WO2023040788A1 - Laser radar, detection device, and vehicle - Google Patents

Abstract

A laser radar (10), a detection device, and a vehicle (20). The laser radar (10) comprises a housing (11), and a first detection unit (12), a second detection unit (13) and a rotating mirror (14) located in the housing (11). The rotating mirror (14) is provided with a reflecting mirror surface (141). When rotating around a rotating shaft (16), the reflecting mirror surface (141) can be switched among an initial station, a first station and a second station. When the reflecting mirror surface (141) is switched from the initial station to the first station or is switched from the first station to the initial station, the laser emitted by a first laser emitter (121) can sequentially pass through the reflecting mirror surface (141) and a transmission window (15) to reach a first object to be detected. When the reflecting mirror surface (141) is switched from the first station to the second station or is switched from the second station to the first station, the laser emitted by a second laser emitter (131) can sequentially pass through the reflecting mirror surface (141) and the transmission window (15) to reach a second object to be detected. The laser radar (10) has a small volume, and can also achieve performance such as a high center resolution, a remote detection capability, and a wide field of view.

Description

LiDAR, detection equipment and vehicles

Cross References to Related Applications

This application claims priority to a Chinese patent application filed with the China Patent Office on September 17, 2021, with application number 202111093688.9, and application title "Lidar, Detection Equipment, and Vehicles", the entire contents of which are hereby incorporated by reference in this application .

technical field

The present application relates to the technical field of radar, in particular to a laser radar, detection equipment and a vehicle.

Background technique

As a weak perception detection system, radar technology can detect the outline of objects with high precision and obtain the depth information of objects no matter it is day or night. Compared with traditional technologies such as traditional millimeter-wave radar and ultrasonic radar, lidar has a shorter working band, so it can greatly improve the performance of detection resolution and detection distance, which also makes lidar an important technology in military and civilian fields. Indispensable technology. In the field of artificial intelligence such as unmanned driving and robots, compared with the camera vision solution, lidar has the advantages of all-weather work, high measurement resolution, strong anti-interference ability, and strong penetration ability. It can autonomously perceive the road environment and assist vehicles to complete intended target.

The traditional laser radar can be composed of multiple laser transmitters and multiple laser receivers. The laser transmitter emits laser light with a certain power, and the laser light returns after being diffusely reflected by the object and is received by the laser receiver. During the scanning process, the detection of different field of view areas is mainly realized by rotating the laser emitter and the laser receiver. This rotation mode makes the entire lidar large and heavy, with low production efficiency and high cost. In this regard, a scanning method using a polygonal mirror has been developed. However, in the existing scanning methods using polygon mirrors, in order to realize scanning in different viewing field areas, it is necessary to use different mirror surfaces of the polygon mirror, and to install laser emitters and laser receivers on different mirror surfaces. When setting up the lidar, it is necessary to set up the laser transmitter and the laser receiver in the space area corresponding to the different reflecting mirrors of the polygon mirror, which also has the problem of large volume, and it is impossible to further compress the volume of the lidar.

Contents of the invention

The application provides a laser radar, a detection device and a vehicle to reduce the volume of the laser radar.

In the first aspect, the present application provides a laser radar, which includes a housing, a first detection unit located in the housing, a second detection unit and a rotating mirror, the rotating mirror is connected to the housing through a rotating shaft, and the housing is provided with Transmission window. Wherein, the first detection unit includes a first laser transmitter and a first laser receiver; the second detection unit includes a second laser transmitter and a second laser receiver. The rotating mirror is provided with a reflective mirror surface, which rotates around the rotation axis, and switches between the initial station, the first station and the second station when the reflector rotates around the rotation axis. When the reflective mirror is switched from the initial position to the first position or from the first position to the initial position, the laser light emitted by the first laser emitter sequentially passes through the reflective mirror and the transmission window to reach the first detection object, and is transmitted by the first After being reflected by the detection object, it enters the first laser receiver through the transmission window and the reflection mirror in sequence. When the reflective mirror is switched from the first station to the second station or from the second station to the first station, the laser light emitted by the second laser emitter reaches the second object to be measured through the reflective mirror and the transmission window in sequence, and After being reflected by the second object to be measured, it enters the second laser receiver through the transmission window and the reflection mirror in sequence.

The lidar provided by the application realizes the detection of the first detection unit and the second detection unit by setting a rotating mirror and using a reflective mirror surface of the rotating mirror. In this configuration, the first detection unit and the second detection unit are both The scanning detection is carried out by using the same mirror surface, and the detection of different field of view areas is realized by switching the mirror surface between the initial station, the first station and the second station. Therefore, the lidar of the present application only places the first detection unit and the second detection unit in the space area corresponding to one reflector surface, which can reduce the occupied space of the first detection unit and the second detection unit, thereby reducing the laser The purpose of the radar volume. In a possible implementation manner of the present application, the initial station is located between the first station and the second station in the direction of rotation of the mirror surface.

In a possible implementation of the present application, the mirror surface includes four rotation conditions, specifically as follows:

When the mirror surface is in the first rotation condition, the mirror surface is switched from the initial position to the first position along the first rotation direction;

When the mirror surface is in the second rotation condition, the mirror surface is switched from the first station to the second station along the second rotation direction;

When the mirror surface is in the third rotation condition, the mirror surface is switched from the second station to the first station along the first rotation direction;

When the mirror surface is in the fourth rotation condition, the mirror surface is switched from the first station to the initial station along the second rotation direction;

Wherein, the first rotation direction is opposite to the second rotation direction. Here, the rotating working condition can be understood as the working condition of the mirror surface.

Wherein, when the first rotation direction is clockwise, the second rotation direction may be counterclockwise; when the first rotation direction is counterclockwise, the second rotation direction may be clockwise.

In a possible implementation manner of the present application, when the reflective mirror is switched from the initial position to the first position or from the first position to the initial position, the first rotation angle α ₁ of the reflective mirror is ≤45°. As a result, a detection angle of 90° can be achieved by the first detection unit. Wherein, the detection angle _θ1 of the first detection unit is the angle range formed after the laser light emitted from the first laser emitter is reflected by the reflection mirror when the reflection mirror is respectively located at the first station and the second station. According to the law of reflection, it can be known that the detection angle θ ₁ of the first detection unit is twice the first rotation angle α ₁ of the mirror surface, ie θ ₁ =2α ₁ .

In a possible implementation of the present application, when the reflective mirror is switched from the first station to the second station or from the second station to the first station, the second rotation angle α ₂ of the reflective mirror is <90° . Thus, the second detection unit can achieve a detection angle within 180°. Wherein, the detection angle _θ2 of the second detection unit is the angle range formed after the laser light emitted from the second laser emitter is reflected by the reflection mirror when the reflection mirror is respectively located at the first station and the second station. According to the law of reflection, it can be seen that the detection angle θ ₂ of the second detection unit is twice the first rotation angle α ₂ of the mirror surface, ie θ ₂ =2α ₂ .

Specifically, in a possible implementation manner of the present application, the second rotation angle α ₂ is ≤60°. As a result, a detection angle of 120° can be realized by the second detection unit.

In a possible implementation manner of the present application, the detection distance of the first detection unit is greater than the detection distance of the second detection unit. Wherein, the detection distance of the first detection unit is the furthest measurement distance of the first detection unit, and the detection distance of the second detection unit is the furthest measurement distance of the second detection unit.

