CN119596274A - Laser radar and automatic driving equipment - Google Patents

Abstract

The present invention relates to the field of radar technology, and provides a laser radar and an automatic driving device. The laser radar includes a first transceiver module, a second transceiver module and a galvanometer; the first transceiver module and the second transceiver module are both used to emit an outgoing laser and receive an echo laser, the echo laser is the laser that is returned after the outgoing laser is reflected by an object in the detection area, and the galvanometer is used to reflect the outgoing laser emitted by the first transceiver module and the second transceiver module to the detection area, and is also used to reflect the echo laser to the corresponding first transceiver module and the second transceiver module; the detection areas corresponding to more than two first transceiver modules are spliced into a scanning area, and the detection area corresponding to the second transceiver module overlaps at least partially with the scanning area. The detection area corresponding to the second transceiver module is specifically used to overlap with the scanning area, which can realize a large area of ROI area, and the ROI area is formed by physical overlap, saving network bandwidth occupancy and computing resources.

Description

Laser radar and automatic driving equipment

Technical Field

The invention relates to the technical field of radars, in particular to a laser radar and automatic driving equipment.

Background

The laser radar is a device for detecting parameters of a target object by emitting laser beams, and the working principle is that the laser beams (namely emitting signals) are emitted to the target object, then the received echo signals reflected from the target are compared with the emitting signals, and after proper processing, the related parameters of the target object, such as the distance, azimuth, altitude, speed, gesture, shape and the like of the target object, can be obtained.

The laser radar based on Micro Electro MECHANICAL SYSTEM, MEMS Micro mirror technology has the advantages of quick response, good reliability, high ranging resolution and the like. When the emitting module emits outgoing laser and the outgoing laser is incident to the MEMS micro-mirror (also called a galvanometer), the outgoing laser deflects on the surface of the MEMS micro-mirror. Along with the vibration of the MEMS micro-mirror, the emergent laser can cover a certain range of field angle, and the detection area corresponding to the field angle range is scanned, so that the distance information of the surface of the target object is obtained.

To meet the detection requirements, a region of interest (ROI, region of interest) is set within the detection region. However, the current laser radar has the technical problems of small ROI area and large control difficulty, and the large-area ROI area can meet the requirement that a user can more easily aim at a key area, and the requirement of high-resolution identification is met.

Disclosure of Invention

The invention aims to provide a laser radar and automatic driving equipment, and aims to solve the technical problem that the existing laser radar cannot generate a large-area ROI.

In a first aspect, the present application provides a lidar, which includes a first transceiver module, a second transceiver module, and a galvanometer;

The first transceiver module and the second transceiver module are both used for transmitting outgoing laser and receiving echo laser, the echo laser is returned after the outgoing laser is reflected by an object in a detection area, the galvanometer is used for reflecting the outgoing laser transmitted by the first transceiver module and the second transceiver module and then transmitting the outgoing laser to the detection area, and the galvanometer is also used for reflecting the echo laser and then transmitting the reflected echo laser to the corresponding first transceiver module and the second transceiver module;

The number of the first transceiver modules is more than two, the detection areas corresponding to the first transceiver modules are spliced into a scanning area, and the detection areas corresponding to the second transceiver modules are at least partially overlapped with the scanning area.

In a second aspect, the present application provides an autopilot apparatus comprising a autopilot apparatus body and a lidar as described in any one of the preceding claims, the lidar being mounted to the autopilot apparatus body.

The laser radar and the automatic driving equipment provided by the invention have the beneficial effects that: the emergent laser emitted by the first transceiver module is reflected by the galvanometer and then emitted to the respective detection areas, the detection areas are spliced to form a scanning area, the emergent laser emitted by the second transceiver module is at least partially emitted to the scanning area after being reflected by the galvanometer, namely, the detection areas corresponding to the second transceiver module are at least partially overlapped in the scanning area, compared with the ROI area formed by overlapping edges when the detection areas of the two transceiver modules are spliced, the detection area of the second transceiver module is specially used for being overlapped with the scanning area, a large-area ROI area can be realized, the technical problem that the existing laser radar cannot generate the large-area ROI area is solved, the laser radar can acquire the large-area ROI area, the ROI area is formed in a physical overlapping mode, point cloud data is real and reliable, artifacts and image noise which possibly exist are reduced, the position of the ROI area in the scanning area is fixed, namely, each time of scanning can cover the area at the same position, the object of interest can be repeatedly, repeatedly scanned for multiple times and stably, the object of interest can be eliminated, the error caused by the change of the scanning position is not required to be caused, a specific control algorithm, the fast network can be saved, the network resources can be widely occupied in a wide network or a field network can be occupied by the network.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a first structural block diagram of a lidar according to an embodiment of the present invention;

FIG. 2 is a schematic view of a scanning area of the lidar of FIG. 1;

FIG. 3 is a block diagram of a second configuration of a lidar according to an embodiment of the present invention;

fig. 4 is a third structural block diagram of a lidar according to an embodiment of the present invention;

FIG. 5 is a schematic view of a scanning area of the lidar of FIG. 4;

Fig. 6 is a schematic diagram of an external structure of a lidar according to an embodiment of the present invention;

FIG. 7 is an exploded view of a lidar according to an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a lidar according to an embodiment of the present invention with a top cover removed;

FIG. 9 is a view of a lidar according to an embodiment of the present invention with the top cover removed;

FIG. 10 is a view of a lidar according to an embodiment of the present invention with the top cover removed;

FIG. 11 is a schematic view of an optical path of a lidar according to an embodiment of the present invention with a top cover removed;

Fig. 12 is a schematic view of a return bracket of a return mirror assembly of a lidar according to an embodiment of the present invention;

FIG. 13 is a further view of the foldback bracket of FIG. 12;

Fig. 14 is a schematic diagram showing a comparison of the projection of the optical path along the third direction when the second transceiver module is obliquely arranged;

fig. 15 is a schematic structural view of a base of a housing of a lidar according to an embodiment of the present invention;

FIG. 16 is a further view of the base of FIG. 15;

Fig. 17 is a schematic view of an autopilot apparatus provided by an embodiment.

