a rotating mirror 21 that rotates around a rotation axis 3, and the rotating mirror 21 includes at least two reflective surfaces; the n transceiver modules 10 correspond to at least two reflective surfaces, and are used to emit the light emitted by the transmitting module 11 After the laser is reflected, it is directed to the detection area, and at the same time, it is also used to reflect the echo laser to the corresponding receiving module 12.
  • the outgoing laser light emitted by the transmitting module 11 is reflected by the scanning module and then transmitted to the detection area. After the detection area is reflected by the object, an echo laser is obtained. The echo laser is reflected by the scanning module and then directed to the receiving module 12 , And finally received by the receiving module 12. Since the number of transceiver modules 10 is n>1, that is, at least two transceiver modules 10 are provided. The n transceiver modules 10 correspond to at least two reflective surfaces, and different transceiver modules 10 are formed by at least two reflective surfaces.
  • the field of view is spliced in the horizontal direction, which expands the overall horizontal field of view of the lidar; only needs to rotate the rotating mirror to achieve scanning, which is easy to control, has low drive power consumption, improved stability, and can further reduce product size. Realize the miniaturization of lidar.
  • the number n of transceiver modules 10 is greater than 1, that is, there are at least two transceiver modules 10, the number m of reflective surfaces of the rotating mirror 21 ⁇ the number n of transceiver modules 10, and each transceiver module 10
  • the module 10 corresponds to different reflective surfaces of the rotating mirror 21; by arranging at least two transceiver modules 10, each transceiver module 10 corresponds to a different reflective surface of the rotating mirror 21 at any time, and different transceiver modules 10 are formed
  • the field of view angle of the laser radar is spliced along the horizontal direction, which expands the overall horizontal field of view of the lidar.
  • At least two reflective surfaces corresponding to the n transceiver modules 10 are arranged adjacent to each other, so that the viewing angles formed by different reflective surfaces have overlapping areas in the horizontal direction, and form an overall horizontal viewing angle after splicing. There is a gap between the field of view and the field of view, which leads to missed detection and affects the reliability of detection.
  • the adjacent reflecting surfaces are set at an angle K, and the value range of K is 0° ⁇ K ⁇ 180°.
  • K is 0°
  • the adjacent reflecting surfaces are arranged in parallel, which are the front and back surfaces of the rotating mirror 21.
  • the two viewing angles formed by scanning are realized through the front and back surfaces of the rotating mirror 21, which can be spliced and enlarged.
  • Field angle When 0° ⁇ K ⁇ 180°, the rotating mirror 21 can be a polygonal prism; the polygonal prism can be a regular polygonal prism, the angle between each reflecting surface is the same as K, and the polygonal prism can be an irregular polygonal prism.
  • the angles between the reflective surfaces may not all be the same.
  • the adjacent reflecting surfaces are arranged in parallel, and the rotating mirror 21 is formed by splicing two reflecting surfaces.
  • the reflectivity of each reflecting surface can be different.
  • the outgoing laser and echo laser are reflected on different reflecting surfaces.
  • the resulting field of view angle can achieve different detection distances and detection effects.
  • transceiver modules 10 may be the same or not all the same.
  • the size and shape of the laser spot emitted by the transmitter module 11 of the transceiver module 10, the arrangement density of the laser, the power of the laser, the number of lines of the laser, the diffusion angle of the laser, etc. Can be the same or different;
  • the receiving performance of the receiving module 12 of the receiving module 10 of the echo laser, the receiving resolution, the receiving field of view, the photoelectric conversion capability, etc. can be the same or different .
  • the three transceiver modules 10 are all the same, namely the first transceiver module, the second transceiver module, and the third transceiver module.
  • each transceiver module has the same detection performance, such as detection The distance, detection resolution, etc. are all the same, which can achieve uniform detection of the overall field of view; for example, not all three transceiver modules 10 are the same, the first transceiver module and the second transceiver module are the same, and the third transceiver module is the same as the second transceiver module.
  • the module is different from the other two transceiver modules.
  • the detection performance of the field angle formed by the third transceiver module is better than the detection performance of the field angle formed by the first transceiver module and the second transceiver module.
  • the field of view formed by the transceiver module is aligned with the more important central part of the overall field of view, and the field of view formed by the first transceiver module and the second transceiver module is aligned with the left and right sides of the second most important part of the overall field of view;
  • the n transceiver modules 10 may not all be the same, and the detection performance requirements can be distinguished according to different areas of the field of view, such as the central area of the field of view or important areas.
  • the detection performance requirements are high, and high resolution and high detection distance are required. ,
  • the detection performance requirements for the edge area of the field of view or the less important area can be adjusted appropriately.
  • Different areas of the field of view correspond to different transceiver modules 10, and different transceiver modules 10 can be used to adapt to the detection requirements of each area.
  • the edge area or the less important area does not need to use the same transceiver module 10 as the central area or the important area, which reduces the overall cost and system complexity of the lidar 100.
  • the rotating mirror 21 includes m reflective surfaces, where m is an integer and m ⁇ n, one reflective surface corresponds to at least one transceiver module 10; each reflective surface corresponds to the transceiver module 10 formed
  • the field of view angle, spliced along the horizontal direction, the overall horizontal field of view angle formed is larger, and can even cover 360°.
  • Each reflecting surface can be provided with multiple transceiver modules 10 correspondingly, and the resulting field of view resolution is superimposed multiple times, with higher resolution, more concentrated energy, better detection distance and better detection effect.
  • the specific structure of the rotating mirror 21 can be various, and it can be in the shape of a polygonal column or a polygonal pyramid, and its outer surface is a reflective surface.
  • the rotating mirror 21 is a four-sided mirror 21a, which is in the shape of a quadrangular prism and has four reflecting surfaces.
  • the rotating mirror 21 is an octagonal mirror 21b, which is in the shape of an octagonal pyramid and has 8 reflecting surfaces.
  • the rotating mirror 21 may also be a two-sided mirror, a three-sided mirror, a five-sided mirror, a six-sided mirror, etc., which is not limited in the present invention.
  • the multiple reflecting surfaces of the rotating mirror 21 can be flat or folded; in one embodiment, the reflecting surface of the rotating mirror 21 is divided into several reflecting areas along the direction of the rotation axis 3, and each reflecting area The angle with the rotation axis 3 is not equal; for example, the reflection surface of the rotating mirror 21 is divided into three reflection areas along the direction of the rotation axis 3, which are a first reflection area, a second reflection area, and a third reflection area.
  • the angle between the first reflection area and the rotation axis 3 is 5°, the angle between the second reflection area and the rotation axis 3 is 2.5°, and the angle between the third reflection area and the rotation axis 3 is 0°; for example,
  • the reflecting surface of the rotating launcher 21 is divided into 3 reflecting areas along the direction of the rotation axis 3.
  • the angle between the first reflecting area and the rotating axis 3 is 5°, and the angle between the second reflecting area and the rotating axis is 2.5°.
  • the angle between the three reflection areas and the rotation axis 3 is 5°.
  • the angles between the different reflection areas of the same reflecting surface and the rotation axis 3 are not equal.
  • the field angle formed by the outgoing laser and echo laser reflected in the different reflection areas has the same angular range in the horizontal direction, and covers the vertical direction.
  • the angle range is different; the angle of view formed by different reflection areas overlaps in the vertical direction, and the detection resolution of the overlap area is improved.
  • the reflective surface a of the rotating mirror 21 corresponds to the first transceiver module 101
  • the reflective surface b corresponds to the second transceiver module 102.
  • the reflective surface a is used to receive and reflect the outgoing laser light emitted by the first transceiver module 101, and to receive and reflect the echo laser that the outgoing laser light is reflected by the object in the detection area; the reflecting surface b is used to receive and reflect the second
  • the outgoing laser light emitted by the transceiver module 102 receives and reflects the echo laser light corresponding to the outgoing laser light.
  • the X1 area is the field of view formed by the exit laser and echo laser of the first transceiver module 101 passing through the reflecting surface a
  • the X2 area is the field angle formed by the exit laser and echo laser of the second transceiver module 102 passing through the reflecting surface b.
  • the field of view, the overall horizontal field of view that the lidar can detect at the first moment is the area formed by the horizontal splicing of the X1 area and the X2 area, which expands the overall horizontal field of view of the lidar.
  • the X1 area in the figure is The field angle formed by the emitted laser and echo laser of the first transceiver module 101 passing through the reflective surface b
  • X2 is the field of view angle formed by the emitted laser and echo laser of the second transceiver module 102 passing through the reflective surface c
  • X1 The area and the X2 area are spliced in the horizontal direction to form the overall horizontal field of view of the lidar at the second moment.
  • the X1 area in the figure is The field angle formed by the emitted laser and echo laser of the first transceiver module 101 passing through the reflective surface c
  • the X2 area is the field angle formed by the emitted laser and echo laser of the second transceiver module 102 passing through the reflective surface d
  • X1 The area and the X2 area are spliced along the horizontal direction to form the overall horizontal field of view of the lidar at the third moment.
  • the X1 area in the figure is The field angle formed by the emitted laser and echo laser of the first transceiver module 101 passing through the reflective surface d
  • the X2 area is the field angle formed by the emitted laser and echo laser of the second transceiver module 102 passing through the reflective surface a
  • X1 The area and the X2 area are spliced along the horizontal direction to form the overall horizontal field of view of the lidar at the fourth moment.
  • the field of view X1 area and X2 area are respectively formed by the first transceiver module 101 and the second transceiver module 102 by rotating their corresponding different reflection surfaces around the axis.
  • the rotating mirror during the rotation of the rotating mirror, the emitted laser and echo laser of the first transceiver module are reflected by the reflecting surface a for the first time to realize detection, which is one of the horizontal field angles of the X1 area.
  • the rotating mirror continues to rotate, and the emitted laser and echo laser of the first transceiver module are reflected by the reflecting surface a for the last time to realize detection, which is the other boundary of the horizontal field of view of the X1 area.
  • the angles of each reflecting surface in the horizontal direction are evenly divided, the horizontal field angles of the X1 area formed are all the same.
  • the horizontal field of view of the X1 area is 115°
  • the horizontal field of view of the X2 area is 115°
  • the overlapping area is 70°
  • the non-overlapping area is 45° on the left and 45° on the right. 45°
  • the overall horizontal angle of view formed by the splicing is 160°.
  • Fig. 4 it is a schematic diagram of the field of view covered by the lidar 100 shown in Figs. 3a-3d.
  • the angle of view of the first transceiver module 101 is X1
  • the angle of view of the second transceiver module 102 is X2.
  • the overlapping area of the X1 area and the X2 area is equivalent to the superposition of the resolution of the X1 area and the resolution of the X2 area, which improves the resolution of the overlapping area and can be used as an ROI area.
  • the above takes the rotating mirror as a four-sided mirror and two sets of transceiver modules as an example to illustrate the correspondence between the reflective surface and the transceiver module.
  • the following takes the rotating mirror as an eight-sided mirror and eight sets of transceiver modules as an example.
  • the corresponding relationship between the reflective surface and the transceiver module, and the splicing effect of the field of view formed by all the surfaces will be described.