When the detection distance of the first detection unit is greater than the detection distance of the second detection unit, the above-mentioned α ₁ and α ₂ settings can enable the laser radar to realize long-distance detection in the field of view of 90°, and at the same time in the short-distance range Realize large-angle detection.

In a possible implementation of the present application, the ratio of the clear aperture EPD _LR of the first laser receiver to the clear aperture EPD _SR of the second laser receiver satisfies EPD _LR :EPD _SR≥3 :2 . The first laser receiver has a large clear aperture, which can realize long-distance detection of the center, while the second laser receiver has a small clear aperture, which can realize short-distance detection.

In a possible implementation manner of the present application, the detection angle θ ₁ of the first detection unit is smaller than the detection angle θ ₂ of the second detection unit. Wherein, the detection angle θ ₁ of the first detection unit can be recorded as the first detection angle, and the detection angle θ ₂ of the second detection unit can be recorded as the second detection angle.

In a possible implementation of the present application, the angle θ ₃ between the optical axis of the first laser emitter and the optical axis of the second laser emitter satisfies 0≤θ ₃ ≤60°, which can improve the The degree of connection with the second detection unit avoids missing scans. Among them, the optical axis is an imaginary line that defines how the laser transmits light, and the optical axis is generally the light that passes perpendicularly through the center of the lens.

In a possible implementation manner of the present application, the mirror surface is parallel to the rotation axis. When setting up the first detection unit, in a possible implementation of the present application, the first laser emitter and the first laser receiver are stacked along the extension direction of the rotation axis, and the optical axis of the first laser emitter and the first The optical axis of a laser receiver is arranged in parallel, which can reduce the scanning blind area of the laser radar.

In a possible implementation manner of the present application, the first detection unit includes a first turning mirror group, the first turning mirror group includes at least one turning mirror, and the first turning mirror group is arranged between the rotating mirror and the first laser beam. The receivers are used to realize the turning of the optical axis of the first laser receiver, so that the turned optical axis of the first laser receiver is parallel to the optical axis of the first laser transmitter. By arranging the first folding mirror group to realize the turning of the optical axis of the first laser receiver, the optical axis of the first laser transmitter and the optical axis of the first laser receiver can be arranged in parallel, and flexible Set the relative positions of the first laser receiver and the first laser emitter.

In a possible implementation of the present application, when setting up the second detection unit, the second laser emitter and the second laser receiver are stacked along the extension direction of the rotation axis, and the optical axis of the second laser emitter and the first The optical axes of the two laser receivers are arranged in parallel, which can reduce the scanning blind area of the laser radar.

In another possible implementation manner of the present application, the second detection unit includes a second turning mirror group, the second turning mirror group includes at least one turning mirror, and the second turning mirror group is arranged between the rotating mirror and the second turning mirror. Between the laser receivers, the second turning mirror group is used to realize the turning of the optical axis of the second laser receiver, so that the turned optical axis of the second laser receiver is parallel to the optical axis of the second laser transmitter. By arranging the second folding mirror group to realize the turning of the optical axis of the second laser receiver, the optical axis of the second laser transmitter and the optical axis of the second laser receiver can be arranged in parallel, and flexible Set the relative position of the second laser receiver and the second laser emitter.

In a possible implementation of the present application, the distance between the first detection unit and the reflective mirror is greater than the distance between the second detection unit and the reflective mirror, so as to effectively use the space in the housing and facilitate the placement of the first detection unit and the second detection unit. detection unit.

In a possible implementation of the present application, the reflecting mirror is provided with a first extinction component, and a second extinction component is provided between the first laser emitter and the first laser receiver, and the first extinction component and the second extinction component are used for To prevent the signal light emitted from the first laser transmitter from directly entering the first laser receiver through diffuse reflection.

In a possible implementation of the present application, a third light extinction component is provided between the second laser transmitter and the second laser receiver, and the first light extinction component and the third light extinction component are used to prevent The signal light directly enters the second laser receiver through diffuse reflection.

In the second aspect, the present application also provides a scanning method using the lidar of the first aspect of the present application, the scanning method comprising the following steps:

Control the reflective mirror to switch from the initial position to the first position, and control the first laser emitter to emit laser light. The laser emitted by the first laser emitter sequentially passes through the reflective mirror and the transmission window to reach the first detection object, and is detected by the first After the object is reflected, it enters the first laser receiver through the transmission window and the reflection mirror in turn;

Control the reflective mirror to switch from the first station to the second station, and control the second laser emitter to emit laser light. The laser emitted by the second laser emitter sequentially passes through the reflective mirror and the transmission window to reach the second object to be measured, and is transmitted by the second laser emitter. 2. The object to be measured is reflected and then enters the second laser receiver through the transmission window and the reflection mirror in turn;

Control the reflective mirror to switch from the second station to the first station, and control the second laser emitter to emit laser light. The laser emitted by the second laser emitter sequentially passes through the reflective mirror and the transmission window to reach the second object to be measured, and is transmitted by the second laser emitter. 2. The object to be measured is reflected and then enters the second laser receiver through the transmission window and the reflection mirror in turn;

Control the reflective mirror to switch from the first station to the initial station, and control the first laser emitter to emit laser light. The laser emitted by the first laser emitter sequentially passes through the reflective mirror and the transmission window to reach the first detection object, and is detected by the first detector. After the object is reflected, it enters the first laser receiver through the transmission window and the reflection mirror in sequence.

The above steps can be repeated to realize the scanning of the lidar.

Using the scanning method of the present application can realize long-distance and large-angle scanning, specifically, 200m range measurement within a detection angle range of 90°, and short-distance scanning within a detection angle range of 120° or more. The first detection unit and the second detection unit are used together to greatly reduce system power consumption while realizing the above detection functions.

Specifically, the scanning method of the present application may be implemented by a control engine, and the control engine may be independent of the laser radar or integrated with the laser radar. Through the control engine, the reflector can be controlled to switch to the designated position according to the designated rotation direction under the designated working conditions according to the designated control logic.

In a third aspect, the present application further provides a detection device, which may include a device body and a laser radar connected to the device body.

Among them, the detection equipment may include equipment such as vehicles, robots, and drones. In addition to the device body and the laser radar of the present application, the detection equipment of the present application may also include a processor, a controller and other components to realize the automatic control function of the laser radar.

In a fourth aspect, the present application further provides a vehicle, which includes a vehicle body and the laser radar according to the first aspect of the present application installed on the vehicle body.

The vehicle provided by the present application includes the lidar of the first aspect of the application, while reducing the installation space of the lidar, it can also achieve the effect of long-distance detection of the central viewing angle and scanning with a large field of view at a short distance, and improve the driving safety of the vehicle. safety. Wherein, the central viewing angle is generally set in the angle range covered by the front of the vehicle's advancing direction. In a single lidar, the central viewing angle can be formed by the imaging range covered by the first detection angle in the lidar; in a detection system composed of two lidars, the central viewing angle can be covered by combining the first detection angles of the two lidars The imaging range is formed. In a single laser radar, the field of view is the imaging range covered by the second detection angle of the laser radar; in a detection system composed of two laser radars, the field of view can be the second detection angle of the two laser radars The combined imaging range is based on the forward direction of the vehicle, and the field of view can cover the left, front and right areas of the vehicle.