Wherein, each reference sign in the figure:

x, a first direction, Y, a second direction, Z, a third direction;

10. the laser radar, 20, driving equipment body;

110. the device comprises a first transceiver module, a first detection area, a second transceiver module, a second detection area and a first detection area, wherein the first transceiver module is 111;

200. vibrating mirror;

300. The device comprises a folding mirror assembly, 310, a folding bracket, 311, a light hole, 312, an adjustment notch, 313, a first side, 314, a second side, 315, a first mounting plane, 316, a second mounting plane, 317, a bracket mounting plate, 318, a bracket support plate, 320, a reflecting lens, 321, a first lens, 322 and a second lens;

500. the device comprises a shell, 510, a base, 511, a first supporting plate, 512, a second supporting plate, 513, a first limiting part, 514, a second limiting part, 515, a third limiting part, 516, a fourth limiting part, 520, a top cover, 521, a detection window, 530, a first side cover, 540, a second side cover, 550 and a window sheet;

610. Transmission board 611, avoiding port 620, interface board 621, first circuit board 622, second circuit board 630, digital board 631, third circuit board 632, fourth circuit board 640, and flat cable.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrase "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1 and 2, the laser radar 10 provided in this embodiment includes a first transceiver module 110, a second transceiver module 120, and a galvanometer 200. The first transceiver module 110 and the second transceiver module 120 are both configured to emit outgoing laser and receive echo laser, where the echo laser is returned after the outgoing laser is reflected by an object in the detection area, and the galvanometer 200 is configured to reflect the outgoing laser emitted by the first transceiver module 110 and the second transceiver module 120 to the detection area, and simultaneously is also configured to reflect the echo laser to the corresponding first transceiver module 110 and the second transceiver module 120.

The number of the first transceiver modules 110 is more than two. The first detection areas corresponding to more than two first transceiver modules 110 are spliced into a scanning area, and the second detection areas corresponding to the second transceiver modules 120 are at least partially overlapped with the scanning area.

In the laser radar 10 provided in this embodiment, the outgoing laser beams emitted by more than two first transceiver modules 110 are reflected by the galvanometer 200 and then are emitted to the respective first detection regions, the first detection regions are spliced to form a scanning region, and the outgoing laser beams emitted by the second transceiver modules 120 are reflected by the galvanometer 200 and then are at least partially emitted to the scanning region, i.e. the second detection regions corresponding to the second transceiver modules 120 are at least partially physically overlapped in the scanning region. The detection region corresponding to the second transceiver module 120 is specially used for overlapping with the scanning region, so that a large-area ROI region can be realized, and therefore, the laser radar 10 can acquire the large-area ROI region, the ROI region is formed in a physical overlapping manner, the point cloud data is true and reliable, and possible artifacts and image noise are reduced. The position of the ROI area in the scanning area is fixed, the object of interest can be scanned repeatedly, repeatedly and stably at multiple visual angles, and errors caused by the change of the scanning position can be eliminated.

If the ROI area is formed by adopting a resolution control mode, the emergent angle, the visual field angle range, the transmitting frequency and the transmitting time sequence of all the transceiver modules need to be accurately regulated, meanwhile, the surrounding environment parameters are required to be acquired in real time and an environment model is constructed by depending on an environment sensor, a rapid communication network and high-efficiency computing capacity, and the energy consumption is high, so that the detecting area of one transceiver module is regulated to be overlapped with the edge part of the detecting area of the other transceiver module spliced by adopting a control mode, or the transmitting frequency of the two transceiver modules is increased on the same detecting area.

The ROI area is formed by physical overlapping, and the method does not need to rely on a specific algorithm, complex control, a rapid communication network and high-efficiency computing capacity, thereby achieving the purpose of saving network broadband occupation and computing resources, and having the characteristics of large area, low energy consumption, high stability and high reliability. The area of the ROI area is large, so that a user can select a key area to improve resolution, the requirement of high-definition identification is met, the method can be applied to urban traffic scenes with multiple objects and continuously moving objects in a detection area, can be applied to field operation scenes with insufficient energy supply and limited communication network rate, and can also be applied to large-scale gathering scenes with network congestion and communication delay.

Specifically, each first transceiver module 110 and each second transceiver module 120 include a transmitting module, a receiving module and a beam splitting module, which are correspondingly disposed, the transmitting module is configured to transmit outgoing laser, the receiving module is configured to receive echo laser, and the echo laser is returned after the outgoing laser is reflected by an object in the detection area. The beam splitting module is used for separating the emergent laser from the echo laser and preventing the echo laser from reentering the transmitting module.

Optionally, the emission module includes a laser module, an emission driving module, and an emission optical module. The laser module is used for emitting outgoing laser. The laser module may be selected from a solid state laser, a laser diode or a high power laser. The laser modules may emit light in different formats, such as optical pulses, continuous Waves (CW), quasi-CW, and so forth. The emission driving module is connected with the laser module and used for driving and controlling the laser module to work. The emission optical module is arranged on the light path of the emergent laser emitted by the laser module and is used for collimating the emergent laser. The emission optical module can adopt an optical fiber, a ball lens group, a separate ball lens group, a cylindrical lens group and other collimation modules.

Optionally, the receiving module includes a detector module, a receiving driving module, and a receiving optical module. The receiving optical module is disposed on the optical path of the echo laser reflected by the galvanometer 200, and is used for converging the echo laser. The detector module is used for receiving the echo laser converged by the receiving optical module. The receiving driving module is connected with the detector module and used for driving and controlling the detector module to work. The receiving optical module may employ a ball lens, a ball lens group, a cylinder lens group, or the like.

Specifically, the laser radar 10 provided in this embodiment adopts a transceiver module with coaxial transmitting and receiving, the outgoing laser emitted by the laser module in the transceiver module passes through the beam splitting module after being collimated by the transmitting optical module, the echo laser returned after being reflected by the object in the detection area enters the transceiver module, the echo laser is deflected by the beam splitting module and then enters the receiving optical module, and the receiving optical module converges the echo laser and then is received by the detector module. The coaxial receiving and transmitting module does not need to be additionally provided with a receiving module, and is beneficial to miniaturization of the optical path structure. Of course, in other embodiments, the transceiver module is of an off-axis structure, and the transceiver module includes a transmitting module and a receiving module that are separately disposed.