  • the rotating mirror 21 adopts an octagonal mirror 21b.
  • Each reflection surface of the octagonal mirror 21b is provided with a transceiver module 10 corresponding to the reflection surface.
  • the reflective surface a of the octagonal mirror 21b corresponds to the first transceiver module 101
  • the reflective surface b corresponds to the second transceiver module 102
  • the reflective surface c corresponds to the third transceiver module 103
  • the reflective surface d corresponds to the fourth transceiver module.
  • Each reflective surface is used to receive and reflect the outgoing laser light emitted by the corresponding transceiver module, and to receive and reflect the echo laser light returned after the outgoing laser light is reflected by objects in the detection area, so that the echo laser light is sent to the corresponding transceiver module receive.
  • the areas X1-X8 in the figure are the field angles formed by the emitted laser light and the echo laser light from the first transceiver module 101 to the eighth transceiver module 108 through the corresponding reflective surfaces, respectively.
  • the overall horizontal field of view that the lidar can detect at the first moment is the area formed by the horizontal splicing of the X1-X8 area, achieving a 360° horizontal field of view.
  • the angle of each reflecting surface of the octagonal mirror is equally divided in the horizontal direction, so the horizontal angle of view formed by each reflecting surface is the same.
  • the splicing of the field angles at other times during the rotation of the octagonal mirror will not be described here. For details, reference may be made to the description of the foregoing four-sided mirror embodiment.
  • the number m of reflective surfaces of the rotating mirror 21 can also be less than the number n of the transceiver modules 10.
  • one reflective surface can correspond to multiple transceiver modules, and the overall horizontal field of view that the lidar can detect The angle is formed by splicing the outgoing laser and echo laser of each transceiver module through the field of view formed by the corresponding reflecting surface.
  • the rotating mirror 21 is a four-sided mirror, and 6 transceiver modules are provided, of which two reflective surfaces correspond to one transceiver module, and both reflective surfaces correspond to two transceiver modules; the overall horizontal view The field angle is the splicing of the field of view angles formed by the corresponding reflecting surfaces of the 6 transceiver modules; at the same time, the field angles formed by the reflecting surfaces of the two transceiver modules realize that the two field of view angles are in the same spatial position. Overlay to improve the resolution.
  • the rotating mirror 21 is an octagonal mirror with 16 transceiver modules, and each reflective surface corresponds to two transceiver modules.
  • the rotating mirror 21 rotates around a rotating shaft 3. Only the rotating mirror 21 rotates around the rotation axis 3, and both the transmitting module 11 and the receiving module 12 are fixed.
  • the embodiment of the present invention reduces the number of rotating parts, and only needs to rotate the rotating mirror to realize scanning, which is convenient for control.
  • the driving part can be simplified, the system complexity is reduced, the driving power consumption is low, the product size can be further compressed, and the miniaturization of the lidar 100 is realized.
  • the rotating mirror 21 rotates around the rotation axis 3. Since the positions of the transmitting module 11 and the receiving module 12 are fixed, the transmitting direction of the transmitting module 11 and the receiving direction of the receiving module 12 are also unchanged.
  • the angles between the multiple reflecting surfaces of the mirror 21 and the rotation axis 3 are different, the vertical field of view formed by the outgoing laser and the echo laser of the transceiver module 10 after being reflected on the different reflecting surfaces of the rotating mirror 21 can cover the vertical
  • the range of angles in different directions that is, the emitted laser and echo laser of a transceiver module 10, after being reflected by different reflecting surfaces, the vertical field of view formed is misaligned in the vertical direction, and the vertical field of view is misaligned in the vertical direction
  • the amount of displacement is related to the angle between the corresponding reflecting surface and the rotation axis 3; through the misalignment expansion in the vertical direction, the stitching of multiple vertical viewing angles is realized, and the overall vertical viewing angle of the lidar 100 is enlarged.
  • the angle between all the reflecting surfaces of the four-sided mirror 21a and the rotation axis 3 is 0°, that is, the four-sided mirror 21a is a regular quadrangular prism; for another example, each of the four-sided mirror 21a reflects The angle between the surface and the rotating shaft 3 is - ⁇ .
  • the included angle between at least one reflective surface of the four-sided mirror 21a and the rotation axis 3 is different from the included angle between the other reflective surfaces and the rotation axis 3, so that the detection area can be misaligned and expanded in the vertical direction and expand the vertical view. Field angle. There are many ways to set the angle between the reflecting surface and the rotating shaft 3, which is not limited in the present invention.
  • the angle between the reflective surface a and the rotation axis 3 is 0°.
  • la is the normal line of the reflective surface a.
  • the angle between the reflective surface b and the rotation axis 3 is ⁇ , and the vertical field of view formed by the reflective surface b will be deflected downward from the vertical field of view formed by the reflective surface a in the vertical direction. 2 ⁇ .
  • the normal line lb of the reflecting surface b rotates ⁇ in the counterclockwise direction compared to the normal line la of the reflecting surface a.
  • the reflected outgoing laser in FIG. 7b rotates 2 ⁇ in the counterclockwise direction, that is, the The vertical field angle formed by the reflecting surface b is deflected downward by 2 ⁇ in the vertical direction compared with the vertical field angle formed by the reflecting surface a.
  • the four-sided mirror 21a has four reflecting surfaces, and the four-sided mirror 21a rotates around the rotation axis 3, if the angles between the four reflecting surfaces and the rotation axis 3 are the same, the vertical field of view formed by the four reflecting surfaces is The angles cover the same angular range in the vertical direction.
  • the overall vertical field of view of the lidar 100 will overlap with the vertical field of view formed by any one of the reflective surfaces. At this time, no vertical field of view splicing will occur; if four The angle between the reflecting surface and the rotating shaft 3 is different.
  • the angle between any one reflecting surface and the rotating shaft 3 is different from the angle between the other reflecting surface and the rotating shaft 3, the angle between the reflecting surface and the rotating shaft 3 is different.
  • the vertical field of view formed by the surface will be different from the vertical field of view formed by other reflective surfaces in the vertical direction. At this time, the vertical field of view will be misaligned and expanded in the vertical direction, expanding the overall lidar Vertical field of view; when the angles between each reflecting surface and the rotation axis 3 are different, the overall vertical field of view of the lidar 100 will cover the vertical field of view in the vertical direction by the vertical field of view formed by the four reflecting surfaces. Stitched together.
  • Figs. 8a-8d they are schematic diagrams of the optical paths in which the angles between each reflecting surface of the four-sided mirror 21a and the rotating shaft 3 are not the same.
  • the angle between the reflecting surface a of the four-sided mirror 21a and the rotating shaft 3 is ⁇ ;
  • the angle between the reflecting surface b of the four-sided mirror 21a and the rotating shaft 3 is ⁇ ;
  • the included angle between the reflecting surface c of the four-sided mirror 21a and the rotating shaft 3 is ⁇ ;
  • FIG. 8d the included angle between the reflecting surface d of the four-sided mirror 21a and the rotating shaft 3 is ⁇ . Since the transceiver modules 11 are the same, the vertical viewing angle formed by each reflective surface is the same.
  • the vertical field angle formed by the reflecting surface a in Fig. 8a is deflected downward by 2 ⁇ in the vertical direction; the vertical field angle formed by the reflecting surface b in Fig. 8b is deflected downward by 2 ⁇ in the vertical direction;
  • the overall vertical viewing angle of the lidar 100 is formed by splicing the four vertical viewing angles formed by the four reflecting surfaces.
  • the angle between the reflective surface a of the four-sided mirror 21a and the rotation axis 3 is 0°, as shown in FIG. 9b, the reflective surface b of the four-sided mirror 21a and the rotation axis
  • the angle between 3 is 12.5°, as shown in Figure 9c, the angle between the reflecting surface c of the four-sided mirror 21a and the rotation axis 3 is 25°, as shown in Figure 9d, the reflecting surface d of the four-sided mirror 21a is The angle between the rotating shafts 3 is 37.5°.
  • the vertical field of view formed by each reflecting surface is 25°.
  • the vertical field angle formed by the reflecting surface a On the basis of the vertical field angle formed by the reflecting surface a: as shown in Figure 9b, the vertical field angle formed by the reflecting surface b will be deflected downward by 25° (12.5*2) in the vertical direction; as shown in Figure 9c, The vertical field of view formed by the reflective surface c will be deflected downward by 50° (25*2) in the vertical direction.
  • the vertical field of view formed by the reflecting surface d will be deflected downward by 75° (37.5*2) in the vertical direction; in the figure, area A is the vertical field of view angle of reflecting surface a, and area B is reflecting surface b
  • the vertical field of view angle of the C area is the vertical field of view of the reflecting surface c
  • the D area is the vertical field of view of the reflecting surface d.
  • the vertical viewing angles of the four reflecting surfaces will be almost seamlessly stitched to 100° (25+25+25+25).
  • FIG. 10 is different from FIG. 9d in that the direction of the angle between the reflecting surface d of the four-sided mirror 21a and the rotating shaft 3 in this exemplary embodiment is different from that of the reflecting surface.
  • b and c are opposite, and the included angle is -12.5°.
  • the vertical viewing angle formed by the reflecting surface d will be deflected upward by 25° (-12.5*2) in the vertical direction on the basis of the vertical viewing angle formed by the reflecting surface a.
  • the field angle will also be almost seamlessly stitched to 100° (25+25+25+25).
  • FIGS. 11a-11b please refer to FIGS. 11a-11b, and also refer to FIGS. 9a and 9b.
  • the angle between the reflecting surface a and the rotating shaft 3 is 0°, and the reflecting surface b is opposite to the rotating shaft.
  • the angle between the shafts 3 is 12.5°
  • the angle between the reflecting surface c and the rotating shaft 3 is also 12.5°
  • the angle between the reflecting surface d and the rotating shaft 3 is 25°.
  • the vertical field of view formed by each reflecting surface is 25°.
  • the vertical field angle formed by the reflecting surface a On the basis of the vertical field angle formed by the reflecting surface a, the vertical field angle formed by the reflecting surface b will be deflected downward by 25° (12.5*2) in the vertical direction; the vertical field of view formed by the reflecting surface b and the reflecting surface c The angles are all deflected downward by 25° (12.5*2) in the vertical direction; the vertical field of view formed by the reflecting surface d will be deflected downward by 50° (25*2) in the vertical direction; the area B and C in the figure overlap, the The resolution of the overlapped area is improved.
  • the vertical field of view angles of the four reflecting surfaces will be spliced to 75° (25+25+25).
  • FIG. 12a it is a schematic diagram of the vertical field of view covered by a transceiver module after the four-sided mirror of the exemplary embodiment shown in FIGS. 9a, 9b, 11a, and 11b rotates for one revolution.
  • the Y1 area in the figure is the field angle formed by the reflecting surface a
  • the Y2 area is the field angle formed by the reflecting surface b
  • the Y3 area is the field angle formed by the reflecting surface c.
  • Y4 area is the angle of view formed by reflecting surface d.
  • the Y2 area and the Y3 area overlap, which is equivalent to the superposition of the resolution of the Y2 area and the resolution of the Y3 area, which improves the resolution of the overlap area and can be used as an ROI area.