Among them, it can be understood that when at least two laser radars are set, the setting position of each laser radar, the detection angle realized, and the mutual positional relationship between at least two laser radars can affect the central viewing angle and field of view angle. specific range of impact. Therefore, when setting the lidar, it can be set according to the specific performance of the vehicle.

In a possible implementation of the present application, the number of laser radars is two, and the two laser radars are arranged at the front end of the car body. During the rotation process from the initial station to the first station, the rotation direction of the two laser radars On the contrary, the lasers emitted by the two lidars coincide or intersect when they rotate to the first station.

By setting up two lidars, it is possible to realize long-distance testing within a central viewing angle of 180°, preferably within a range of 40°, and scanning with a large field of view above 240° to improve vehicle safety during driving. In a possible implementation manner of the present application, the combined field of view of the two lidars is 250°.

The lidar of the present application may be controlled by a control engine, and the control engine may be independent of the lidar or integrated with the lidar. Through the control engine, the reflector can be controlled to switch to the designated position according to the designated rotation direction under the designated working conditions according to the designated control logic. In a vehicle, the control engine can specifically be the control terminal of the vehicle, and the control terminal can include a processing module, a control module, and a control interface.

Description of drawings

FIG. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present application;

Fig. 2 is a schematic diagram of the rotational position of the mirror surface of an embodiment of the present application;

Fig. 3 is a signal light path diagram of the detection process of the first detection unit in an embodiment of the present application;

Fig. 4 is a signal light path diagram of the detection angle between the reflecting mirror surface and the first detection unit;

5 is a schematic diagram of the relative positions of the first laser transmitter and the first laser receiver according to an embodiment of the present application;

Fig. 6 is a schematic diagram of turning the optical axis of the first laser receiver according to an embodiment of the present application;

Fig. 7 is a signal optical path diagram of the detection process of the second detection unit in an embodiment of the present application;

Fig. 8 is a signal light path diagram of the detection angle between the reflecting mirror surface and the first detection unit;

Fig. 9 is a schematic diagram of the angle between the optical axes of the first laser emitter and the second laser emitter in an embodiment of the present application;

FIG. 10 is a schematic diagram of a comprehensive detection path of a first detection unit and a second detection unit according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a scanning method of a laser radar according to an embodiment of the present application;

Fig. 12 is a schematic diagram of the scanning working process of the laser radar according to an embodiment of the present application;

Fig. 13 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

FIG. 14 is a schematic diagram of the placement structure of two laser radars in an embodiment of the present application;

Fig. 15 is a schematic diagram of the placement structure of two lidars in another embodiment of the present application;

Fig. 16 is a schematic diagram of a system architecture of a vehicle according to an embodiment of the present application.

Reference signs: 10-lidar; 11-housing; 111-support mechanism; 12-first detection unit; 121-first laser transmitter; 122-first laser receiver; 123-folding mirror; 13- 131-second laser transmitter; 132-second laser receiver; 124-laser; 125-collimation module; 126-detector; 127-focusing module; 14-rotating mirror; 15-transmission window; 16-rotation shaft; 20-vehicle; 21-car body; 201-control terminal; 202-processing module; 203-control module; 204-control interface.

Detailed ways

In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings.

The terms used in the following examples are for the purpose of describing particular examples only, and are not intended to limit the application. As used in the specification and appended claims of this application, the singular expressions "a", "an", "said", "above", "the" and "this" are intended to also Expressions such as "one or more" are included unless the context clearly dictates otherwise.

Reference to "one embodiment" or "some embodiments" or the like in this specification means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

In order to facilitate the understanding of the laser radar of the present application, the following briefly introduces the application scenarios of the laser radar of the present application. LiDAR can be used in artificial intelligence fields such as unmanned driving and robots. Specifically, it can be installed near fog lights, headlights, rearview mirrors, roofs, rear windshields, and rear lights of automobiles. Perceive the surrounding environment, obtain environmental point cloud data, feed back depth information and contour information, and assist vehicles to carry out various extended applications, such as automatic driving, automatic planning of travel routes, automatic starting or braking, automatic parking and other functions. Existing multi-mirror lidar, since it utilizes a plurality of mirrors and a detection unit corresponding to each mirror (including a laser transmitter and a laser receiver) to realize scanning and detection of different field of view areas, therefore, the structure Among them, multiple groups of detection units are respectively distributed in the corresponding spatial regions of different reflectors, resulting in the inability to further reduce the size of the lidar, which affects the development of the miniaturization direction of the lidar, and also limits the flexible layout of the lidar and the ability of vehicles, vehicles, etc. Miniaturization of artificial intelligence equipment such as robots. In order to solve the above problems, an embodiment of the present application provides a laser radar.

FIG. 1 is a schematic structural diagram of a lidar 10 according to an embodiment of the present application. As shown in FIG. 1 , in one embodiment of the present application, the laser radar 10 includes a housing 11 and a first detection unit 12, a second detection unit 13 and a rotating mirror 14 located in the housing 11, and the housing 11 is set There are transmissive windows (not shown in Figure 1). Each part of the laser radar 10 will be described in detail below.

Shell 11

As shown in FIG. 1 , the casing 11 in the embodiment of the present application may be a plastic casing 11 or a metal casing 11 . Wherein, the casing 11 is used to form an accommodating space, so that components such as the first detection unit 12 , the second detection unit 13 , and the rotating mirror 14 are arranged in the accommodating space, so as to package and protect the above components.

In addition, the casing 11 is provided with a transmission window, which is used to transmit the laser light emitted by the first detection unit 12 and the second detection unit 13, and at the same time allow the laser light reflected from the outside to enter the casing 11 to be detected by the second detection unit 13. The first detecting unit 12 and the second detecting unit 13 receive.

Referring to FIG. 1 , in one embodiment of the present application, a support structure 111 may be provided inside the casing 11 for installing and fixing the first detection unit 12 and the second detection unit 13 .

In one embodiment of the present application, the structure of the transmission window can be a plane or a curved surface, and it can be inclined to the inside or outside at an angle of 0° to 45° based on the surface of the housing 11 where the transmission window is located. The position and the specific light emitting direction are determined, and no specific limitation is made here.

rotating mirror 14

As shown in FIG. 1 , in one embodiment of the present application, the rotating mirror 14 is connected to the housing 11 through a rotating shaft 16 . Wherein, the rotating mirror 14 can be fixedly connected with the rotating shaft 16, and can drive the rotating mirror 14 to rotate when the rotating shaft 16 rotates.

In one embodiment of the present application, the rotating shaft 16 is connected with a driving motor, so that the rotating shaft 16 is driven to rotate by the driving motor. Wherein, the rotating shaft 16 can be a hollow shaft, and the driving motor can be arranged in the hollow shaft. In another embodiment of the present application, the driving motor can also be arranged at the end of the rotating shaft 16 and connected to the end of the rotating shaft 16 so as to drive the rotating shaft 16 to rotate.

Referring to FIG. 1 , in one embodiment of the present application, the rotating mirror 14 includes a reflecting mirror surface 141, which can be parallel to the rotating shaft 16, and during the rotation of the rotating shaft 16, the reflecting mirror surface 141 can rotate around Shaft 16 rotates. It can be understood that the specific structure of the rotating mirror 14 is not limited in the present application. It can be a flat mirror with a single-sided structure or a rotating mirror with a polyhedral structure. System (micro-electro-mechanical system, MEMS) galvanometer.