Specifically, the galvanometer 200 includes a mirror surface that vibrates reciprocally, and emits laser light and echo laser light by specular reflection. The outgoing laser is reflected by the vibrating mirror surface and the echo laser returned coaxially is received, so that the scanning of the detection area is realized. The galvanometer 200 may adopt a two-dimensional MEMS micro-mirror, which can rotate and scan in a horizontal direction and a vertical direction at a certain mechanical angle, and the outgoing laser emitted by the first transceiver module 110 and the second transceiver module 120 passes through the two-dimensional MEMS micro-mirror to realize scanning, and the horizontal angle and the vertical angle of the detection area are determined by the scanning mechanical angle of the two-dimensional MEMS micro-mirror.

In this embodiment, the detection area corresponding to the first transceiver module 110 is a first detection area 111, and the detection area corresponding to the second transceiver module 120 is a second detection area 121. In designing the lidar 10, the position of the second detection region 121 in the scanning region may be customized, for example, the second detection region 121 may be located at the center (see fig. 2) or near the edge of the scanning region formed by the first detection regions 111, and the second detection region 121 may be fully overlapped with the scanning region formed by the first detection regions 111, or may be partially overlapped with or partially not overlapped with the scanning region formed by the first detection regions 111. Specifically, 1/3 to 1 area of the detection area corresponding to the second transceiver module 120 overlaps with the scanning area. Of course, the staff may also customize the position and the area of the second detection area 121 by adjusting the positional relationship between the first transceiver module 110, the second transceiver module 120 and the galvanometer 200, for example, adjusting the height relationship between the second transceiver module 120 and the reflection mirror 320, or adjusting the pitch angle of the reflection mirror 320.

In this embodiment, the number of the first transceiver modules 110 may be two, three, or more than three. The two or more first transceiver modules 110 may be distributed at intervals along the first direction X, or may be distributed at intervals along a curve. The number of the second transceiver modules 120 may be one or more than two. Generally, in order to reduce the types of components and manufacturing difficulties of the lidar 10, the first transceiver module 110 and the second transceiver module 120 are the same type of transceiver module, so that the detection areas of the first transceiver module 110 and the second transceiver module 120 are the same, and the number of the second transceiver modules 120 is less than that of the first transceiver modules 110, so as to avoid that the detection area of the second transceiver module 120 exceeds the scanning area.

In one possible example, referring to fig. 1 and 2, the lidar 10 includes a second transceiver module 120 and a plurality of first transceiver modules 110, the second transceiver module 120 being disposed between the plurality of first transceiver modules 110. Specifically, the number of the first transceiver modules 110 is four, the four first transceiver modules 110 together form four first detection areas 111 that are spliced together, the second detection area 121 formed by the second transceiver module 120 is located in the center of a scanning area formed by splicing the four first detection areas 111, and the second detection area 121 overlaps with the first detection area 111b and the first detection area 111c located in the middle respectively.

In one possible example, referring to fig. 4 and 5, the lidar 10 includes two second transceiver modules 120 and a plurality of first transceiver modules 110, and the first transceiver modules 110 are disposed between the two second transceiver modules 120. Specifically, the number of the first transceiver modules 110 is three, the three first transceiver modules 110 together form three first detection areas 111 that are spliced together, and the two second detection areas 121 formed by the two second transceiver modules 120 are located in a scanning area formed by splicing the three first detection areas 111. Generally, the two second detection regions 121 do not overlap, nor are there gaps, so that the area of the ROI region is maximized, and the ROI regions are coherent and of uniform resolution. Referring to fig. 5, the first and second detection regions 121a and 121b overlap the first and second detection regions 111a and 111b, respectively, and the second and second detection regions 121b and 121b overlap the first and second detection regions 111c and 111b, respectively, and the first and second detection regions 121a and 121b are spliced.

In some embodiments, referring to fig. 1 to 5, the detection points in the second detection area 121 corresponding to the second transceiver module 120 are staggered from the detection points in the first detection area 111 corresponding to the first transceiver module 110. The light-emitting laser emitted by the first transceiver module 110 and the light-emitting laser emitted by the second transceiver module 120 are scanned by the one-dimensional galvanometer 200 to form a plurality of first detection points and a plurality of second detection points which are arranged at intervals along a straight line, and the second detection points are located in intervals formed by the first detection points. Or the first detection points and the second detection points are subjected to planar scanning by the two-dimensional vibrating mirror 200 to form a plurality of first detection point arrays and a plurality of second detection point arrays which are arranged at intervals in rows and columns, and the second detection points are positioned in intervals formed by the first detection points. Compared with the other areas of the scanning area, which only distribute the first detection points, the second detection area 121 has the first detection points and the second detection points which are distributed in a staggered way physically, the detection point density of the second detection area 121 is higher, the point cloud data is more, and the resolution of the obtained image is higher.

Optionally, the types and driving modes of the first transceiver module 110 and the second transceiver module 120 are the same, so that the types of components of the laser radar 10 are reduced, and the mass production of the transceiver modules at the hardware level is realized. At the control level, the first transceiver module 110 and the second transceiver module 120 are set to be different according to a preset rule. Because the detection periods of the first transceiver module 110 and the second transceiver module 120 are fixed, the horizontal resolution of the point cloud of the detection area is known, and the two are shared by the same galvanometer 200, the vertical resolution of the point cloud is known, and further, the staggered arrangement of the second detection point corresponding to the second transceiver module 120 and the first detection point corresponding to the first transceiver module 110 is realized by setting the optical paths of the first transceiver module 110 and the second transceiver module 120. Based on the above design, the detection points of the second detection area 121 can be overlapped naturally and physically, so that the difficulty of cooperative control of the first transceiver module 110 and the second transceiver module 120 is reduced, and the difficulty of data processing such as data deduplication, data registration, data fusion and the like is reduced due to the point cloud distribution rule formed by the echo laser.