  • the overall vertical field of view formed by the second transceiver module 102 is the same as that of the first transceiver module 101.
  • the laser radar 100 shown in FIGS. 3a-3d uses the scanning module of the exemplary embodiment shown in FIGS. 9a, 9b, 11a, and 11b, the overall angle of view of the laser radar 100 is obtained
  • a four-sided mirror with a different angle between each reflecting surface and the rotation axis is used as the scanning module, and two sets of transceiver modules are used for detection at the same time.
  • the Z11+Z12+Z21+Z22+Z31+Z32 area is the X1 area in Figure 4, and the Z12+Z13+Z22+Z23+Z32+Z33 area is the X2 area in Figure 4;
  • Z11+ The Z12+Z13 area is the Y1 area in Fig. 12a
  • the Z21+Z22+Z23 area is the Y2 area in Fig. 12a
  • the Z31+Z32+Z33 area is the Y3 area in Fig. 12a.
  • the field of view formed by the two reflective surfaces of a transceiver module is superimposed in the vertical direction, while the field of view angles of the two transceiver modules are superimposed in the horizontal direction, with the highest resolution.
  • Z12, Z21, Z23, and Z32 regions have the next highest resolution, and Z11, Z13, Z31, and Z33 regions have the lowest resolution.
  • some of the above optical path diagrams may only draw the optical axis of the beam. It is understandable that the laser beam itself has an emission angle, which has a certain emission range, and is directed toward the rotating mirror 21. And the emitted light beams all have a certain spot diameter.
  • the value range of the included angle ⁇ between the emitted laser light to the rotating mirror 21 and the rotating shaft 3 may be 0° ⁇ 90°.
  • FIG. 13 it is a schematic diagram of a horizontal layout in which the emitted laser light is incident on the rotating mirror 21 at an incident angle close to the vertical rotation axis 3 in the embodiment of the present invention.
  • the emitted laser light When the emitted laser light is located directly in front of the reflecting surface of the rotating mirror 21 and is incident on the rotating mirror 21 at an angle close to the vertical rotation axis 3 (the angle between the emitted laser light and the rotating axis 3 is close to 90°), it is rotated and reflected at this time Part of the outgoing laser light reflected by the mirror 21 is in the same plane as the transceiver module, and the outgoing laser light is easily blocked by the internal components of the lidar 100 (for example, the transmitter module 11), and the situation is more when the rotating mirror 21 rotates near this position. Similarly, part of the outgoing laser cannot be detected outside, and the field of view formed by each reflecting surface is limited.
  • the outgoing laser light is incident on the rotating mirror 21 at an angle of incidence less than 90° with the rotating shaft 3.
  • the outgoing laser light is incident on the rotating mirror 21 at an angle of less than 90° with the rotation axis 3 and is reflected by the reflecting surface.
  • the outgoing laser light is emitted obliquely upward.
  • the reflected outgoing laser light will not It is blocked by other components inside the lidar 100, so the field of view formed by a single reflecting surface will not be blocked, and at the same time, the field of view distortion that is emitted after being reflected by the rotating mirror 21 can be reduced. Therefore, the angle ⁇ between the laser beam emitted to the rotating mirror 21 and the rotating shaft 3 preferably ranges from 0° ⁇ 90°.
  • the transceiver module 10 further includes a beam splitting module 13, which is used to make the outgoing laser light pass through and then irradiate to the rotating mirror 21, and is also used to receive the return reflected by the rotating mirror 21. Wave laser beam and deflect the echo laser beam to the corresponding receiving module 12.
  • the coaxial transceiver module 10 is beneficial to reduce the interference light received, improve the signal-to-noise ratio of the echo laser, and improve the detection quality.
  • the laser radar 100 further includes a beam splitter module 13 and a mirror module 14.
  • the light splitting module 13 is located on the optical path between the transmitting module 11 and the rotating mirror 21, and the reflective mirror module 14 is located on the optical path between the light splitting module 13 and the receiving module 12.
  • the beam splitter module 13 is used for passing the outgoing laser light to the rotating mirror 21 and deflecting the echoed laser light to the mirror module 14; the mirror module 14 is used for reflecting the echo laser light to the receiving module 12.
  • the beam splitter module 13 may adopt a polarization beam splitter, a polarized beam splitter flat plate, a central apertured reflector, a combined beam splitter (a central hole of the reflector, and a polarized beam splitter plate is placed at the hole), etc.
  • the reflector module 14 can be used Planar mirrors, cylindrical mirrors, aspherical curvature mirrors, etc.
  • the beam splitting module 13 adopts a wedge-shaped mirror with a through hole in the center, and the aperture of the through hole is suitable for all the emitted laser light to pass through.
  • the mirror module 14 adopts a wedge-shaped mirror.
  • the echo laser light reflected by the mirror module 14 is parallel to the rotation axis 3.
  • transceiver modules arranged opposite to the reflective surface of the rotating mirror 21 for example, when it is a prism-shaped octagonal mirror 21b, in order to make the outgoing laser light enter the reflection at an angle of less than 90° with the rotation axis
  • the upper end of the octagonal mirror 21b is larger than the lower end, and a plurality of transceiver modules 10 are arranged obliquely below the octagonal mirror 21b, and a circle of transmitting modules 11 and a circle of receiving modules 12 are arranged at intervals around the rotation axis 3, and
  • the receiving module 12 is arranged on the inner ring. Since the lower end of the octagonal mirror 21b is small, the space available for accommodating the receiving module 12 is also very small, and the interval between the receiving modules 12 is small, which is inconvenient for the layout, assembly and debugging of the receiving module 12.
  • the echo laser reflected by the reflector module 14 is emitted obliquely outwards.
  • the space of the receiving module 12 facilitates the assembly and debugging of the receiving module 12.
  • the lidar 100 further includes a deflection module 15, and the deflection module 15 is located on the optical path between the beam splitting module 13 and the rotating mirror 21. It is used to cause the emitted laser light to pass through the rear deflection angle to be directed to the rotating mirror 21, and to cause the echo laser light to pass through the rear deflection angle to be directed to the beam splitting module 13.
  • the deflection module 15 is mainly used to adjust the incident angle of the outgoing laser to the rotating mirror 21, so that the outgoing laser is incident on the rotating mirror 21 at a more appropriate angle. Refer to the aforementioned comparison of the incident angle of the outgoing laser on the rotating mirror 21.
  • the deflection module 15 can adopt a wedge mirror (to make the light beam penetrate).
  • the laser radar 100 further includes a first reflection module 16 and a second reflection module 17, and the first reflection module 16 It is located on the optical path between the transmitting module 11 and the rotating mirror 21, and the second reflective module 17 is located on the optical path between the first reflective module 16 and the receiving module 12.
  • the first reflection module 16 is used to reflect the outgoing laser light to the rotating mirror 21; the second reflection module 17 is used to receive the echo laser reflected by the rotating mirror 21 and reflect the echo laser to the receiving module 12.
  • the transmitting module 11 includes a laser module 111, a transmitting driving module 112, and a transmitting optical module 113.
  • the laser module 111 is used to emit the outgoing laser;
  • the emitting drive module 112 is connected to the laser module 111 to drive and control the work of the laser module 111;
  • the emitting optical module 113 is arranged on the optical path of the outgoing laser emitted by the laser module 111 for collimation
  • the laser is emitted straight.
  • the transmitting optical module 113 may adopt a collimating module such as an optical fiber and a ball lens group, a separate ball lens group, or a cylindrical lens group.
  • the scanning assembly 2 further includes a driving device 22 and a transmission device 23.
  • the driving device 22 is provided with an output shaft 24.
  • the output shaft 24 is connected to the rotating mirror 21 through the transmission device 23.
  • the output shaft 24 of the driving device 22 drives the rotating mirror 21 to rotate.
  • the driving device 22 may be a motor, and the transmission device 23 may be a transmission chain, a transmission gear, a transmission belt, and other structures that can realize power transmission; or the output end of the driving device 22 may directly drive the rotating mirror 21.
  • the receiving module 12 includes a detector module 121, a receiving driving module 122 and a receiving optical module 123.
  • the receiving optical module 123 is arranged on the optical path of the echo laser reflected by the scanning module, and is used to converge the echo laser; the detector module 121 is used to receive the echo laser converged by the focusing module; the receiving drive module 122 and the detector
  • the module 121 is connected to drive and control the work of the detector module 121.
  • the focusing module can adopt a ball lens, a ball lens group or a cylindrical lens group, etc.
  • each transmitting module 11 is provided with a transmitting drive module 112, and each receiving module 12 is also provided with a receiving drive module 122.
  • the module 112 and the receiving driving module 122 separately provided in each receiving module 12 facilitate the modular integration of each transmitting module 11 and the receiving module 12. It is also possible not to separately provide a driving module for each transmitting module 11 or receiving module 12, but to provide a shared transmitting driving module 112 or receiving driving module 122 in the transceiver assembly 1, which is beneficial to simplify the device and reduce the complexity of the device degree.
  • the transceiver assembly 1 further includes a transmitting and driving module 112 and a receiving and driving module 122.
  • the transmitting and driving modules 112 are respectively connected to the laser modules 111 in all the transmitting modules 11, and are used to drive and control each laser module 111.
  • Work; the receiving drive module 122 is respectively connected with the detector modules 121 in all the receiving modules 12, and is used to drive and control each detector module 121 to work. All the laser modules 111 share a transmission drive module 112, and all the detector modules 121 share a reception drive module 122.
  • the laser module 111 adopts a laser linear array
  • the detector module 121 adopts a detector linear array.
  • the lidar 100 forms a vertical field of view covering a certain angular range to realize detection in the vertical direction.
  • a plurality of lasers of the laser line array are arranged at the focal plane of the emitting optical module 113, and the optical axis of the laser passes through the center of the emitting optical module 113 and passes through the emitting optical module 113.
  • the emitted laser of 113 covers a certain angle range of field of view.
  • the interval between each laser in the laser line array is set to be very small, when the outgoing laser passes through the emitting optical module 113 and then exits, it can be regarded as the outgoing laser changes continuously in the vertical field of view.
  • the laser line The array is located at the focal plane of the emitting optical module. If the interval between each laser in the laser line array is not small enough, that is, when the interval between each laser in the laser line array is large, the laser line array can be made not to be located at the focal plane of the transmitting optical module 113, so Each outgoing laser has a certain divergence angle after passing through the emitting optical module. The divergence angle covers the gap between the outgoing lasers caused by the interval between the lasers, and avoids the discontinuous change of the outgoing laser angle in the vertical field of view. .
  • the transmitting optical module 113 may be a telecentric lens, and the telecentric lens is used to collimate each beam of outgoing laser light emitted by the laser module 111 and deflect the outgoing laser light to the central optical axis of the telecentric lens. Since the multiple lasers of the laser line array are aligned, the directions of the multiple emitting lasers are the same. If only collimated, the output can only cover a small angular range in the vertical direction, which cannot meet the detection requirements. Through the telecentric lens, multiple parallel outgoing laser beams are deflected to the central optical axis, which can cover a certain angle range in the vertical direction when emitting outward, that is, have a larger vertical field of view.