Fig. 2 is a schematic diagram of the rotation position of the reflective mirror surface 141 of an embodiment of the present application. Switch between the first station w1 and the second station w2. In one embodiment of the present application, in the direction of rotation of the mirror surface 141, the initial station is located between the first station and the second station. Referring to FIG. 2 , as an example, when the mirror surface 141 is switched between the initial station, the first station and the second station, it may include the following four rotation conditions:

a) When the mirror surface 141 is in the first rotation condition, the mirror surface 141 is switched from the initial position w0 to the first position w1 along the first rotation direction;

b) When the mirror surface 141 is in the second rotation condition, the mirror surface 141 is switched from the first station w1 to the second station w2 along the second rotation direction;

c) when the mirror surface 141 is in the third rotation condition, the mirror surface 141 is switched from the second station w2 to the first station w1 along the first rotation direction;

d) When the mirror surface 141 is in the fourth rotation condition, the mirror surface 141 switches from the first position w1 to the initial position w0 along the second rotation direction.

Wherein, the first rotation direction is opposite to the second rotation direction, that is, when the first rotation direction is clockwise, the second rotation direction is counterclockwise; when the first rotation direction is counterclockwise, the second rotation direction is Clockwise direction.

Wherein, when the mirror surface 141 is switched from the initial station w0 to the first station w1 or from the first station w1 to the initial station w0, the first rotation angle _α1 of the mirror surface 141 may be less than or equal to 45°, for example, Less than or equal to 15° or less than or equal to 10°.

Wherein, when the mirror surface 141 is switched from the first station w1 to the second station w2 or from the second station w2 to the first station w1, the second rotation angle _α2 of the mirror surface 141 can be less than 90°, specifically Yes, the second rotation angle _α2 may be less than or equal to 60°.

It can be understood that, referring to FIG. 1 , in order to eliminate the interference caused by the internal scattering signal generated by the reflective mirror surface 141 to the first detection unit 12 and the second detection unit 13, a first light extinction can be provided at the reflective mirror surface 141 of the rotating mirror 14. components to improve detection accuracy. Wherein, the extinction component can be a extinction plate or a extinction ring, which can be arranged at any position on the reflective mirror surface 141, and can be determined according to the specific installation positions of the first detection unit 12 and the second detection unit 13, and will not be described in detail here. limit.

first detection unit 12

As shown in FIG. 1 , in an embodiment of the present application, the first detection unit 12 includes a first laser transmitter 121 and a first laser receiver 122 . The first laser transmitter 121 is used to emit laser light, and the first laser receiver 122 is used to receive the laser light reflected from the outside.

Among them, the first detection unit 12 can be used for long-distance detection, for example, it can be used to detect the information of an object at 200m, and the farthest detection distance can be controlled within the range of 150-200m.

When using the first detection unit 12 to scan and locate objects within the detected area, the mirror surface 141 of the rotating mirror 14 can be switched between the initial position and the first position, so that the first detection unit 12 can achieve different Angle scan. Fig. 3 is a laser light path diagram during the detection process of the first detection unit 12 in an embodiment of the present application, referring to Fig. 2 and Fig. When going to the first station or switching from the first station to the initial station, the laser light emitted by the first laser emitter 121 can sequentially pass through the reflective mirror 141 and the transmission window 15 to reach the first detection object and be reflected by the first detection object Then, it enters the first laser receiver 122 through the transmission window 15 and the reflection mirror 141 in sequence.

Fig. 4 is the laser optical path diagram of the detection angle of the mirror surface 141 and the first detection unit 12, as shown in Fig. 4, in one embodiment of the present application, the mirror surface 141 is switched from the initial station to the first station or from the first station When a station is switched to the initial station, the first rotation angle _α1 of the mirror surface 141 can be less than or equal to 15°, therefore, the first detection angle θ1 that can be realized by the first detection unit ₁₂ can be less than or equal to 30°, the angle The range can effectively cover the obstacles in front of the vehicle during driving, so as to realize automatic alarm or avoidance. The first detection angle _θ1 can also be controlled within the range of 20°, which can effectively reduce the power consumption of the system.

Continuing to refer to FIG. 3 , in an embodiment of the present application, the first laser emitter 121 may be composed of a laser 124 and a collimation module 125 .

Wherein, the laser 124 includes but is not limited to one of semiconductor laser, fiber laser, gas laser or solid laser, and the wavelength λ of the laser light reflected by the laser 124 satisfies 850nm≤λ≤2000nm, for example, it can be 850-950nm. There is at least one laser 124 , and the light emitting surface of the laser 124 is located at the focal plane of the optical system of the first laser emitter 121 .

The collimation module 125 includes, but is not limited to, spherical lenses, aspheric lens groups, cylindrical lenses, cylindrical lens groups, cylindrical lenses plus spherical lens groups, spherical and aspheric lens groups, and the like. After the laser 124 emits laser light, the collimation module 125 is used to calibrate the outgoing direction of the laser light.

Continuing to refer to FIG. 3 , in an embodiment of the present application, the first laser receiver 122 may be composed of a detector 126 and a focusing module 127 .

Wherein, the detector 126 includes, but is not limited to, an avalanche photodiode (avalanche photon diode, APD), a silicon photomultiplier (silicon photomultiplier, SiPM), an APD array, a multi-pixel photon counter (multi pixel photon counter, MPPC), a photomultiplier tube (photomultiplier tube, PMT) or single photon avalanche diode (single photon avalanche diode, SPAD).

The focusing module 127 includes but not limited to at least one of a spherical lens, a spherical lens group, an aspheric lens, an aspheric lens group, a cylindrical lens or a cylindrical lens group.

Referring to FIG. 1 , in one embodiment of the present application, the optical axis of the first laser emitter 121 can be arranged perpendicular to the rotation axis 16, and the optical axis of the first laser emitter 121 and the optical axis of the first laser receiver 122 are arranged in parallel to reduce the detection blind area of the first detection unit 12 .

Fig. 5 is a schematic diagram of the relative positions of the first laser transmitter 121 and the first laser receiver 122 according to an embodiment of the present application, as shown in Fig. 1 and Fig. 5 , during the specific setting, in one embodiment of the present application The first laser emitter 121 and the first laser receiver 122 can be stacked along the extension direction of the rotation axis 16, so as to realize the parallel arrangement of the optical axis of the first laser emitter 121 and the optical axis of the first laser receiver 122, so as to reduce the Small scanning dead zone.

In another embodiment of the present application, as shown in FIG. 1 , the first detection unit 12 includes a folding mirror group, and the folding mirror group includes at least one folding mirror 123 . The turning mirror group is arranged between the rotating mirror 14 and the first laser receiver 122 for realizing the turning of the optical axis of the first laser receiver 122, so that the optical axis of the first laser receiver 122 after turning is in line with the first laser receiver 122. The optical axes of the laser emitters 121 are parallel.