In some embodiments, referring to fig. 1 and fig. 3, two or more first transceiver modules 110 and second transceiver modules 120 are all distributed at intervals along the first direction X, so as to achieve a tight arrangement, and the first transceiver modules 110 and the second transceiver modules 120 emit outgoing laser light along the same or approximately the same direction, so that the galvanometer 200 receives the outgoing laser light in the outgoing direction or reflects the echo laser light to the galvanometer, and the optical path is relatively regular. The detection areas corresponding to more than two first transceiver modules 110 are spliced in sequence along the first direction X, which is beneficial to increasing the horizontal field angle of the scanning area and improving the coverage capability of the laser radar 10.

Referring to fig. 1, if a plurality of first transceiver modules 110 and second transceiver modules 120 are disposed in parallel at intervals, in order to enable the first detection regions 111 to be spliced with each other without any gap, and the second detection regions 121 can be overlapped in a scanning region formed by splicing the plurality of first detection regions 111, a turning mirror assembly 300 must be added to turn back parallel light paths so as to change the direction of the light paths to realize the direction of the light paths toward the galvanometer 200. The included angle between the reflection mirrors 320 of the folding mirror assembly 300 should be set to be larger to increase the reflection angle difference of each optical path, so that each optical path with parallel intervals can be reflected and then emitted to the vibrating mirror 200, but each reflection mirror 320 with a larger included angle can increase the difficulty in manufacturing and assembling the folding mirror assembly 300. Meanwhile, strict requirements are also made on the arrangement position, arrangement angle and scanning mechanical angle of the galvanometer 200, so that the laser radar 10 has complex structure, poor adjustment of component positions, large volume or irregularity, and is inconvenient to install.

In a specific embodiment, referring to fig. 3, fig. 4, fig. 9, and fig. 11, at least one first transceiver module 110 adjacent to the second transceiver module 120 is obliquely disposed, an arrangement included angle a between an optical axis of the first transceiver module 110 and an optical axis of the second transceiver module 120 is an acute angle, that is, a transmitting end of the adjacent at least one first transceiver module 110 is inclined towards the direction close to the second transceiver module 120, outgoing lasers emitted by the first transceiver modules 110 located at two sides are gradually close, optical paths of the first transceiver modules 110 can be spliced in a shorter stroke, so that miniaturization design of the laser radar 10 is facilitated, and optical paths of the second transceiver modules 120 located in the middle are naturally overlapped in optical paths of the first transceiver modules 110 at two sides of the spliced optical paths, so that difficulty in realizing a large-area ROI is reduced.

In addition, referring to fig. 7, 11 and 14, based on the above design, the first transceiver modules 110 located at both sides of the second transceiver module 120 are obliquely arranged, and first, referring to fig. 14, in order to obtain the ROI area with a predetermined large area, the angle of the incident light OA of the galvanometer 200 is locked. In fig. 14 (a), the first transceiver module 110 and the second transceiver module 120 are disposed in parallel, and an angle b1 is formed between the reflective plate 320 corresponding to the first transceiver module 110 and the reflective plate 320 corresponding to the second transceiver module 120. In fig. 14 (b), the first transceiver module 110 is obliquely disposed, and an angle b2 is formed between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120. Because the included angle between the outgoing laser of the first transceiver module 110 arranged in parallel and the incident light OA of the corresponding galvanometer 200 is smaller than the included angle between the outgoing laser of the first transceiver module 110 arranged in an inclined manner and the incident light OA of the corresponding galvanometer 200, the included angle b1 is larger than the included angle b2, that is, the first transceiver module 110 is arranged in an inclined manner, so that the included angles of the reflection lenses 320 are smaller and more parallel, stray light can be reduced, the bending of the foldback mirror assembly 300 is avoided, the manufacturing difficulty of the foldback mirror assembly 300 is reduced, and the light adjustment difficulty of the reflection lenses 320 is reduced.

Second, referring to fig. 14 (a), when the first transceiver module 110 adjacent to the second transceiver module 120 is disposed parallel to the second transceiver module 120, the interval h1 between the fold mirror assembly 300 and the first transceiver module 110 is larger. Referring to fig. 14 (b), when the first transceiver module 110 adjacent to the second transceiver module 120 is obliquely disposed, the interval h2 between the fold mirror assembly 300 and the first transceiver module 110 is small. Therefore, the at least one first transceiver module 110 adjacent to the second transceiver module 120 is disposed obliquely, so as to facilitate shortening the distance between the transceiver module and the fold mirror assembly 300 and reducing the volume of the laser radar 10.

Third, the first detection area 111 of the first transceiver module 110 is spliced outside the laser radar 10, and there is no gap, so that the scanning area spliced by the first detection area 111 is continuous, a blind area is avoided, the first detection areas 111 are not overlapped with each other, so that the spliced scanning area is expanded as much as possible, the scanning range is increased, the point clouds in the scanning area are uniform and are not overlapped, the resolution is uniform, the point cloud deduplication processing is reduced, the distinction between the overlapping area formed by the second detection area 121 of the second transceiver module 120 is facilitated, and the user can observe the ROI area conveniently.

Fourth, one second transceiver module 120 is located in two adjacent first transceiver modules 110, correspondingly, the second detection area 121 is overlapped in the middle of the spliced first detection areas 111, so that the ROI area is located in the middle of the field of view, compared with the edge position, the attention of the user is more easily concentrated in the middle position, the middle position is observed more clearly and carefully, and the distortion of the field of view due to the presence of the edge position is avoided, so that the point cloud density of the ROI area located in the middle is high, and the point cloud data quality is good.

Fifth, at least one first transceiver module 110 adjacent to the second transceiver module 120 is obliquely arranged, and the second transceiver module 120 is used as a reference and is not obliquely arranged, so that complexity of data registration and fusion of point clouds acquired by the second transceiver module 120 can be simplified, and accuracy of image data of the ROI area can be improved.