  • a plurality of detectors of the detector line array are arranged at the focal plane of the receiving optical module 123, and the optical axis of the detector passes through the center of the receiving optical module 123, The echo laser light passing through the receiving optical module 123 is received by a plurality of detectors.
  • the multiple detectors of the detector linear array can also be arranged on the plane where the focal point of the receiving optical module 123 is located, or near the plane where the focal point is located; since the incident direction of the echo laser is in line with the light of the detector
  • the inconsistent axis results in that the echo laser cannot enter the detector perpendicularly, reducing the detector's receiving efficiency of the echo laser; but as long as the echo laser received by the detector linear array can meet the detection requirements, the above arrangement is also possible.
  • the receiving optical module 123 can be an ordinary focusing lens to converge the received echo laser light to the receiving module 12; it can also be set as a telecentric lens, which is used as the receiving optical module 123 to converge the echo laser. And make each beam of echo laser incident perpendicular to the linear array of detectors (as shown in FIG. 21b); improving the receiving efficiency of the linear array of detectors can effectively improve the detection effect of the lidar 100.
  • the receiving field angle of the receiving optical module 133 needs to be the same as the transmitting field angle of the transmitting optical module 113, which is generally considered to have the following relationship:
  • L is the distance between the lasers at the upper and lower ends of the laser line array, which is related to the number and spacing of the lasers
  • F is the focal length of the transmitting optical module
  • L' is the distance between the detectors at the upper and lower ends of the detector line array.
  • the distance between the detectors is related to the number of detectors and the size of the interval.
  • F' is the focal length of the receiving optical module
  • ⁇ is the receiving field angle of the receiving optical module and the emitting field angle of the transmitting optical module.
  • the laser line array can use a laser diode (LD) array, a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL) array, an optical fiber array, and other devices that can form a line array emitting light.
  • LD laser diode
  • VCSEL Vertical Cavity Surface Emitting Laser
  • the linear array of detectors can use avalanche photodiode (APD) array, silicon photomultiplier (SIPM), APD array, multi-pixel photon counter (MPPC) array, photomultiplier tube A photomultiplier tube (PMT) array, a single-photon avalanche diode (SPAD) array, etc. can form a linear array receiving device.
  • APD avalanche photodiode
  • SIPM silicon photomultiplier
  • MPPC multi-pixel photon counter
  • PMT photomultiplier tube
  • SPAD single-photon avalanche diode
  • the arrangement of the laser line array is sparse at both ends and dense in the middle
  • the array of the detector line array is sparse at both ends and dense in the middle, which can realize sparse-dense-sparse scanning in the vertical direction of the field of view, and resolution of the middle area.
  • the rate is larger than that of the two ends, which meets the detection needs of paying more attention to the information in the middle area during the detection process.
  • the number of detectors contained in the linear array of detectors and the number of lasers contained in the linear array of lasers do not need to be equal, but the emitted laser must ensure that there is enough light energy within the corresponding field of view of each detector in the linear array of detectors to be detected. response.
  • the number of detectors included in the linear array of detectors determines the resolution of the lidar 100 in the vertical direction.
  • the number of detectors included in the linear array of detectors may be greater than or equal to the number of lasers included in the linear array of lasers.
  • the laser module 11 includes a lasers arranged along a linear array, where a is an integer and a ⁇ 1, and the detector module 31 includes k ⁇ a detectors arranged along the linear array.
  • k detectors where a is an integer and a ⁇ 1, and k is an integer and k ⁇ 1; that is, the number of detectors and the number of lasers are in an integer multiple relationship.
  • one laser corresponds to one detector, or one laser corresponds to four detectors.
  • the number of detectors and the number of lasers may not be in an integer multiple relationship.
  • the laser line array includes 4 lasers, and the detector line array includes 6 detectors.
  • the lidar 100 may also include a control and signal processing module (not shown in the figure), such as a Field Programmable Gate Array (FPGA), an FPGA and an emission drive module 112 to perform emission control of the emitted laser.
  • FPGA Field Programmable Gate Array
  • the FPGA is also connected to the clock pin, data pin, and control pin of the receiving drive module 122, respectively, to perform receiving control of the echo laser.
  • an embodiment of the present invention proposes an automatic driving device 200 that includes the lidar 100 in the above-mentioned embodiment.