FIG. 6 is a schematic diagram of turning the optical axis of the first laser receiver 122 according to an embodiment of the present application. As shown in FIG. 6 , in one embodiment of the present application, there is one turning mirror 123 , and the turning mirror 123 is arranged between the reflecting mirror surface 141 of the rotating mirror 14 and the first laser receiver 122 . Wherein, the optical axis direction of the first laser receiver 122 is the a direction shown in FIG. After being reflected by the folding mirror 123 , it is transformed into laser light traveling along the direction a. When the laser light travels along the direction b between the reflecting mirror surface 141 and the folding mirror 123 , it is parallel to the optical axis c of the first laser emitter 121 . In this way, the laser light reflected from the reflective mirror surface 141 is always parallel to the optical axis c of the first laser emitter 121 before being deflected by the deflecting mirror group.

The positions of the first laser emitter 121 and the first laser receiver 122 can be flexibly set by setting the deflection mirror group, as long as the optical paths where the optical axes are located are parallel to each other after passing through the deflection mirror group. In this way, the accommodating space in the casing 11 can be effectively utilized, the space utilization rate can be improved, and the volume of the laser radar 10 can be reduced.

In one embodiment of the present application, a second light extinction component may be provided between the first laser emitter 121 and the first laser receiver 122. The second light extinction component may be, for example, a light extinction plate to prevent the first laser emitter 121 from The emitted signal light directly enters the first laser receiver 122 under the effect of diffuse reflection in the inner space of the casing 11, so as to avoid interference to the measurement results. Wherein, the second light extinction component can be used in combination with the first light extinction component to realize the function of preventing heat dissipation light inside the casing from directly entering the first laser receiver 122 .

Second detection unit 13

Continuing to refer to FIG. 1 , in an embodiment of the present application, the second detection unit 13 includes a second laser transmitter 131 and a second laser receiver 132 . The second laser transmitter 131 is used to emit laser light, and the second laser receiver 132 is used to receive the laser light reflected from the outside.

Wherein, the second detection unit 13 is used for short-distance detection, for example, it can be used to detect information of objects within 5m, and its detection distance can be controlled within the range of 10m. That is, the detection distance of the first detection unit 12 is greater than the detection distance of the second detection unit 13 .

Specifically, in one embodiment of the present application, the ratio of the clear aperture EPD _LR of the first laser receiver 122 to the clear aperture EPD _SR of the second laser receiver 132 satisfies EPD _LR :EPD _SR≥3 :2, For example, EPD _LR :EPD _SR ≥ 5:1, by setting different ratios of the clear apertures, the first detection unit 12 and the second detection unit 13 can achieve different detection distances. Among them, the clear aperture is a parameter to control the amount of light irradiated to the sensor in the first laser receiver and the second laser receiver. The larger the clear aperture, the more laser light the sensor acquires, the higher the sensing accuracy, and the higher the sensing accuracy. The stronger the long-distance laser signal measured, the greater the detection distance of the corresponding laser receiver.

When the second detection unit 13 is used to scan and position objects within the field of view, the mirror surface 141 of the rotating mirror 14 can be switched between the first station and the second station to realize scanning at different angles. Fig. 7 is the laser optical path diagram of the detection process of the second detection unit 13 in one embodiment of the present application. The second station or when switching from the second station to the first station, the laser light emitted by the second laser emitter 131 can reach the second object to be measured through the reflective mirror 141 and the transmission window 15 in turn, and the second object to be measured After the object is reflected, it enters the second laser receiver 132 through the transmission window 15 and the reflection mirror 141 in sequence.

Fig. 8 is the laser optical path diagram of reflection mirror surface 141 and first detecting unit 12 detection angles, as shown in Fig. During the station, the second rotation angle α ₂ of the mirror surface 141 can be less than 90 °, therefore, the second detection angle θ ₂ that can be realized by the second detection unit 13 can be less than 180 °, for the convenience of setting the rotating mirror 14 and the second detection The relative position of each component in the unit 13, the second detection angle θ ₁ can be controlled in the range of 120 °, when two lidars 10 are used in combination, the detection range can cover most of the space area around the lidar 10, thereby Measure nearby objects.

In one embodiment of the present application, a third extinction component may be provided between the second laser emitter 131 and the second laser receiver 132. The third extinction component may be, for example, a extinction plate to prevent the second laser emitter 131 from The emitted signal light directly enters the second laser receiver 132 under the effect of diffuse reflection in the inner space of the casing 11, so as to avoid interference to the measurement results. Wherein, both the third light extinction component and the first light extinction component can be used to realize the function of preventing heat dissipation light inside the casing from directly entering the second laser receiver 132 .

Continuing to refer to FIG. 7 , in an embodiment of the present application, the second laser emitter 131 may be composed of a laser 124 and a collimation module 125 . The second laser receiver 132 may consist of a detector 126 and a focusing module 127 . Wherein, the specific structures and parameters of the laser 124 , the collimation module 125 , the detector 126 and the focusing module 127 are similar to those of the first laser transmitter 121 and the first laser receiver 122 above, and will not be repeated here.

Referring to FIG. 1 , in one embodiment of the present application, the second laser emitter 131 and the second laser receiver 132 are stacked along the extension direction of the rotation axis 16, and the optical axis of the second laser emitter 131 is aligned with the second laser The optical axes of the receiver 132 are arranged in parallel to reduce scanning blind spots.

In addition to the above arrangement, a second turning mirror group can also be set between the second laser transmitter 131 and the second laser receiver 132, the second turning mirror group can include at least one turning mirror, the second turning mirror Set between the rotating mirror 14 and the second laser receiver 132, the second turning mirror group is used to realize the turning of the optical axis of the second laser receiver 132, so that the light of the second laser receiver 132 after turning The axis is parallel to the optical axis of the second laser emitter 131 . Wherein, when the second folding mirror group is set, the setting relationship between the second laser transmitter 131 and the second laser receiver 132 can refer to the first laser transmitter 121, the first laser receiver 122 and the folding lens in FIG. The mutual positional relationship and optical path diagram of the rotating mirrors 123 will not be repeated here.

It should be noted that, referring to FIG. 1 , the laser emitted by the second laser emitter 131 is a line laser, and the line laser is parallel to the extension direction of the rotation axis 16 . Thus, the second detection unit 13 can simultaneously realize scanning measurements at different angles in the extending direction of the line laser. Taking the direction shown in FIG. 1 as an example, for example, scanning measurements of 60° can be realized in the vertical direction.

Fig. 9 is a schematic diagram of the angle between the optical axes of the first laser emitter 121 and the second laser emitter 131 in one embodiment of the present application. As shown in Fig. 9, in one embodiment of the present application, the first laser emitter The included angle θ ₃ between the optical axis of the device 121 and the optical axis of the second laser emitter 131 satisfies 0≤θ ₃ ≤ 60°, wherein, the included angle θ ₃ is the optical axis of the first laser emitter 121 and the second laser emitter 131 The minimum angle between the optical axes of the two laser emitters 131. Referring to Fig. 1 and Fig. 9 together, by setting the optical axis angle between the first laser emitter 121 and the second laser emitter 131, it is possible to ensure that the first detection unit 12 and the second The detection unit 13 detects the connection degree between the angles, so as to avoid missing scanning in certain angles. When the reflecting mirror 141 is in one of the positions, such as the first position, the first laser emitter 121 can stop emitting laser light, and the second laser detector 122 can stop receiving laser light, and correspondingly, the second laser emitter 131 can Start to emit laser light, and the second laser receiver 132 can start to receive laser light. At this time, if the angle between the optical axis of the first laser emitter 121 and the optical axis of the second laser emitter 131 is too large, it will affect the second laser emitter. The signal reception of the second detection unit may cause a detection blind area. And by reasonably setting the angle between the optical axes of the first laser emitter 121 and the second laser emitter 132, when the reflection mirror 141 is changed from one station to another station, the first laser receiving signal that starts to receive signals can be ensured. The laser transmitter 122 or the second laser receiver 132 can immediately receive the laser signal generated by the first laser transmitter 121 or the second laser transmitter 131, so as to ensure the convergence of the detection angles.