Specifically, the first transceiver module 110 and the second transceiver module 120 are spaced apart along the first direction X, and the transmitting ends of the first transceiver module 110 and the second transceiver module 120 are substantially flush. The second transceiver module 120 may be located in the middle of the first transceiver module 110 (see fig. 11), or may be located beside all the first transceiver modules 110. The number of the first transceiver modules 110 on both sides of the second transceiver module 120 may be the same or different. The interval between the second transceiver module 120 and the adjacent first transceiver module 110 and the interval between the adjacent two first transceiver modules 110 may be the same or different. The arrangement included angle a corresponding to each of the first transceiver modules 110 may or may not be the same.

Specifically, referring to fig. 3 and 11, the arrangement included angle a corresponding to each first transceiver module 110 is the same, so that the first transceiver modules 110 located on the same side of the second transceiver module 120 are parallel to each other, the interval between two adjacent first transceiver modules 110 is uniform along the length dimension direction thereof, the interval can be reduced as much as possible, compact arrangement is realized, and the miniaturized design of the laser radar 10 is facilitated.

In addition, the same arrangement included angle a enables the design, calibration and optimization of the laser radar 10 to be simpler and more reliable, the same arrangement included angle a can simplify the data fusion of the laser radar 10, and the data correction, registration and fusion can be more easily carried out by following the consistent geometric relationship, so that the efficiency and accuracy of data processing are improved. The arrangement included angle a is the same, so that the first receiving and transmitting modules 110 on the same side can be ensured to be parallel to each other, the light paths of the first detection light are parallel, the corresponding first detection areas 111 are convenient to splice and design synchronously and sequentially, and the uniform distribution density of the emergent laser emitted by the first receiving and transmitting modules 110 is ensured.

Specifically, in combination with fig. 3 and 4, the arrangement included angle a is 3 ° to 10 °. If the arrangement included angle a is smaller than 3 °, the interval between the outgoing lasers emitted by the first transceiver modules 110 on two sides is large, or the size of the fold-back mirror assembly 300 is increased to receive the outgoing lasers on two sides with large interval, or the interval between the fold-back mirror assembly 300 and the first transceiver modules 110 is increased to reduce the interval between the outgoing lasers on two sides when reaching the fold-back mirror assembly 300, which finally leads to the oversized laser radar 10. If the arrangement included angle a is greater than 10 °, the outgoing lasers of the first transceiver modules 110 on two sides are rapidly close to each other and are easy to interfere with each other, which is easy to cause point cloud distortion, and the difficulty of architecture design of the laser radar 10 is increased. Based on the arrangement, the arrangement included angle a is 3-10 degrees, so that the miniaturized design of the laser radar 10 is facilitated, the splicing or overlapping of detection areas is facilitated, and the processing of point cloud data is facilitated.

Alternatively, the arrangement angle a is 3 °, 5 °, 7 °, 9 °, or 10 °.

In one embodiment, in combination with fig. 9 and 11, the first transceiver modules 110 are symmetrically distributed about the optical axis direction of the second transceiver module 120, so that symmetry and balance of the laser radar 10 can be achieved, consistency and controllability of the laser radar 10 are improved, uniform data acquisition can be achieved, information loss or redundancy caused by data vacancy or overlapping is avoided, and because each first transceiver module 110 is mutually symmetrical, data registration and fusion are easier, and efficiency and accuracy of data processing are improved.

In some embodiments, referring to fig. 6 to 8, the laser radar 10 further includes a folding mirror assembly 300, where the first transceiver module 110, the second transceiver module 120 and the galvanometer 200 are located on the same side of the folding mirror assembly 300, and the outgoing laser emitted by the first transceiver module 110 and the second transceiver module 120 is emitted to the folding mirror assembly 300 and reflected and then incident on the galvanometer 200, and the folding mirror assembly 300 is further configured to reflect the echo laser reflected by the galvanometer 200 and then incident on the corresponding first transceiver module 110 and second transceiver module 120. The fold mirror assembly 300 can fold the optical path between the transceiver module and the galvanometer 200, reducing the length dimension of the lidar 10. Meanwhile, the fold mirror assembly 300 can also adjust the optical path, so that the second detection area 121 is easily overlapped with the scanning area formed by splicing the first detection areas 111 at least partially.

Specifically, referring to fig. 9 and 10, the second transceiver module 120 is located between two adjacent first transceiver modules 110, the outgoing laser of the second transceiver module 120 emitted to the fold mirror assembly 300 is located between two adjacent first transceiver modules 110 emitted to the fold mirror assembly 300, and after being reflected by the fold mirror assembly 300, the outgoing laser corresponding to the second transceiver module 120 is located between two outgoing lasers corresponding to the two adjacent first transceiver modules 110, and the included angle is gradually reduced, so that the second detection area 121 formed by the second transceiver module 120 is physically overlapped in the first detection area 111 corresponding to the two adjacent first transceiver modules 110.

Optionally, there are no other components between the first transceiver module 110 and the second transceiver module 120 and the fold mirror assembly 300, and there are no other components between the fold mirror assembly 300 and the galvanometer 200, so that the optical path design is simplified, and the architecture design of the laser radar 10 is simplified.

Specifically, referring to fig. 10 to 13, the fold back mirror assembly 300 includes a fold back support 310 and a plurality of reflection lenses 320, the fold back support 310 has a first side 313 close to the galvanometer 200 and a second side 314 far from the galvanometer 200, the fold back support 310 is provided with a light passing hole 311 penetrating the first side 313 and the second side 314, and a part of the reflection lenses 320 are mounted on the second side 314 and cover the light passing hole 311, so that the outgoing laser light can pass through the light passing hole 311 to the reflection lenses 320 and then be reflected into the galvanometer 200. The partial reflector plate 320 is mounted to the first side 313. The plurality of reflection mirrors 320 are separately installed at both sides of the folding support 310, and the assembly space at both sides of the folding support 310 is fully utilized, so that the plurality of reflection mirrors 320 are more closely arranged in the length direction (see the first direction X) of the folding support 310, which is beneficial to reducing the length dimension of the folding support 310, and correspondingly, the first transceiver module 110 and the second transceiver module 120 are more closely arranged in the first direction X, which is beneficial to the miniaturization design of the laser radar 10. The reflection mirror 320 on the same side can be assembled to meet the receiving aperture requirement of the large channel by ensuring enough assembly process space between the reflection mirrors 320 on the same side on the same size of the folding support 310, and the reflection mirrors 320 on the first side 313 and the reflection mirrors 320 on the second side 314 are closer to each other and are closely arranged, so that a large-area ROI area is easy to be realized, but the reflection mirrors 320 are staggered in the thickness direction, and the difficulty of assembly implementation is also reduced.