  • the automatic driving device 200 may be a car, an airplane, a boat, or other related to the use of lasers.
  • the automatic driving device 200 includes a driving device body 201 and the lidar 100 in the above embodiment, and the lidar 100 is installed on the driving device body 201.
  • the automatic driving device 200 is an unmanned vehicle, and the lidar 100 is installed on the side of the vehicle body. As shown in FIG. 23, the automatic driving device 200 is also an unmanned car, and the lidar 100 is installed on the roof of the car.

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Abstract

一种激光雷达（100）及自动驾驶设备（200），涉及雷达技术领域。激光雷达（100）包括收发组件（1）和扫描组件（2）；收发组件（1）包括n个收发模组（10），其中n为整数且n＞1，每个收发模组（10）包括对应设置的发射模组（11）和接收模组（12）；发射模组（11）用于发射出射激光；接收模组（12）用于接收回波激光；回波激光为出射激光被探测区域内的物体反射后返回的激光；扫描组件（2）包括一绕转动轴（3）转动的旋转反射镜（21），旋转反射镜（21）包括至少两个反射面；n个收发模组（10）对应至少两个反射面，用于将发射模组（11）发射的出射激光反射后射向探测区域，同时还用于将回波激光反射后射向对应的接收模组（12）。实现了激光雷达（100）的小型化以及扩大了水平视场角。

Description

激光雷达及自动驾驶设备 技术领域
本发明实施例涉及雷达技术领域，特别是涉及一种激光雷达及自动驾驶设备。
背景技术
激光雷达是激光来探测目标物体的位置、速度等特征量的雷达系统，其工作原理是发射模组先向目标发射用于探测的出射激光，然后接收模组接收从目标物体反射回来的回波激光，处理接收到的回波激光后可获得目标物体的有关信息，例如距离、方位、高度、速度、姿态、甚至形状等参数。
现有技术中旋转式激光雷达，使整个激光雷达装置绕轴进行旋转，实现对探测区域的扫描。原有的旋转式激光雷达为满足探测需求，光学设计复杂，且整个激光雷达装置均绕轴旋转，旋转部分笨重，导致产品尺寸较大，能耗大，稳定性差，无法进一步实现小型化。
发明内容
针对现有技术的上述缺陷，本发明实施例的主要目的在于提供一种激光雷达及自动驾驶设备，在满足探测需求的情况下，缩小旋转式激光雷达的尺寸、保证稳定性。
本发明实施例采用的一个技术方案是：提供一种激光雷达，所述激光雷达包括收发组件和扫描组件；所述收发组件，其包括n个收发模组，其中n为整数且n＞1，每个所述收发模组包括对应设置的发射模组和接收模组；所述发射模组用于发射出射激光；所述接收模组用于接收回波激光；所述回波激光为所述出射激光被所述探测区域内的物体反射后返回的激光；所述扫描组件，其包括一绕转动轴转动的旋转反射镜，所述旋转反射镜包括至少两个反射面；所述n个收发模组对应所述至少两个反射面，用于将所述发射模组发射的所述出射激光反射后射向探测区域，同时还用于将所述回波激光反射后射向对应的所述接收模组。
可选的，所述旋转反射镜的至少一个所述反射面与所述转动轴的夹角和其他所述反射面与所述转动轴的夹角不同。
可选的，n个所述收发模组对应的至少两个所述反射面相邻设置，且相邻的所述反射面之间呈角度K设置，0°≤K≤180°。
可选的，所述旋转反射镜包括m个反射面，其中m为整数且m≤n，一个所述反射面对应至少一个所述收发模组。
可选的，射向所述旋转反射镜的所述出射激光与所述转动轴的夹角θ取值为0°≤θ≤90°。
可选的，所述旋转反射镜呈多棱柱状或者多棱台状，所述旋转反射镜的外侧面为所述反射面。
可选的，所述收发模组的所述出射激光和所述回波激光为同轴设置，所述收发模组还包括分光模块，所述分光模块用于使所述出射激光穿过后射向所述旋转反射镜，还用于接收所述旋转反射镜反射的所述回波激光并将所述回波激光偏转后射向对应的所述接收模组。
可选的，所述发射模组包括激光器模块和发射光学模块；所述激光器模块用于发射出射激光；所述发射光学模块设置于所述激光器模块发射的所述出射激光的光路上，用于准直所述出射激光。
可选的，所述激光器模块为激光器线阵，包括沿线阵排列的若干个激光器，所述激光器线阵的排列为两端疏、中间密。
可选的，所述发射光学模块为远心透镜，所述远心透镜用于分别准直所述激光器模块发射的每一束所述出射激光，并使所述出射激光向所述远心透镜的中心光轴偏转。
可选的，所述发射模组还包括发射驱动模块，所述发射驱动模块与所述激光器模块连接，用于驱动和控制所述激光器模块工作。
可选的，所述收发组件还包括发射驱动模块，所述发射驱动模块分别与n个所述发射模组中的所述激光器模块连接，用于驱动和控制每个所述激光器模块工作。
可选的，所述扫描组件还包括驱动装置和传动装置，所述驱动装置设置有输出轴，所述输出轴通过所述传动装置和所述旋转反射镜连接，所述驱动装置的所述输出轴带动所述旋转反射镜转动。
可选的，所述接收模组包括探测器模块和接收光学模块；所述接收光学模块设置于所述扫描组件反射的所述回波激光的光路上，用于对所述回波激光进行会聚；所述探测器模块用于接收经过所述接收光学模块会聚的回波激光。
可选的，所述探测器模块为探测器线阵，包括沿线阵排列的若干个探测器，，所述探测器线阵的排列为两端疏、中间密。
可选的，所述接收光学模块为远心透镜，所述远心透镜用于会聚所述回波激光，并使每一束所述回波激光垂直于所述探测器线阵入射。
可选的，所述接收模组还包括接收驱动模块，所述接收驱动模块与所述探测器模块连接，用于驱动和控制所述探测器模块工作。
可选的，所述收发组件还包括接收驱动模块，所述接收驱动模块分别与n个所述接收模组中的所述探测器模块连接，用于驱动和控制每个所述探测器模块工作。
本发明实施例还提供了一种自动驾驶设备，包括驾驶设备本体以及如上所述的激光雷达，所述激光雷达安装于所述驾驶设备本体。
本发明实施例的有益效果是：区别于现有技术的情况，本发明实施例提供的激光雷达中，通过设置旋转反射镜作为扫描模组，仅扫描模组转动，收发组件不转动，相比现有技术中需要驱动整个装置一起转动，本发明实施例需要进行转动的部件较少，便于控制，驱动功耗低，稳定性好；还可进一步压缩产品尺寸，实现了激光雷达的小型化。此外，通过设置n个收发模组，n个收发模组对应旋转反射镜的至少两个反射面；收发模组对应至少两个反射面形成的视场角，沿水平方向进行拼接，扩大了激光雷达的整体水平视场角；甚至，每个反射面均对应设置一个收发模组，拼接后形成的整体水平视场角甚至可以覆盖360°。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1示出了本发明实施例提供的激光雷达的结构框图；
图2a示出了本发明一实施例中旋转反射镜的结构示意图；
图2b示出了本发明另一实施例中旋转反射镜的结构示意图；
图3a示出了本发明实施例第一时刻的光路示意图；
图3b示出了本发明实施例第二时刻的光路示意图；
图3c示出了本发明实施例第三时刻的光路示意图；
图3d示出了本发明实施例第四时刻的光路示意图；
图4示出了图3a-3d所示激光雷达覆盖的视场角的示意图；
图5示出了本发明另一实施例提供的激光雷达的结构示意图；
图6示出了本发明实施例提供的旋转反射镜和转动轴的结构示意图；
图7a示出了本发明实施例中反射面a与转动轴之间的夹角为0°的垂直平面内光路示意图；
图7b示出了本发明实施例中反射面b与转动轴之间的夹角为α的垂直平面内光路示意图；
图8a示出了本发明实施例中四面镜的反射面a与转动轴之间的夹角为α的垂直平面内光路示意图；
图8b示出了本发明实施例中四面镜的反射面b与转动轴之间的夹角为β的垂直平面内光路示意图；
图8c示出了本发明实施例中四面镜的反射面c与转动轴之间的夹角为γ的垂直平面内光路示意图；
图8d示出了本发明实施例中四面镜的反射面d与转动轴之间的夹角为δ的垂直平面内光路示意图；
图9a示出了本发明一示例性实施例中四面镜的反射面a与转动轴之间的夹角为0°的垂直平面内光路示意图；
图9b示出了本发明一示例性实施例中四面镜的反射面b与转动轴之间的夹角为12.5°的垂直平面内光路示意图；
图9c示出了本发明一示例性实施例中四面镜的反射面c与转动轴之间的夹角为25°的垂直平面内光路示意图；
图9d示出了本发明一示例性实施例中四面镜的反射面d与转动轴之间的夹角为37.5°的垂直平面内光路示意图；
图10示出了本发明另一示例性实施例中四面镜的反射面d与转动轴之间的夹角为-12.5°的垂直平面内光路示意图；
图11a示出了本发明一示例性实施例中四面镜的反射面c与转动轴之间的夹角为12.5°的垂直平面内光路示意图；
图11b示出了本发明一示例性实施例中四面镜的反射面d与转动轴之间的夹角为25°的垂直平面内光路示意图；
图12a示出了图9a、9b、11a和11b所示示例性实施例的四面镜旋转扫描一周后，一个收发模组覆盖的垂直视场角的示意图；
图12b示出了图4和12a所示激光雷达的整体视场角示意图；
图13示出了出射激光以接近垂直转动轴的入射角度入射至旋转反射镜的水平布局示意图；
图14示出了出射激光以与转动轴的夹角小于90°的入射角度入射至旋转反射镜的垂直布局示意图；
图15a示出了本发明另一实施例提供的激光雷达的结构框图；
图15b示出了本发明另一实施例提供的激光雷达的光路示意图；
图15c示出了本发明另一实施例的激光雷达的光路示意图；
图16示出了本发明另一实施例提供的激光雷达的光路示意图；
图17示出了本发明另一实施例提供的激光雷达的结构框图；
图18a示出了本发明另一实施例提供的激光雷达的结构框图；
图18b示出了本发明另一实施例提供的激光雷达的结构框图；
图19示出了本发明另一实施例提供的激光雷达的结构框图；
图20a示出了图19中激光器线阵和发射光学模块的光路示意图；
图20b示出了图19中探测器线阵和接收光学模块的光路示意图；
图21a示出了发射光学模块为远心透镜时的局部光路示意图；
图21b示出了接收光学模块为远心透镜时的局部光路示意图；
图22示出了本发明实施例提供的自动驾驶设备的结构示意图；
图23示出了本发明另一实施例提供的自动驾驶设备的结构示意图。
具体实施方式中的附图标号如下：
激光雷达100，收发组件1，收发模组10，第一收发模组101，第二收发模组102，第三收发模组103，第四收发模组104，第五收发模组105，第六收发模组106，第七收发模组107，第八收发模组108，发射模组11，激光器模块111，发射驱动模块112，发射光学模块113，接收模组12，探测器模块121，接收驱动模块122，接收光学模块123，分光模块13，反射镜模块14，偏转模组15，第一反射模组16，第二反射模组17，扫描组件2，旋转反射镜21，四面镜21a，八面镜21b，驱动装置22，传动装置23，输出轴24，转动轴3，自动驾驶设备200，驾驶设备本体201。
具体实施方式
下面将结合附图对本发明技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本发明的技术方案，因此只作为示例，而不能以此来限制本发明的保护范围。
需要注意的是，除非另有说明，本发明使用的技术术语或者科学术语应当为本发明所属领域技术人员所理解的通常意义。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“垂直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。在本发明的描述中，“多个”、“若干”的含义是两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固 定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