FIG. 10 is a schematic diagram of the comprehensive detection path of the first detection unit and the second detection unit according to an embodiment of the present application. Referring to FIG. 1 and FIG. 10 together, the detection distance of the first detection unit 12 is greater than that of the second detection unit 13 The detection distance, the second detection angle θ ₂ of the second detection unit 13 is greater than the first detection angle θ ₁ of the first detection unit 12 . Thus, the first detection unit 12 can be used to realize long-distance detection, and the second detection unit 13 can be used to realize large-angle scanning detection, thereby increasing the detection distance and expanding the detection angle range while effectively reducing the power consumption of the system. The laser radar 10 of the present application has the advantages of compact size and low power consumption, and can be widely used in various small vehicles 20 , robots and other equipment.

It should be noted that the detection angle, the central viewing angle, and the field of view angle in the embodiment of the present application may all be angles in the same plane, for example, all be angles in the horizontal plane. The detection angle is specifically a horizontal detection angle, and what is detected is a field of view area within a horizontal range. The field of view is the horizontal field of view, the central viewing angle is also the horizontal central viewing angle, and both the field of view and the central viewing angle are viewing angles within the horizontal range. To realize the direction perpendicular to the plane, for example, the angle detection in the vertical plane, can be realized by using the first laser emitter 121 and the second laser emitter 131 with specific characteristics. For example, the first laser emitter 121 and the second laser emitter 131 may use line lasers, so that scanning detection in different areas in the vertical direction, such as within a range of 60° vertical field of view, can be realized.

Based on the structure of the above lidar or a similar design, the present application also provides a scanning method of the lidar. FIG. 11 is a schematic flow chart of a laser radar scanning method according to an embodiment of the present application. Referring to FIGS. 1 to 11 together, in one embodiment of the present application, the scanning method includes the following steps:

Step S11, control the mirror surface 141 to switch from the initial position to the first position, and control the first laser emitter to emit laser light, the laser light emitted by the first laser emitter 121 sequentially passes through the mirror surface 141 and the transmission window 15 to reach the first detection object, and is reflected by the first detection object and then enters the first laser receiver 122 through the transmission window 15 and the mirror surface 141;

Step S12, control the mirror surface 141 to switch from the first station to the second station, and control the second laser emitter to emit laser light, the laser light emitted by the second laser emitter 131 sequentially passes through the mirror surface 141 and the transmission window 15 to reach the second station. The object to be measured is reflected by the second object to be measured and then enters the second laser receiver 132 through the transmission window 15 and the mirror surface 141;

Step S13, control the mirror surface 141 to switch from the second station to the first station, and control the second laser emitter to emit laser light, the laser light emitted by the second laser emitter 131 sequentially passes through the mirror surface 141 and the transmission window 15 to reach the second station The object to be measured is reflected by the second object to be measured and then enters the second laser receiver 132 through the transmission window 15 and the mirror surface 141;

Step S14, control the mirror surface 141 to switch from the first position to the initial position, and control the first laser emitter to emit laser light, the laser light emitted by the first laser emitter 121 sequentially passes through the mirror surface 141 and the transmission window 15 to reach the first detection object, and is reflected by the first detection object and then enters the first laser receiver 122 through the transmission window 15 and the mirror surface 141;

Repeat the above steps to realize the scanning of the lidar.

Wherein, the controller can be used to control the rotation of the rotating mirror 14 , specifically, the controller can control the rotation of the driving mechanism, and the driving mechanism drives the rotating shaft 16 to rotate to realize the rotation of the rotating mirror 14 synchronously. In addition, the controller can also be used to control the start and stop of the first laser transmitter 121 , the first laser receiver 122 , the second laser transmitter 131 and the second laser receiver 132 , so as to realize the above scanning process.

Fig. 12 is a schematic diagram of the scanning working process of the laser radar according to an embodiment of the present application. The specific scanning of the laser radar of the present application and the process of obtaining point cloud data will be described in detail below in conjunction with Fig. 1 to Fig. 12, wherein the point cloud is a laser radar The receiving point data signal, each point data contains three-dimensional coordinate information. As shown in Figures 1 to 12, in one embodiment of the present application, when using the laser radar of the present application to obtain the point cloud data of the surrounding environment, the following steps are included:

Step S21, the mirror surface 141 rotates clockwise from the initial position, and the first detection unit 12 starts to work. In the embodiment of the present application, the first detection unit is a long-distance receiving module (long-distance receiving module, LR). A detection unit 12 is referred to as LR for short; in this process, the first laser emitter 121 of LR emits a laser beam, first passes through the collimation module 125, then passes through the reflection mirror 141 and the transmission window 15, and then shoots out, and the laser beam hits the first detector After the object returns to the light signal through diffuse reflection, the light signal passes through the transmission window 15, the reflection mirror surface 141, the folding mirror 123 in turn, and passes through the focusing module 127 of the first laser receiver 122 of the LR to reach the center of the first laser receiver 122. On the detector 126, a photoelectric effect occurs, and a signal acquisition is completed;

When the reflective mirror 141 rotates clockwise from the initial position by 10° (that is, the first rotation angle is 10°) and gradually switches to the first position, the LR scans clockwise to complete the 20° detection angle covered by the LR. All signals are collected; after the mirror surface 141 is switched to the first station, the LR work is completed;

Step S22, the reflective mirror surface 141 rotates counterclockwise from the first station to the second station, the LR stops working, and the second detection unit 13 starts to work. In the embodiment of the present application, the second detection unit 13 is for short-distance detection module (short-distance receiving module, SR), the second detection unit 13 is referred to as SR for short below, similarly, in this process, the second laser emitter 131 in SR emits a laser beam, first passes through the collimation module 125, and then After passing through the scanning mirror and the window in sequence, the light beam hits the second detection object and then diffusely reflects and returns the light signal. The light signal passes through the window, the mirror surface 141, the folding mirror 123 again, and passes through the focusing module 127 of the second laser receiver 132 , reaching the detector 126 of the second laser receiver 132, a photoelectric effect occurs, and a signal acquisition is completed;

During the process of the reflective mirror 141 rotating counterclockwise from the first station by 60° to the second station, the SR scans counterclockwise to complete all the signal collection of the 120° detection angle covered by the SR; the reflective mirror 141 is switched to After the second station, the SR work is completed, and the first frame of point cloud data collection is completed here; among them, one frame is that the first detection unit and the second detection unit of the lidar respectively acquire a point cloud within the full detection angle range in turn the time elapsed in the data;

Step S23, the mirror surface 141 rotates clockwise from the second station, SR continues to work, and the SR scans clockwise. When the mirror surface 141 rotates clockwise from the second station to the first station, the SR coverage is completed again Signal acquisition with a 120° detection angle;

Step S24, the reflective mirror surface 141 starts to rotate counterclockwise from the first station, SR stops working, LR starts to work, the reflective mirror surface 141 rotates counterclockwise, when it rotates counterclockwise from the first station to the initial station, LR completes the covering The signal collection of the 20 ° detection angle, completes the second frame point cloud data collection at this point, and the rotating mirror 14 returns to the initial position;

The one-time work of point cloud data collection is completed above, and the above steps S11 to S14 are repeated to perform cyclic work.