Specifically, referring to fig. 9 and 10, at least one first transceiver module 110 adjacent to the second transceiver module 120 is disposed obliquely. Referring to fig. 14 (a), when the first transceiver module 110 adjacent to the second transceiver module 120 is disposed parallel to the second transceiver module 120, the interval h1 between the fold-back mirror assembly 300 and the first transceiver module 110 is larger, and the included angle b1 between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120 is larger. Referring to fig. 14 (b), when the first transceiver module 110 adjacent to the second transceiver module 120 is obliquely disposed, the interval h2 between the fold mirror assembly 300 and the first transceiver module 110 is smaller, and the included angle b2 between the reflective lens 320 corresponding to the first transceiver module 110 and the reflective lens 320 corresponding to the second transceiver module 120 is smaller. Therefore, the at least one first transceiver module 110 adjacent to the second transceiver module 120 is obliquely arranged, so that the plurality of reflection lenses 320 are arranged in parallel, the bending of the folding bracket 310 is avoided to be too large, the manufacturing difficulty of the folding mirror assembly 300 is reduced, and the difficulty of light adjustment of each reflection lens 320 is reduced.

In one embodiment, referring to fig. 8 and 12, the folding bracket 310 is provided with a tuning gap 312, the tuning gap 312 penetrates through the first side 313 and the second side 314, the tuning gap 312 extends to a side wall penetrating through the folding bracket 310, and the reflective lens 320 located at the first side 313 covers the tuning gap 312. When the reflection lens 320 positioned on the first side 313 is assembled and adjusted, the assembling and adjusting tool can adjust the position of the reflection lens 320 from the second side 314 with larger operation space through the assembling and adjusting notch 312, so that the light adjusting operation is convenient.

In one embodiment, referring to fig. 8, 10, 12 and 13, the reflective lens 320 includes more than two first lenses 321 for matching with the first transceiver module 110 in a one-to-one correspondence manner and a second lens 322 for matching with the second transceiver module 120, the second side 314 is provided with more than two first mounting planes 315 sequentially connected along the first direction X, the light-passing holes 311 are in one-to-one correspondence with the first mounting planes 315, the first mounting planes 315 are used for assembling the first lenses 321, the first side 313 is provided with a second mounting plane 316 for mounting the second lenses 322, and the second mounting plane 316 is located between two adjacent light-passing holes 311.

Based on the above design, the first lens 321 and the second lens 322 are respectively attached to the first mounting plane 315 and the second mounting plane 316 in a plane manner, so that the mounting and positioning are facilitated, and further fine position adjustment is optionally performed during bonding and fixing, and the glue is cured after the position adjustment is qualified. The second mounting plane 316 does not block the light-passing hole 311 and does not interfere with the light path of the first lens 321.

Optionally, the edges of the second mounting plane 316 coincide with the walls of the adjacent light passing holes 311, such that the area of the second mounting plane 316 maximizes the design.

Specifically, the folding support 310 is integrally formed, so that the quantity and the variety of materials are reduced, the assembly difficulty is reduced, and the automatic assembly is facilitated.

Specifically, referring to fig. 12 and 13, the fold back bracket 310 includes a bracket mounting plate 317 and a bracket support plate 318, the bracket mounting plate 317 being for mounting in the lidar 10, the bracket support plate 318 being for mounting the reflection mirror plate 320. The bracket support plate 318 stands on the bracket mounting plate 317. Based on this design, the bracket mounting plate 317 may be provided with a mounting structure, such as a mounting hole and/or a mounting post, and may be provided with a positioning structure, such as a positioning hole and/or a positioning post, the bracket support plate 318 may not be provided with a mounting structure and/or a positioning structure, and the surface space of the bracket support plate 318 is fully utilized to assemble the reflection lens 320, which is suitable for assembling a transceiver module of a large channel, and is also beneficial to forming a large-area ROI area. For example, the bracket support plate 318 has a first mounting plane 315, a second mounting plane 316, a light passing hole 311, and an adjustment notch 312.

In one embodiment, with reference to fig. 8, 12 and 13, the first direction X and the second direction Y are perpendicular. In the first direction X, the first mounting plane 315 at the edge has a large angle with the second direction Y, i.e. a large incident angle, and correspondingly a large reflection angle, and the first mounting plane 315 at the center has a small angle with the second direction Y. In the first direction X, the galvanometer 200 is selected in the middle of the fold-back mirror assembly 300, so that the sum of the optical path distances of the outgoing laser light reflected by the respective reflection mirrors 320 is shortest and the path is optimal. The reflection angles of the first lenses 321 positioned at the two sides are large, so that the outgoing laser emitted by the corresponding first transceiver module 110 can be reflected to the vibrating mirror 200 positioned at the middle part in a larger angle, and similarly, the reflection angle of the first lens 321 positioned at the middle part is small, and the outgoing laser emitted by the corresponding first transceiver module 110 just needs to be reflected to the vibrating mirror 200 in a small angle. In this way, the relationship between the angles of the first lens 321 and the second direction Y at different positions can ensure that the outgoing laser emitted by each of the first transceiver modules 110 distributed at intervals along the first direction X is reflected and then directed to the galvanometer 200.

Specifically, the plurality of first mounting planes 315 are symmetrically distributed about the second direction Y passing through the middle, so that the included angles between the first lenses 321 at the same positions on both sides and the second direction Y are the same, and thus the reflected light rays of the left and right first lenses 321 are both converged on the galvanometer 200. In designing and manufacturing the fold mirror assembly 300, only half of the first mounting planes 315 need to be designed, and the other half of the first mounting planes 315 can be obtained by using angular symmetry.