如图1所示，该激光雷达100包括收发组件1和扫描组件2。收发组件1包括n个收发模组10，其中n为整数且n＞1，每个收发模组10包括对应设置的发射模组11和接收模组12，发射模组11用于发射出射激光，接收模组12用于接收回波激光，该回波激光为出射激光被探测区域内的物体反射后返回的激光。扫描组件2包括一绕转动轴3转动的旋转反射镜21，旋转反射镜21包括至少两个反射面；n个收发模组10对应至少两个反射面，用于将发射模组11发射的出射激光反射后射向探测区域，同时还用于将回波激光反射后射向对应的接收模组12。
发射模组11发出的出射激光在经过扫描模组反射之后，发射到探测区域，在探测区域被物体反射后得到回波激光，该回波激光在经过扫描模组反射之后射向接收模组12，最后由接收模组12接收。由于收发模组10的数量n＞1，也即设置有至少2个收发模组10，n个收发模组10对应至少两个反射面，不同的收发模组10通过至少两个反射面形成的视场角沿水平方向进行拼接，扩大了激光雷达的整体水平视场角；仅需要转动旋转反射镜即可实现扫描，便于控制，驱动功耗低，稳定性提高，同时可进一步压缩产品尺寸，实现了激光雷达的小型化。
在一些实施例中，收发模组10的数量n＞1，也即设置有至少2个收发模组10，旋转反射镜21的反射面的数量m≥收发模组10的数量n，每个收发模组10对应旋转反射镜21的不同的反射面；通过设置至少2个收发模组10，任意时刻每个收发模组10对应旋转反射镜21的不同的反射面，不同的收发模组10形成的视场角沿水平方向进行拼接，扩大了激光雷达的整体水平视场角。
在一些实施例中，n个收发模组10对应的至少两个反射面相邻设置，使不同反射面形成的视场角在水平方向具有重叠区域，拼接后形成一整体水平视场角，避免视场与视场之间存在缝隙导致漏检，影响探测可靠性。
进一步的，相邻的反射面之间呈角度K设置，K的取值范围为0°≤K≤180°。K为0°时，相邻的反射面为平行设置，为旋转反射镜21的正面和反面，通过旋转反射镜21的正、反面实现扫描形成的两个视场角，能够拼接扩大整体水平视场角。0°＜K＜180°时，旋转反射镜21可以为多棱柱；多棱柱可以是规则的多棱柱，每个反射面之间的夹角相同为K，多棱柱可以是不规则的多棱柱，反射面之间的夹角可以不全都相同。K为180°时，相邻的反射面为平行设置，旋转反射镜21由两个反射面拼接而成，每个反射面的反射率可以不同，出射激光和回波激光在不同的反射面反射后形成的视场角，能够实现不同的探测距离和探测效果。
n个收发模组10可以是相同的，也可以是不全都相同。在一些实施例中，收发 模组10的发射模组11发射的出射激光的光斑大小和形状、出射激光的排列密度、出射激光的功率、出射激光的线数、出射激光的扩散角等发射性能，可以相同，也可以不同；收发模组10的接收模组12的对回波激光的接收效率、接收的分辨率、接收的视场角、光电转换能力等接收性能，可以相同，也可以不同。示例性的，3个收发模组10均相同，分别为第一收发模组、第二收发模组、第三收发模组，每个收发模组形成的视场角的探测性能相同，比如探测距离、探测分辨率等均相同，能够实现对整体视场角的均匀探测；示例性的，3个收发模组10不全都相同，第一收发模组和第二收发模组相同，第三收发模组与另两个收发模组不同，第三收发模组形成的视场角的探测性能优于第一收发模组和第二收发模组形成的视场角的探测性能，则使第三收发模组形成的视场角对准整体视场角较重要的中间部分，第一收发模组和第二收发模组形成的视场角对准整体视场角次重要的左右两侧部分；n个收发模组10可以不全都相同，可以根据视场角的不同区域，区分探测性能的需求，如视场角中心区域或重要区域，探测性能要求高，需要有高分辨率、高探测距离，视场角边缘区域或次重要区域，探测性能要求可以适当下调，视场角的不同区域对应不同的收发模组10，可以采用不同的收发模组10适配每个区域的探测需求，对边缘区域或次重要区域不需要采用与中心区域或重要区域相同的收发模组10，降低激光雷达100的整体成本和系统复杂度。
在一些实施例中，旋转反射镜21包括m个反射面，其中m为整数且m≤n，一个反射面对应至少一个收发模组10；每个反射面对应的收发模组10形成的视场角，沿水平方向拼接，形成的整体水平视场角较大，甚至可以覆盖360°。每个反射面可以对应设置多个收发模组10，形成的视场角分辨率经过多次叠加，分辨率更高，能量更集中，探测距离和探测效果更优。
旋转反射镜21的具体结构可以有多种，其可以呈多棱柱状或者多棱台状，其外侧面为反射面。如图2a所示，在一实施例中，该旋转反射镜21为四面镜21a，其呈四棱柱状，具有4个反射面。如图2b所示，在另一实施例中，该旋转反射镜21为八面镜21b，其呈八棱台状，具有8个反射面。其中，旋转反射镜的反射面越多，每个反射面形成的水平视场角越小，出射激光经反射面反射后畸变越小；但反射面越多，旋转反射镜加工难度越大，且需要对应设置的收发模组也越多；因此八面镜是优选实施方案，兼顾了出射激光的畸变和系统设计复杂度。在其他实施例中，该旋转反射镜21还可以是两面镜、三面镜、五面镜、六面镜等，本发明对此不做限定。
旋转反射镜21的多个反射面可以是平面，也可以是折面；在一实施例中，该旋转反射镜21的反射面沿转动轴3的方向分为若干个反射区域，每个反射区域与转动轴3的夹角不相等；示例性的，旋转反射镜21的反射面沿转动轴3的方向分为3个反射区域，分别为第一反射区域、第二反射区域和第三反射区域，第一反射区域与转动轴3的夹角为5°，第二反射区域与转动轴3的夹角为2.5°，第三反射区域与转动轴3的夹角为0°；示例性的，旋转发射经21的反射面沿转动轴3的方向分为3个反射区域，第一反射区域与转动轴3的夹角为5°，第二反射区域与转动轴的夹角为2.5°，第三反射区域与转动轴3的夹角为5°。同一个反射面的不同反射区域与转动轴3的夹角不相等，出射激光和回波激光在不同的反射区域反射后形成的视场角，沿水平方向覆盖的角度范围相同，沿垂直方向覆盖的角度范围不同； 不同的反射区域形成的视场角在垂直方向有重叠，重叠区域的探测分辨率提高。
下面以旋转反射镜为四面镜、设置两组收发模组为例对反射面与收发模组的对应关系进行说明。如图3a所示，在第一时刻旋转反射镜21的反射面a与第一收发模组101对应，反射面b与第二收发模组102对应。反射面a用于接收和反射第一收发模组101发射的出射激光，并接收和反射该出射激光被探测区域内的物体反射后返回的回波激光；反射面b用于接收和反射第二收发模组102发射的出射激光，并接收和反射该出射激光对应的回波激光。图中X1区域为第一收发模组101的出射激光和回波激光经过反射面a形成的视场角，X2区域为第二收发模组102的出射激光和回波激光经过反射面b形成的视场角，第一时刻激光雷达能够探测的整体水平视场角即为X1区域和X2区域沿水平方向拼接形成的区域，扩大了激光雷达的整体水平视场角。
随旋转反射镜21的转动，当旋转到反射面b与第一收发模组101对应、反射面c与第二收发模组102对应的第二时刻，如图3b所示，图中X1区域为第一收发模组101的出射激光和回波激光经过反射面b形成的视场角，X2区域为第二收发模组102的出射激光和回波激光经过反射面c形成的视场角，X1区域和X2区域沿水平方向拼接后形成第二时刻激光雷达的整体水平视场角。
随旋转反射镜21的转动，当旋转到反射面c与第一收发模组101对应、反射面d与第二收发模组102对应的第三时刻，如图3c所示，图中X1区域为第一收发模组101的出射激光和回波激光经过反射面c形成的视场角，X2区域为第二收发模组102的出射激光和回波激光经过反射面d形成的视场角，X1区域和X2区域沿水平方向拼接形成第三时刻激光雷达的整体水平视场角。
随旋转反射镜21的转动，当旋转到反射面d与第一收发模组101对应、反射面a与第二收发模组102对应的第四时刻，如图3d所示，图中X1区域为第一收发模组101的出射激光和回波激光经过反射面d形成的视场角，X2区域为第二收发模组102的出射激光和回波激光经过反射面a形成的视场角，X1区域和X2区域沿水平方向拼接形成第四时刻激光雷达的整体水平视场角。
可以理解的是，视场角X1区域和X2域，分别是第一收发模组101和第二收发模组102通过其对应的不同反射面绕轴旋转后形成的。以图3a为例，在旋转反射镜转动的过程中，第一收发模组的出射激光和回波激光第一次由反射面a反射后实现探测，即为X1区域的水平视场角的一个边界；旋转反射镜继续转动，第一收发模组的出射激光和回波激光最后一次由反射面a反射后实现探测，即为X1区域的水平视场角的另一个边界。进一步的，若每个反射面在水平方向上角度是均分的，形成的X1区域的水平视场角都是相同的。
在一示例性实施例中，X1区域的水平视场角为115°，X2区域的水平视场角为115°，其重叠区域为70°，非重叠区域为左侧的45°和右侧的45°，其拼接形成的整体水平视场角为160°。
如图4所示，为图3a-3d所示激光雷达100覆盖的视场角的示意图。图中第一收发模组101的视场角为X1，第二收发模组102的视场角为X2。其中，X1区域和X2区域的重叠的区域，相当于X1区域的分辨率和X2区域的分辨率叠加，提高了重叠区域的分辨率，可作为ROI区域。
以上是以旋转反射镜为四面镜、设置两组收发模组为例对反射面与收发模组的 对应关系进行说明，下面以旋转反射镜为八面镜、设置八组收发模组为例对反射面与收发模组的对应关系、以及所有面形成的视场角的拼接效果进行说明。
如图5所示，在另一优选实施例中，旋转反射镜21采用八面镜21b，八面镜21b中的每个反射面均设置有一个对应该反射面的收发模组10，在第一时刻八面镜21b的反射面a与第一收发模组101对应，反射面b与第二收发模组102对应，反射面c与第三收发模组103对应，反射面d与第四收发模组104对应，反射面e与第五收发模组105对应，反射面f与第六收发模组106对应，反射面g与第七收发模组107对应，反射面h与第八收发模组108对应。每个反射面用于接收和反射对应的收发模组发射的出射激光，并接收和反射该出射激光被探测区域内的物体反射后返回的回波激光，使回波激光被对应的收发模组接收。图中X1-X8区域分别为第一收发模组101-第八收发模组108的出射激光和回波激光经过对应的反射面形成的视场角。第一时刻激光雷达能够探测的整体水平视场角即为X1-X8区域沿水平方向拼接形成的区域，实现了360°的水平视场角。八面镜的每个反射面在水平方向上角度是均分的，因此每个反射面形成的水平视场角都是相同的。此处不再对八面镜旋转过程中其他时刻的视场角拼接情况进行说明，具体可参考前述四面镜实施例的描述。
在一些实施例中，旋转反射镜21的反射面的数量m还可以小于收发模组10的数量n，此时，一个反射面可以对应多个收发模组，激光雷达能够探测的整体水平视场角为每个收发模组的出射激光和回波激光经过对应的反射面形成的视场角拼接而成。例如，一实施例中，旋转反射镜21为四面镜，设置6个收发模组，其中两个反射面对应1个收发模组，两个反射面均对应2个收发模组；整体水平视场角为6个收发模组通过对应的反射面形成的视场角的拼接；同时，对应两个收发模组的反射面形成的视场角，实现了两次视场角在同样空间位置的叠加，提高了分辨率。另一实施例中，旋转反射镜21为八面镜，设置16个收发模组，每个反射面均对应2个收发模组。对于具有其他数量反射面的多面镜，以及设置其他数量的收发组件，则可以基于上述四面镜和八面镜实施例的描述类推出其对应关系和形成的水平视场角拼接效果，本发明对此不再赘述。
如图6所示，旋转反射镜21绕一转动轴3转动。仅旋转反射镜21绕转动轴3转动，发射模组11和接收模组12均固定不动。相比现有技术中需要驱动发射模组11、扫描模组和接收模组12整体旋转，本发明实施例中减少了转动的部件，仅需要转动旋转反射镜即可实现扫描，便于控制，因此可以简化驱动部分，降低系统复杂度，驱动功耗低，可进一步压缩产品尺寸，实现了激光雷达100的小型化。
旋转反射镜21绕转动轴3旋转，由于发射模组11和接收模组12的位置固定不变，因此发射模组11的发射方向和接收模组12的接收方向也不变，而当旋转反射镜21的多个反射面与转动轴3之间的角度不同时，收发模组10的出射激光和回波激光在旋转反射镜21的不同反射面上反射后形成的垂直视场角能够覆盖垂直方向上不同的角度范围；即一个收发模组10的出射激光和回波激光，经过不同的反射面反射后，形成的垂直视场角沿垂直方向有错位，垂直视场角沿垂直方向错位的位移量与对应的反射面与转动轴3的夹角大小有关；通过垂直方向上的错位扩展，实现多个垂直视场角的拼接，扩大了该激光雷达100的整体垂直视场角。旋转反射镜21与转动轴3之间的夹角范围不限，可以在-90°-90°的范围内选择。