In the above embodiment, the included angle between the optical axis of the LR and the optical axis of the SR may be 40°.

It should be noted that the selected speed of the rotating mirror 14 can be selected from constant speed rotation, accelerated rotation or decelerated rotation, which is not specifically limited. Wherein, the rotation speed of the rotating mirror 14 can determine the detection resolution of the laser radar 10 . During the scanning process of the laser radar 10 , when the LR and SR are working, the rotating speed of the rotating mirror 14 may be the same or different. As an example, when the LR works, the rotation speed of the rotating mirror 14 can be lower than that of the rotating mirror 14 working in the SR, thereby increasing the angular resolution in the first detection angle range, specifically the horizontal angular resolution. Among them, the angular resolution is the interval angle between the point cloud and the point cloud acquired by the laser radar in the horizontal plane, which is divided into vertical angular resolution and horizontal angular resolution. In this application, the specific increase may be the horizontal angular resolution.

The laser radar 10 of the present application is mainly composed of two-way laser detection units, i.e. the first detection unit 12 and the second detection unit 13. Based on a reflective mirror surface 141 of a rotating mirror 14, two detection units (the first detection unit 12 Scanning at different positions from the second detection unit 13). Among them, the detection angle θ ₁ that can be realized by LR can be 20°, and the detection angle θ ₂ that can be realized by SR can be 120°, so that the laser radar 10 can realize long-distance detection in the angle range of θ ₁ , and can realize long-distance detection in the short range Large-angle scanning can be realized in the range.

Based on the same technical idea, the embodiment of the present application also provides a detection device, which includes a device body and a laser radar 10 connected to the device body. Since the laser radar 10 of the embodiment of the present application has the characteristics of small size, the detection equipment of the embodiment of the present application can further reduce the installation space of the laser radar 10 , which is more conducive to reducing the volume of the detection equipment and realizing the development of miniaturization. Among them, the detection equipment can be robots, drones and other equipment that need to be equipped with lidar to realize the detection function.

Based on the same technical idea, the present application also provides a vehicle. FIG. 13 is a schematic structural diagram of a vehicle 20 according to an embodiment of the present application. As shown in FIG. 13 , in one embodiment of the present application, the vehicle 20 includes a vehicle body 21 and a laser radar 10 installed on the vehicle body 21 . Wherein, the laser radar 10 can be installed near the fog lights, headlights, rearview mirrors, and rear lights of the vehicle 20 , and can be set according to the functional requirements of the vehicle 20 .

Fig. 14 is a schematic diagram of the placement structure of two laser radars 10 in an embodiment of the present application, referring to Fig. 13 and Fig. The two laser radars 10 are disposed at the front end of the vehicle body 21 and are close to each other, for example, are disposed at the middle of the front end of the vehicle body 21 and are adjacent to each other. In this structure, the two laser radars 10 rotate in opposite directions during the rotation process from the initial position to the first position, and the lasers emitted by the two laser radars 10 overlap when they rotate to the first position. When the detection angle θ ₁ of the long-distance detection of a laser radar 10 is 20 °, and the detection angle θ ₂ of the short-distance detection is 120 °, after the combination of the two laser radars 10 shown in Figure 14, the vehicle 20 can be within 40 °. It can realize long-distance detection within a short-distance detection range, and can realize scanning detection with a field of view of 240° within a short-distance detection range.

FIG. 15 is a schematic diagram of the placement structure of two lidars 10 in another embodiment of the present application. Referring to FIG. 13 and FIG. 15 together, the two laser radars 10 can be respectively arranged on both sides of the front end of the vehicle body 21 and kept spaced apart from each other. In this structure, the two laser radars 10 rotate in opposite directions during the rotation process from the initial position to the first position, and the signal lights emitted by the two laser radars 10 intersect when they rotate to the first position. When the detection angle θ ₁ of the long-range detection of a laser radar 10 is 20°, and the detection angle θ ₂ of the short-range detection is 120°, after the combination of the two laser radars 10 shown in Figure 15, the vehicle 20 can be within 40°. It can realize long-distance detection within a short-distance detection range, and can realize scanning detection with a field of view of 200° within a short-distance detection range.

Further, θ ₂ can be further enlarged, for example, 125°, so that after two lidars are overlapped, they can scan within a range of 250°. In this design, the lidar can be placed near the lights on the left and right sides of the car body.

The vehicle provided by this application adopts the laser radar of this application, and can simultaneously realize performances such as central high resolution, long-distance detection capability, and wide field of view.

Further, the lidar 10 of the present application may be controlled by a control engine, and the control engine may be independent of the lidar 10 or integrated with the lidar 10 . Through the control engine, the reflector can be controlled to switch to the designated position according to the designated rotation direction under the designated working conditions according to the designated control logic. In a vehicle, the control engine may specifically be a control terminal of the vehicle 20, and the control terminal may include a processing module, a control module, a control interface, and the like.

The following takes the control terminal independent of the lidar 10 as an example for illustration.

FIG. 16 is a schematic diagram of a system architecture of a vehicle 20 according to an embodiment of the present application. The vehicle 20 includes a control terminal 201 and a laser radar 10, wherein the control terminal 201 may include a processing module 202, a control interface 204, and a control module 203, wherein the processing module 202, the control interface 204, the control module 203, and the laser radar 10 can realize data communication.

The processing module 202 is the brain of the vehicle 20 and its main function is to process various data. In some implementation scenarios, the processing module 202 may be integrated in the vehicle's ADAS or ADS or the vehicle's central processing system. In other implementation scenarios, the processing module 202 can also be deployed on a cloud device, and realize data communication with the control interface 204 , the control module 203 , and the laser radar 10 through wireless communication technology. The embodiment in FIG. 16 is mainly described in the previous implementation scenario as an example.

The control interface 204 has a display function for displaying relevant information and receiving instructions from users. Optionally, the control interface 204 may be an onboard display system of the vehicle. Optionally, the control interface 204 may be a mobile terminal device, such as a smart phone, a tablet computer, and the like. The embodiment in FIG. 16 is mainly described by taking the vehicle-mounted display system as an example. In a specific implementation, the control interface 204 can be undertaken by an interactive system with a display function in the intelligent cockpit system of the vehicle, and data communication between the intelligent cockpit system and the processing module 202 can be realized through in-vehicle communication technology. In another specific implementation, the control interface 204 may be undertaken by the user's smart phone, and the time data communication between the user's smart phone and the processing module 202 may be through a wired communication technology or a wireless communication technology.