In one embodiment, referring to fig. 12, two adjacent first mounting planes 315 share the same edge, and there is no space between two adjacent first mounting planes 315, so as to avoid light from leaking from the space between two first mounting planes 315 to form stray light, prevent the stray light from being emitted from the space and entering into the galvanometer 200, and ensure the light path structure and the detection precision of the laser radar 10.

Specifically, referring to fig. 12 and 13, the distances between the plurality of first mounting planes 315 and the galvanometer 200 in the second direction Y are gradually increased and then gradually decreased. In other words, the first mounting planes 315 on both sides are close to the galvanometer 200, and the first mounting planes 315 on the middle are far from the galvanometer 200. The plurality of first mounting planes 315 are recessed in the second direction Y and disposed around the galvanometer 200.

In one embodiment, referring to fig. 6, 7 and 8, the laser radar 10 further includes a housing 500 and a control board, the housing 500 has a width direction (see the first direction X), a height direction (see the third direction Z) and a length direction (see the second direction Y), the control board includes a transmission board 610, an interface board 620 and a digital board 630, the interface board 620, the first transceiver module 110 and the digital board 630 are sequentially installed inside the housing 500 along the width direction, the second transceiver module 120 is installed between more than two first transceiver modules 110, the vibrating mirror 200 and the transmission board 610 are distributed inside the housing 500 along the length direction in the transmission board 610 and the first transceiver modules 110 are distributed inside the housing 500 along the height direction, the transmission board 610 is electrically connected with the interface board 620 and the digital board 630, respectively, the laser radar 10 is compactly arranged, so as to realize a very simple architecture design, and facilitate a miniaturized design.

Based on the above design, the vibrating mirror 200 is located above the first transceiver module 110, the vibrating mirror 200 is located highest in the height direction, the control board is staggered with the vibrating mirror 200 in the length direction or the width direction, the control board cannot increase the height of the whole machine, the height of the whole machine is reduced, and the miniaturized design of the laser radar 10 is facilitated.

Optionally, referring to fig. 9 and fig. 10, the transmission plate 610 has an avoidance hole 611, and the galvanometer 200 is located in the avoidance hole 611, that is, the projections of the avoidance hole 611 and the galvanometer 200 in the third direction Z do not overlap, so that the transmission plate 610 and the galvanometer 200 are prevented from overlapping in the third direction Z, so as to facilitate reducing the height of the whole machine.

Specifically, referring to fig. 9, the transmission board 610 is electrically connected to the interface board 620 by hot-pressing and soldering, so that the connection is more compact and the transmission capability is stronger, which is beneficial to the construction of a power network and a signal network. And, the transmission plate 610 and the interface plate 620 are connected as a whole, which facilitates the assembly of the control board.

Optionally, the transfer plate 610 is thermally compression soldered to the interface plate 620 via flexible flat wires 640.

Specifically, referring to fig. 9, the transmission board 610 is electrically connected to the digital board 630 by hot-pressing and soldering, so that the connection is more compact and the transmission capability is stronger, which is beneficial to the construction of a power network and a signal network. And, the transmission plate 610 and the digital plate 630 are connected as a whole, which facilitates the assembly of the control board.

Optionally, the transfer plate 610 is hot-pressed and soldered to the digital board 630 via flexible flat wires 640.

Specifically, referring to fig. 10, the galvanometer 200 is positioned between the fold mirror assembly 300 and the first transceiver module 110, thereby shortening the optical path distance, facilitating miniaturization of the optical path structure. The vibrating mirror 200, the folding mirror assembly 300 and the first transceiver modules 110 are distributed along the third direction Z, and may be partially overlapped, so that the folding mirror assembly 300 does not block the plurality of first transceiver modules 110 distributed along the first direction X at intervals, and also does not block the outgoing laser emitted by the first transceiver modules 110 along the second direction Y. The galvanometer 200 and the fold mirror assembly 300 are distributed in the third direction Z so that the incident light of the fold mirror assembly 300 is separated from the outgoing light of the fold mirror assembly 300 in the third direction Z without interfering with each other.

In one embodiment, referring to fig. 7, the housing 500 includes a base 510, a top cover 520, a first side cover 530 and a second side cover 540, wherein the top cover 520 covers the base 510, and the first side cover 530 and the second side cover 540 are respectively mounted on opposite sides of the top cover 520 in the width direction. The housing 500 forms a relatively closed cavity to house and protect other components of the lidar 10.

Specifically, top cover 520 has a detection window 521, and housing 500 further includes a window tab 550 sealingly mounted to detection window 521. The outgoing laser leaves the laser radar 10 through the window sheet 550 and is directed to the scanning area, and the echo laser returns to the galvanometer 200 through the window sheet 550.

Specifically, referring to fig. 8, 15 and 16, the base 510 is vertically provided with a first support plate 511 and a second support plate 512 spaced apart in a width direction, and the first transceiver module 110 and the second transceiver module 120 are disposed between the first support plate 511 and the second support plate 512. The first support plate 511 and the second support plate 512 have a certain rigidity and strength, can bear impact, protect the transceiver module, and define the overall distribution position of the transceiver module at the same time, separate the transceiver module from the interface plate 620 and separate the transceiver module from the digital plate 630, so as to realize electromagnetic shielding isolation, avoid mutual electromagnetic interference among the transceiver module, the interface plate 620 and the digital plate 630, and facilitate electrical isolation and thermal isolation.

Optionally, referring to fig. 16, the base 510 between the first support plate 511 and the second support plate 512 is provided with a first limiting part 513 to facilitate stable assembly of the first transceiver module 110 and the second transceiver module 120.

Optionally, a mounting structure, such as a mounting hole and a mounting post, is provided on the bottom wall of the first limiting portion 513, which facilitates the fixed assembly of the first transceiver module 110 and the second transceiver module 120. The bottom wall of the first limiting part 513 is provided with positioning structures, such as positioning holes and positioning pins, which are beneficial to the assembly and positioning of the first transceiver module 110 and the second transceiver module 120.