以下对方向或方位的描述，如无特别说明，均应理解为垂直平面内的方向或方位。
在一些实施例中，如图2a所示，四面镜21a的所有反射面与转动轴3的夹角均为0°，也即该四面镜21a为正四棱柱；再例如，四面镜21a每个反射面与转动轴3之间的夹角均为-α。在另一些实施例中，四面镜21a的至少一个反射面与转动轴3的夹角和其他反射面与转动轴3的夹角不同，这样可以产生探测区域沿垂直方向的错位扩展，扩大垂直视场角。反射面与转动轴3的夹角设置有多种方式，本发明对此不做限定。
以一个收发模组对应四面镜21a的不同反射面形成的垂直视场角为例进行说明。由于光路是可逆的，下面仅通过出射激光进行描述，回波激光与出射激光的传播过程相反。
如图7a所示，反射面a与转动轴3的夹角为0°，此时出射激光经反射面a反射后形成一垂直视场角，图中la为反射面a的法线。如图7b所示，反射面b与转动轴3的夹角为α，则反射面b形成的垂直视场角沿垂直方向覆盖的角度范围将较反射面a形成的垂直视场角向下偏转2α。具体的，反射面b的法线lb相较反射面a的法线la朝逆时针方向转动α，相较图7a，图7b中反射后的出射激光朝逆时针方向转动了2α，也即该反射面b形成的垂直视场角相较反射面a形成的垂直视场角沿垂直方向向下偏转2α。
此外，由于四面镜21a具有四个反射面，且四面镜21a绕转动轴3转动，若四个反射面与转动轴3之间的角度均相同，则该四个反射面所形成的垂直视场角沿垂直方向覆盖的角度范围均相同，激光雷达100的整体垂直视场角将与其中任意一个反射面所形成的垂直视场角重叠，此时不会产生垂直视场角拼接；若四个反射面与转动轴3之间的角度不相同，当有任意一个反射面与转动轴3的夹角和其他反射面与转动轴3的夹角不同时，与转动轴3的夹角不同的反射面所形成的垂直视场角将与其他反射面所形成的垂直视场角沿垂直方向上覆盖的角度范围不同，此时将产生垂直视场角沿垂直方向的错位扩展，扩大激光雷达的整体垂直视场角；当每个反射面与转动轴3的夹角均不同时，激光雷达100的整体垂直视场角沿垂直方向覆盖的角度范围将由这四个反射面各自形成的垂直视场角拼接而成。
如图8a-8d所示，为四面镜21a的每个反射面与转动轴3之间的夹角均不相同的光路示意图。如图8a所示，四面镜21a的反射面a与转动轴3之间的夹角为α；如图8b所示，四面镜21a的反射面b与转动轴3之间的夹角为β；如图8c所示，四面镜21a的反射面c与转动轴3之间的夹角为γ；如图8d所示，四面镜21a的反射面d与转动轴3之间的夹角为δ。由于收发模组11均相同，每个反射面形成的垂直视场角均相同。
相比图7a中的反射面，图8a中反射面a形成的垂直视场角沿垂直方向向下偏转2α；图8b中反射面b形成的垂直视场角沿垂直方向向下偏转2β；图8c中反射面c形成的垂直视场角沿垂直方向向下偏转2γ；图8d中反射面d形成的垂直视场角沿垂直方向向下偏转2δ。激光雷达100的整体垂直视场角将由这四个反射面形成的四个垂直视场角拼接而成。
在一示例性实施例中，如图9a所示，四面镜21a的反射面a与转动轴3之间的夹角为0°，如图9b所示，四面镜21a的反射面b与转动轴3之间的夹角为12.5°， 如图9c所示，四面镜21a的反射面c与转动轴3之间的夹角为25°，如图9d所示，四面镜21a的反射面d与转动轴3之间的夹角为37.5°。每个反射面形成的垂直视场角为25°。在反射面a形成的垂直视场角的基础上：如图9b所示，反射面b形成的垂直视场角将沿垂直方向向下偏转25°(12.5*2)；如图9c所示，反射面c形成的垂直视场角将沿垂直方向向下偏转50°(25*2)。如图9d所示，反射面d形成的垂直视场角将沿垂直方向向下偏转75°(37.5*2)；图中A区域为反射面a的垂直视场角，B区域为反射面b的垂直视场角，C区域为反射面c的垂直视场角，D区域为反射面d的垂直视场角。四个反射面的垂直视场角将几乎无缝的拼接为100°(25+25+25+25)。
在另一示例性实施例中，请参考图10所示，与图9d不同之处在于，本示例性实施例中四面镜21a的反射面d与转动轴3之间的夹角方向与反射面b和c相反，且夹角为-12.5°。如图10所示，反射面d形成的垂直视场角将在反射面a形成的垂直视场角的基础上沿垂直方向向上偏转25°(-12.5*2)，四个反射面的垂直视场角也将几乎无缝的拼接为100°(25+25+25+25)。
在另一示例性实施例中，请参考图11a-11b所示，并请同时参考图9a和9b所示，反射面a与转动轴3之间的夹角为0°，反射面b与转动轴3之间的夹角为12.5°，反射面c与转动轴3之间的夹角也为12.5°，反射面d与转动轴3之间的夹角为25°。每个反射面形成的垂直视场角为25°。在反射面a形成的垂直视场角的基础上，反射面b形成的垂直视场角将沿垂直方向向下偏转25°(12.5*2)；反射面b和反射面c形成的垂直视场角均沿垂直方向向下偏转25°(12.5*2)；反射面d形成的垂直视场角将沿垂直方向向下偏转50°(25*2)；图中B区域和C区域重叠，该重叠区域分辨率提高。四个反射面的垂直视场角将拼接为75°(25+25+25)。
如图12a所示，为图9a、9b、11a和11b所示示例性实施例的四面镜旋转扫描一周后，一个收发模组覆盖的垂直视场角的示意图。以第一收发模组101为例，图中Y1区域为经过反射面a形成的视场角，Y2区域为经过反射面b形成的视场角，Y3区域为经过反射面c形成的视场角，Y4区域为经过反射面d形成的视场角。其中，Y2区域和Y3区域重叠，相当于Y2区域的分辨率和Y3区域的分辨率叠加，提高了重叠区域的分辨率，可作为ROI区域。第二收发模组102形成的整体垂直视场角与第一收发模组101相同。
因此，结合图4和图12a，当图3a-3d所示激光雷达100采用图9a、9b、11a和11b所示示例性实施例的扫描模组时，得到该激光雷达100的整体视场角示意图，即采用每个反射面与转动轴夹角均不同的四面镜作为扫描模组，同时采用两组收发模组进行探测。如图12b所示，Z11+Z12+Z21+Z22+Z31+Z32区域即为图4中的X1区域，Z12+Z13+Z22+Z23+Z32+Z33区域即为图4中的X2区域；Z11+Z12+Z13区域即为图12a中的Y1区域，Z21+Z22+Z23区域即为图12a中的Y2区域，Z31+Z32+Z33区域即为图12a中的Y3区域。Z22区域由一个收发模组的两个反射面形成的视场角在垂直方向叠加，同时由两个收发模组的视场角在水平方向叠加，分辨率最高。Z12、Z21、Z23、Z32区域分辨率次之，Z11、Z13、Z31、Z33区域的分辨率最低。
为简化附图及便于理解上述方案，上述光路图中部分可能仅画出了光束的光轴，可以理解的是，激光光束本身具有发射角，其具有一定的发射范围，射向旋转反射 镜21以及发射后的光束均具有一定的光斑直径。
关于出射激光在旋转反射镜21上的入射角度，射向旋转反射镜21的出射激光与转动轴3的夹角θ取值范围可以是0°≤θ≤90°。如图13所示，为本发明实施例中出射激光以接近垂直转动轴3的入射角度入射至旋转反射镜21的水平布局示意图。当出射激光位于旋转反射镜21的反射面的正前方并以接近垂直转动轴3的角度(出射激光与转动轴3的夹角接近90°)入射至旋转反射镜21时，此时经旋转反射镜21反射的部分出射激光与收发模组在同一平面内，出射激光易被激光雷达100内部的器件(例如发射模组11)挡住，且当旋转反射镜21在该位置附近旋转时情况也较为相似，导致部分出射激光无法向外出射进行探测，每个反射面形成的视场角受到限制。
出射激光以与转动轴3的夹角小于90°的入射角度入射至旋转反射镜21为优选实施例。如图14所示，出射激光以与转动轴3的夹角小于90°的入射角度入射至旋转反射镜21并经过反射面反射后，出射激光斜向上出射，此时反射后的出射激光不会被激光雷达100内部的其他器件挡住，因此单个反射面形成的视场角不会受到阻挡，同时还可以减小经过旋转反射镜21反射后向外出射的视场畸变。因此，射向旋转反射镜21的出射激光与转动轴3的夹角θ优选取值范围为0°≤θ＜90°。
当出射激光和回波激光同轴时，进一步通过如下几个实施例对本发明进行详细说明：
如图15a所示，在一实施例中，收发模组10还包括分光模块13，分光模块13用于使出射激光穿过后射向旋转反射镜21，还用于接收旋转反射镜21反射的回波激光并将回波激光偏转后射向对应的接收模组12。同轴设置的收发模组10有利于减少接收到的干扰光，提高回波激光的信噪比，提高探测质量。
如图15b所示，在另一实施例中，激光雷达100还包括分光模块13和反射镜模块14。分光模块13位于发射模组11和旋转反射镜21之间的光路上，反射镜模块14位于分光模块13和接收模组12之间的光路上。分光模块13用于使出射激光穿过后射向旋转反射镜21，并使回波激光偏转射向反射镜模块14；反射镜模块14用于使该回波激光反射后射向接收模组12。具体的，分光模块13可以采用偏振分光镜、偏振分光平片、中心开孔反射镜、组合分光镜(反射镜中心开孔，开孔处放置偏振分光平片)等，反射镜模块14可以采用平面反射镜、柱面反射镜、非球面曲率反射镜等。例如，分光模块13采用中心具有通孔的楔形反射镜，通孔的孔径以适合出射激光全部通过为宜。反射镜模块14采用楔形反射镜。
本实施例中，经反射镜模块14反射后的回波激光与转动轴3平行。当与旋转反射镜21的反射面相对设置的收发模组较多时，例如其为棱台状八面镜21b时，为使出射激光以与转动轴的夹角小于90°的入射角度入射至反射面，八面镜21b的上端大于下端，而多个收发模组10均设置于八面镜21b的斜下方，绕转动轴3间隔设置一圈发射模组11和一圈接收模组12，且接收模组12设置于内圈。由于八面镜21b的下端较小，可用于容置接收模组12的空间也很小，各接收模组12之间的间隔很小，不便于接收模组12的布局、组装和调试。
因此，在另一优选实施例中，如图15c所示，通过改变反射镜模块14的设置角度，使得经过反射镜模块14反射后的回波激光斜向外发射，因此在增加了可用于设置接收模组12的空间，方便接收模组12的组装和调试。
如图16所示，在另一实施例中，该激光雷达100还包括偏转模组15，偏转模组15位于分光模块13和旋转反射镜21之间的光路上。其用于使出射激光穿过后偏转角度射向旋转反射镜21，以及使回波激光穿过后偏转角度射向分光模块13。偏转模组15主要用于调整出射激光射向旋转反射镜21的入射角度，使出射激光以较为合适的角度射向旋转反射镜21，参考前述对出射激光在旋转反射镜21上的入射角度的分析，避免出射激光被内部器件遮挡，使激光雷达100实现较大的视场角；同时，无需通过调整收发模组10的角度和位置来调整出射激光的入射角度，通过选用合适的偏转模组即可，降低了系统设计难度，有利于器件排列紧凑压缩体积。偏转模组15可采用楔形镜(使光束穿透)。
当出射激光和回波激光离轴时，如图17所示，在另一实施例中，该激光雷达100还包括第一反射模组16和第二反射模组17，第一反射模组16位于发射模组11和旋转反射镜21之间的光路上，第二反射模组17位于第一反射模组16和接收模组12之间的光路上。第一反射模组16用于将出射激光反射后射向旋转反射镜21；第二反射模组17用于接收旋转反射镜21反射的回波激光并将回波激光反射后射向接收模组12。具体的，
如图18a所示，发射模组11包括激光器模块111、发射驱动模块112和发射光学模块113。激光器模块111，用于发射出射激光；发射驱动模块112与激光器模块111连接，用于驱动和控制激光器模块111工作；发射光学模块113设置于激光器模块111发射的出射激光的光路上，用于准直出射激光。发射光学模块113可以采用光纤和球透镜组、单独的球透镜组、柱面透镜组等准直模块。
扫描组件2还包括驱动装置22和传动装置23，驱动装置22设置有输出轴24，输出轴24通过传动装置23和旋转反射镜21连接，驱动装置22的输出轴24带动旋转反射镜21转动。驱动装置22可以为电机，传动装置23可以为传动链条、传动齿轮、传动皮带等可以实现动力传动的结构；也可以是驱动装置22的输出端直接驱动旋转反射镜21。
接收模组12包括探测器模块121、接收驱动模块122和接收光学模块123。接收光学模块123设置于扫描模组反射的回波激光的光路上，用于对回波激光进行会聚；探测器模块121用于接收经过聚焦模块会聚的回波激光；接收驱动模块122与探测器模块121连接，用于驱动和控制探测器模块121工作。聚焦模块可以采用球透镜、球透镜组或柱透镜组等。