The control module 203 is used to control the execution equipment of the vehicle, such as the steering system, braking system, accelerator, etc., so that the decision-making and regulatory results of the processing module 202 can be effectively implemented. Optionally, the control module 203 may include multiple controllers, which are respectively used to control the corresponding executive devices on the vehicle, for example, the steering controller is used to control the steering system, the brake controller is used to control the braking system, and the throttle controller is used to control the braking system. Control the throttle, etc. It can also be used to control the laser radar 10, such as the drive motor and various lasers therein.

The laser radar 10 is used to acquire data of the surrounding environment of the vehicle, so that the vehicle 20 can perceive the surrounding environment of the vehicle. Optionally, the lidar 10 can also process the acquired environmental data and then transmit it to other modules. The number of laser radars 10 can be reasonably configured according to the performance requirements of the vehicle 20 . Generally speaking, the greater the number of laser radars 10 , the greater the information about the surrounding environment of the vehicle.

During the detection process of the laser radar 10, the processing module 202, the control interface 204, the control module 203 and the laser radar 10 are coordinated with each other. An example briefly describes such coordinated operation: the laser radar 10 acquires environmental data around the vehicle And the acquired environmental data is sent to the processing module 202; the processing module 202 processes the environmental data received from the laser radar 10, and presents it for the user to view through the control interface 204; the control interface 204 receives the user instruction and informs the user instruction to process Module 202; after processing, the processing module 202 generates a control command through the control module 203 to control the execution equipment of the vehicle so that the vehicle can drive intelligently.

It can be understood that the control module 203 may be a controller. In the embodiment of the present application, the control module 203 can be inherited in the lidar 10 to realize the independent control function of the lidar. Of course, it is also possible to integrate the control module 203 into the control terminal 201 according to the examples of the above-mentioned embodiments, and the control terminal 201 centrally controls other sensing or detection devices including the laser radar 10 .

The above is only the specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application, and should cover Within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (20)

1. A laser radar, characterized in that it includes a housing and a first detection unit located in the housing, a second detection unit and a rotating mirror, the rotating mirror is connected to the housing through a rotating shaft, and the housing With a transmission window;

   The first detection unit includes a first laser transmitter and a first laser receiver; the second detection unit includes a second laser transmitter and a second laser receiver;

   The rotating mirror is provided with a mirror surface, the mirror surface rotates around the rotation axis, and the mirror surface switches between the initial position, the first position and the second position when rotating around the rotation axis;

   When the reflective mirror is switched from the initial position to the first position or from the first position to the initial position, the laser emitted by the first laser emitter passes through the reflective mirror , the transmission window reaches the first detection object, and enters the first laser receiver through the transmission window and the reflection mirror surface after being reflected by the first detection object;

   When the reflective mirror is switched from the first station to the second station or from the second station to the first station, the laser emitted by the second laser emitter passes through the The reflective mirror and the transmission window reach the second object to be measured, and enter the second laser receiver through the transmission window and the reflective mirror after being reflected by the second object to be measured.
2. The laser radar according to claim 1, characterized in that, along the rotation direction of the reflecting mirror, the initial station is located between the first station and the second station.
3. The laser radar according to claim 1 or 2, wherein the reflector surface includes four rotation conditions;

   When the mirror surface is in the first rotation condition, the mirror surface is switched from the initial position to the first position along the first rotation direction;

   When the mirror surface is in the second rotation condition, the mirror surface is switched from the first station to the second station along the second rotation direction;

   When the mirror surface is in the third rotation condition, the mirror surface is switched from the second station to the first station along the first rotation direction;

   When the mirror surface is in the fourth rotation condition, the mirror surface switches from the first station to the initial station along the second rotation direction;

   Wherein, the first rotation direction is opposite to the second rotation direction.
4. The laser radar according to any one of claims 1-3, characterized in that, the reflector is switched from the initial station to the first station or from the first station to the initial station. During the working position, the first rotation angle α ₁ of the reflective mirror surface is ≤45°.
5. The laser radar according to any one of claims 1-4, characterized in that, the reflector is switched from the first station to the second station or from the second station to the second station. At the first station, the second rotation angle α ₂ of the mirror surface is <90°.
6. The laser radar according to claim 5, characterized in that, the second rotation angle α ₂ ≦60°.
7. The laser radar according to any one of claims 1-6, characterized in that, the detection distance of the first detection unit is greater than the detection distance of the second detection unit.
8. The laser radar according to claim 7, wherein the ratio of the clear aperture EPD _LR of the first laser receiver to the clear aperture EPD _SR of the second laser receiver satisfies EPD _LR :EPD _SR≥ 3:2.
9. The laser radar according to claim 7, wherein the detection angle θ ₁ of the first detection unit is smaller than the detection angle θ ₂ of the second detection unit.
10. The lidar according to any one of claims 1-9, wherein the angle θ between the optical axis of the first laser emitter and the optical axis of the second laser emitter satisfies _0≤ θ ₃ ≤ 60°.
11. The laser radar according to any one of claims 1-10, characterized in that, the mirror surface is parallel to the rotation axis.
12. The laser radar according to claim 11, wherein the first laser transmitter and the first laser receiver are stacked along the extension direction of the rotation axis, and the light of the first laser transmitter axis is arranged parallel to the optical axis of the first laser receiver.
13. The lidar according to claim 11, wherein the first detection unit further comprises a first folding mirror group, the first folding mirror group includes at least one folding mirror, and the first folding mirror A mirror group is arranged between the rotating mirror and the first laser receiver, and the first turning mirror group is used to realize the turning of the optical axis of the first laser receiver, so that the turned The optical axis of the first laser receiver is parallel to the optical axis of the first laser emitter.
14. The laser radar according to any one of claims 11-13, characterized in that, the second laser transmitter and the second laser receiver are stacked along the extension direction of the rotation axis, and the second The optical axis of the laser transmitter is arranged parallel to the optical axis of the second laser receiver.
15. The laser radar according to any one of claims 11-13, wherein the second detection unit further includes a second folding mirror group, and the second folding mirror group includes at least one folding mirror, so The second turning mirror group is arranged between the rotating mirror and the second laser receiver, and the second turning mirror group is used to realize the turning of the optical axis of the second laser receiver, so that The turned optical axis of the second laser receiver is parallel to the optical axis of the second laser emitter.
16. The laser radar according to any one of claims 1-15, characterized in that, the reflective mirror is provided with a first extinction component, and a first laser receiver is provided between the first laser transmitter and the first laser receiver. Two extinction components, the first extinction component and the second extinction component are used to prevent the signal light emitted from the first laser transmitter from entering the first laser receiver through diffuse reflection;

    A third light extinction component is provided between the second laser transmitter and the second laser receiver, and the first light extinction component and the third light extinction component are used to prevent The signal light enters the second laser receiver through diffuse reflection.
17. A detection device, characterized by comprising a device body and the laser radar according to any one of claims 1-16 installed on the device body.
18. A vehicle, characterized by comprising a vehicle body and the laser radar according to any one of claims 1-16 installed on the vehicle body.
19. The vehicle according to claim 18, characterized in that the number of the laser radars is two, the two laser radars are arranged at the front end of the vehicle body, and the two laser radars are located at the initial station During the rotation process of switching to the first station, the direction of rotation is opposite, and the laser light emitted by the two lidars coincides or intersects when they rotate to the first station.
20. The vehicle according to claim 19, characterized in that, the combined field of view angle of the two lidars is ≤250°.

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