上述图18a所示实施例中每个发射模组11均设置有发射驱动模块112，每个接收模组12也均设置有接收驱动模块122，通过在每个发射模组11中单独设置发射驱动模块112，以及在每个接收模组12中单独设置接收驱动模块122，有利于每个发射模组11和接收模组12的模块化集成。还可以不单独为每个发射模组11或者接收模组12设置驱动模块，而是在收发组件1中设置共用的发射驱动模块112或者接收驱动模块122，这样有利于简化器件，减少器件的复杂程度。如图18b所示，收发组件1还包括发射驱动模块112和接收驱动模块122，发射驱动模块112分别与所有的发射模组11中的激光器模块111连接，用于驱动和控制每个激光器模块111工作；接收驱动模块122分别与所有的接收模组12中的探测器模块121连接，用于驱动和控制每个探测器模块121工作。所有的激光器模块111共用一个发射驱动模块112，所有的探测器模块121共用一个接收驱动模块122。
激光器模块111采用激光器线阵，探测器模块121采用探测器线阵，激光雷达100形成覆盖一定角度范围的垂直视场角，实现垂直方向上的探测。
如图19和20a所示，在一些实施例中，激光器线阵的多个激光器排列在发射光学模块113的焦平面处，且激光器的光轴穿过发射光学模块113的中心，经过发射光学模块113的出射激光覆盖一定角度范围的视场角。
若激光器线阵中每个激光器之间的间隔设置的非常小，出射激光经过发射光学模块113后向外出射时，可视为出射激光在垂直视场角范围内是连续角度变化的，激光器线阵位于发射光学模块的焦面处。若激光器线阵中每个激光器之间的间隔不够小时，也即当激光器线阵中每个激光器之间的间隔较大时，可使激光器线阵不位于发射光学模块113的焦面处，这样每一束出射激光经过发射光学模块后带有一定发散角，该发散角覆盖了由于激光器之间的间隔造成的出射激光之间的空隙，避免了出射激光在垂直视场范围内角度变化不连续。
如图21a所示，发射光学模块113可以为远心透镜，远心透镜用于分别准直激光器模块111发射的每一束出射激光，并使出射激光向远心透镜的中心光轴偏转。由于激光器线阵的多个激光器排列一致，导致多个出射激光的方向相同，若仅准直后出射只能覆盖垂直方向上很小的角度范围，无法满足探测需求。通过远心透镜，使多束平行的出射激光向中心光轴偏转，向外出射时能够覆盖垂直方向上一定角度范围，即具有较大的垂直视场角。
如图19和图20b所示，在一些实施例中，探测器线阵的多个探测器排列在接收光学模块123的焦平面处，且探测器的光轴穿过接收光学模块123的中心，经过接收光学模块123的回波激光由多个探测器接收。
在一些实施例中，探测器线阵的多个探测器，也可以排列在接收光学模块123的焦点所在的平面上，或者焦点所在的平面附近；由于回波激光的入射方向与探测器的光轴不一致，导致回波激光无法垂直入射探测器，降低探测器对回波激光的接收效率；但只要探测器线阵接收的回波激光能够满足探测需求，上述排列方式也可以。
接收光学模块123可以是普通的聚焦透镜，使接收到的回波激光会聚后射向接收模组12；也可以设置为远心透镜，远心透镜作为接收光学模块123用于会聚回波激光，并使每一束回波激光垂直于所述探测器线阵入射(如图21b所示)；提高探测器线阵的接收效率，能够有效提高激光雷达100的探测效果。
接收光学模块133的接收视场角需与发射光学模块113的发射视场角相同，一般认为有如下关系：
Figure PCTCN2019102326-appb-000001
Figure PCTCN2019102326-appb-000002
其中，L为激光器线阵的上下两端的激光器之间的距离，其与激光器的数量及间隔大小均有关，F为发射光学模块的焦距，L’为探测器线阵的上下两端的探测器之间的距离，其与探测器的数量及间隔大小均有关，F’为接收光学模块的焦距，ε为接收光学模块的接收视场角以及发射光学模块的发射视场角。激光器线阵可以采用激光二极管(Laser Diode，LD)阵列、垂直腔面发射激光器(Vertical Cavity Surface  Emitting Laser，VCSEL)阵列、光纤阵列等可以组成线阵发光的器件。探测器线阵可以采用雪崩光电二极管(Avalanche Photo Diode，APD)阵列、硅光电倍增管(Silicon photomultiplier，SIPM)、APD阵列、多像素光子计数器(Multi-Pixel Photon Counter，MPPC)阵列、光电倍增管(photomultiplier tube，PMT)阵列、单光子雪崩二极管(single-photon avalanche diode，SPAD)阵列等可以组成线阵接收的器件。
在一些实施例中，激光器线阵的排列为两端疏、中间密，探测器线阵的排列为两端疏、中间密，可实现视场垂直方向疏-密-疏的扫描，中间区域分辨率较两端区域大，满足探测过程中更关注中间区域信息的探测需求。
探测器线阵包含的探测器数量与激光器线阵包含的激光器数量不需要相等，但出射激光需保证探测器线阵中每个探测器对应视场角内均有足够的光能量能够被探测器响应。探测器线阵包含的探测器数量决定了激光雷达100在垂直方向上的分辨率。探测器线阵包含的探测器数量可以大于或等于激光器线阵包含的激光器数量。在一个可选的实施例中，激光器模块11包括沿线阵排列的a个激光器，其中a为整数且a≥1，探测器模块31包括沿线阵排列的k×a个探测器，每个激光器与k个探测器对应，其中a为整数且a≥1，k为整数且k≥1；也即探测器数量和激光器数量呈整数倍数关系。例如1个激光器对应1个探测器，或者1个激光器对应4个探测器。在另一个可选的实施例中，探测器数量和激光器数量也可以不呈整数倍数关系。例如激光器线阵包括4个激光器，探测器线阵包括6个探测器。
此外，激光雷达100还可以包括控制和信号处理模块(图中未示出)，例如现场可编程门阵列(Field Programmable Gate Array，FPGA)，FPGA与发射驱动模块112，进行出射激光的发射控制。FPGA还分别与接收驱动模块122的时钟引脚、数据引脚和控制引脚连接，进行回波激光的接收控制。
更进一步的，基于上述激光雷达，本发明实施例提出了一种包含上述实施例中的激光雷达100的自动驾驶设备200，该自动驾驶设备200可以是汽车、飞机、船以及其他涉及到使用激光雷达进行智能感应和探测的设备，该自动驾驶设备200包括驾驶设备本体201以及如上实施例的激光雷达100，激光雷达100安装于驾驶设备本体201。
如图22所示，该自动驾驶设备200为无人驾驶汽车，激光雷达100安装于汽车的车身侧面。如图23所示，该自动驾驶设备200同样为无人驾驶汽车，激光雷达100安装于汽车的车顶。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，其均应涵盖在本发明的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (20)

  1. 一种激光雷达(100)，其特征在于，所述激光雷达(100)包括收发组件(1)和扫描组件(2)；
    所述收发组件(1)，其包括n个收发模组(10)，其中n为整数且n＞1，每个所述收发模组(10)包括对应设置的发射模组(11)和接收模组(12)；
    所述发射模组(11)用于发射出射激光；
    所述接收模组(12)用于接收回波激光；所述回波激光为所述出射激光被所述探测区域内的物体反射后返回的激光；
    所述扫描组件(2)，其包括一绕转动轴(3)转动的旋转反射镜(21)，所述旋转反射镜(21)包括至少两个反射面；所述n个收发模组(10)对应所述至少两个反射面，用于将所述发射模组(11)发射的所述出射激光反射后射向探测区域，同时还用于将所述回波激光反射后射向对应的所述接收模组(12)。
  2. 如权利要求1所述的激光雷达(100)，其特征在于，所述旋转反射镜(21)的至少一个所述反射面与所述转动轴(3)的夹角和其他所述反射面与所述转动轴(3)的夹角不同。
  3. 如权利要求1所述的激光雷达(100)，其特征在于，n个所述收发模组(10)对应的至少两个所述反射面相邻设置，且相邻的所述反射面之间呈角度K设置，0°≤K≤180°。
  4. 如权利要求1或3所述的激光雷达(100)，其特征在于，所述旋转反射镜(21)包括m个反射面，其中m为整数且m≤n，一个所述反射面对应至少一个所述收发模组(10)。
  5. 如权利要求1所述的激光雷达(100)，其特征在于，所述反射面为平面，或者所述反射面包括若干个与转动轴(3)夹角不同的反射区域的折面。
  6. 如权利要求1所述的激光雷达(100)，其特征在于，射向所述旋转反射镜(21)的所述出射激光与所述转动轴(3)的夹角θ取值为0°≤θ≤90°。
  7. 如权利要求1所述的激光雷达(100)，其特征在于，所述旋转反射镜(21)呈多棱柱状或者多棱台状，所述旋转反射镜(21)的外侧面为所述反射面。
  8. 如权利要求1所述的激光雷达(100)，其特征在于，所述收发模组(10)的所述出射激光和所述回波激光为同轴设置，所述收发模组(10)还包括分光模块(13)，所述分光模块(13)用于使所述出射激光穿过后射向所述旋转反射镜(21)，还用于接收所述旋转反射镜(21)反射的所述回波激光并将所述回波激光偏转后射向对应的所述接收模组(12)。
  9. 如权利要求1所述的激光雷达(100)，其特征在于，所述发射模组(11)包括激光器模块(111)和发射光学模块(113)；
    所述激光器模块(111)用于发射出射激光；
    所述发射光学模块(113)设置于所述激光器模块(111)发射的所述出射激光的光路上，用于准直所述出射激光。
  10. 如权利要求9所述的激光雷达(100)，其特征在于，所述激光器模块(111)为激光器线阵，包括沿线阵排列的若干个激光器，所述激光器线阵的排列为两 端疏、中间密。
  11. 如权利要求9所述的激光雷达(100)，其特征在于，所述发射光学模块(113)为远心透镜，所述远心透镜用于分别准直所述激光器模块(111)发射的每一束所述出射激光，并使所述出射激光向所述远心透镜的中心光轴偏转。
  12. 如权利要求9-11任一项所述的激光雷达(100)，其特征在于，所述发射模组(11)还包括发射驱动模块(112)，所述发射驱动模块(112)与所述激光器模块(111)连接，用于驱动和控制所述激光器模块(111)工作。
  13. 如权利要求9-11任一项所述的激光雷达(100)，其特征在于，所述收发组件(1)还包括发射驱动模块(112)，所述发射驱动模块(112)分别与n个所述发射模组(11)中的所述激光器模块(111)连接，用于驱动和控制每个所述激光器模块(111)工作。
  14. 如权利要求1所述的激光雷达(100)，其特征在于，所述扫描组件(2)还包括驱动装置(22)和传动装置(23)，所述驱动装置(22)设置有输出轴(24)，所述输出轴(24)通过所述传动装置(23)和所述旋转反射镜(21)连接，所述驱动装置(22)的所述输出轴(24)带动所述旋转反射镜(21)转动。
  15. 如权利要求1所述的激光雷达(100)，其特征在于，所述接收模组(12)包括探测器模块(121)和接收光学模块(123)；
    所述接收光学模块(123)设置于所述扫描组件(2)反射的所述回波激光的光路上，用于对所述回波激光进行会聚；
    所述探测器模块(121)用于接收经过所述接收光学模块(123)会聚的回波激光。
  16. 如权利要求15所述的激光雷达(100)，其特征在于，所述探测器模块(121)为探测器线阵，包括沿线阵排列的若干个探测器，所述探测器线阵的排列为两端疏、中间密。
  17. 如权利要求16所述的激光雷达(100)，其特征在于，所述接收光学模块(123)为远心透镜，所述远心透镜用于会聚所述回波激光，并使每一束所述回波激光垂直于所述探测器线阵入射。
  18. 如权利要求15-17任一项所述的激光雷达(100)，其特征在于，所述接收模组(12)还包括接收驱动模块(122)，所述接收驱动模块(122)与所述探测器模块(121)连接，用于驱动和控制所述探测器模块(121)工作。
  19. 如权利要求15-17任一项所述的激光雷达(100)，其特征在于，所述收发组件(1)还包括接收驱动模块(122)，所述接收驱动模块(122)分别与n个所述接收模组(12)中的所述探测器模块(121)连接，用于驱动和控制每个所述探测器模块(121)工作。
  20. 一种自动驾驶设备(200)，其特征在于，包括驾驶设备本体(201)以及如权利要求1-18任一项所述的激光雷达(100)，所述激光雷达(100)安装于所述驾驶设备本体(201)。
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