Optionally, the number of the first limiting parts 513 is equal to the sum of the numbers of the first transceiver modules 110 and the second transceiver modules 120, that is, the transceiver modules are limited one by one. The plurality of first stopper portions 513 are distributed along the width. For example, the base 510 is provided with spacing grooves arranged at intervals, spacing bosses are formed between adjacent spacing grooves, and the spacing grooves and the spacing bosses are both first spacing portions 513, so that the size increase caused by the existence of intervals between adjacent first spacing portions 513 is avoided.

Specifically, referring to fig. 15, the base 510 is provided with a second stopper 514 for assembling the fold mirror assembly 300 to facilitate stable assembly of the fold mirror assembly 300.

In the embodiment shown in fig. 15, the first stopper 513 and the second stopper 514 are spaced apart in the longitudinal direction. The second limiting portion 514 is located between the first support plate 511 and the second support plate 512, which is beneficial to protecting the fold mirror assembly 300. The bottom wall of the second limiting portion 514 is provided with a mounting structure and/or a fixing structure.

Specifically, in connection with fig. 7 and 16, four corners of the base 510 are fixedly connected with the top cover 520 to avoid occupying edges of the base 510, so as to avoid increasing the length and width dimensions of the case 500.

Optionally, the four corners of the base 510 are provided with mounting structures and/or securing structures.

Optionally, the first side cover 530 is mounted to both the base 510 and the top cover 520, improving the connection strength. For example, the bottom of the first side cover 530 is connected to the middle of the base 510 in the length direction, and both sides and the top of the first side cover 530 are connected to the top cover 520.

Optionally, the second side cover 540 is mounted to both the base 510 and the top cover 520, improving the connection strength. For example, the bottom of the second side cover 540 is connected to the middle of the base 510 in the length direction, and both sides and the top of the second side cover 540 are connected to the top cover 520.

Specifically, referring to fig. 8 and 9, the interface board 620 includes a first circuit board 621 and a second circuit board 622, and the first circuit board 621 and the second circuit board 622 are mounted between the first side cover 530 and the first transceiver module 110 at intervals in the width direction. In this way, in the case that the area of the interface board 620 is unchanged, the first circuit board 621 and the second circuit board 622 are distributed at intervals along the width direction, so that the height dimension is reduced, and the vibration mirror 200 is prevented from being raised, which is beneficial to the miniaturization design of the laser radar 10.

Optionally, the first circuit board 621 and the inner sidewall of the first side cover 530 are fixedly connected, so as to avoid being mounted on the base 510, and avoid the base 510 from being increased in width due to the mounting structure and/or the positioning structure for being matched with the first circuit board 621.

Optionally, the second circuit board 622 and the first support board 511 are connected and fixed away from the side wall of the second support board 512, so as to avoid being mounted on the base 510, and avoid the base 510 from being increased in width due to the mounting structure and/or the positioning structure for being matched with the second circuit board 622.

Alternatively, the first and second circuit boards 621 and 622 are received in a space between the first side cover 530 and the first support plate 511, and the base 510 positioned at the first side cover 530 and the first support plate 511 is provided with a third stopper 515, which is used to form a stopper for the first and second circuit boards 621 and 622.

Specifically, referring to fig. 9 and 10, the digital board 630 includes a third circuit board 631 and a fourth circuit board 632, and the third circuit board 631 and the fourth circuit board 632 are mounted between the second side cover 540 and the first transceiver module 110 at intervals in the width direction. In this way, in the case that the area of the digital board 630 is unchanged, the third circuit board 631 and the fourth circuit board 632 are distributed at intervals along the width direction, so that the height dimension is reduced, and the vibration mirror 200 is prevented from being raised, which is beneficial to the miniaturization design of the laser radar 10.

Optionally, the third circuit board 631 and the inner side wall of the second side cover 540 are fixedly connected, so as to avoid being mounted on the base 510, and avoid the base 510 from being increased in width due to a mounting structure and/or a positioning structure configured to be matched with the third circuit board 631.

Optionally, the fourth circuit board 632 and the second support board 512 are connected and fixed away from the side wall of the first support board 511, so as to avoid being mounted on the base 510, and avoid the base 510 from being increased in width due to the mounting structure and/or the positioning structure for matching with the fourth circuit board 632.

Alternatively, referring to fig. 8 and 16, the third and fourth circuit boards 631 and 632 are received in a space between the second side cover 540 and the second support plate 512, and the base 510 positioned at the second side cover 540 and the second support plate 512 is provided with the fourth limiting part 516, which fully uses the space to limit the third and fourth circuit boards 631 and 632.

In addition, the application also provides an automatic driving device, which comprises a driving device body 20 and the laser radar 10 of any one of the above, wherein the laser radar 10 is arranged on the driving device body 20. The autopilot device has any of the technical effects of the lidar 10 described above and will not be described in detail herein.

As shown in fig. 17, the autopilot apparatus is an unmanned car, and the lidar 10 is mounted inside or outside the car.

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

Claims (11)

1. The laser radar is characterized by comprising a first transceiver module, a second transceiver module and a galvanometer;

The first transceiver module and the second transceiver module are both used for transmitting outgoing laser and receiving echo laser, the echo laser is returned after the outgoing laser is reflected by an object in a detection area, the galvanometer is used for reflecting the outgoing laser transmitted by the first transceiver module and the second transceiver module and then transmitting the outgoing laser to the detection area, and the galvanometer is also used for reflecting the echo laser and then transmitting the reflected echo laser to the corresponding first transceiver module and the second transceiver module;

The number of the first transceiver modules is more than two, the detection areas corresponding to the first transceiver modules are spliced into a scanning area, and the detection areas corresponding to the second transceiver modules are at least partially overlapped with the scanning area.

2. The lidar of claim 1, wherein the probe points in the second probe region corresponding to the second transceiver module are offset from the probe points in the first probe region corresponding to the first transceiver module.

3. The lidar of claim 1, wherein the second transceiver module and the at least two first transceiver modules are each arranged at intervals along a first direction, and detection areas corresponding to the at least two first transceiver modules are spliced in sequence along the first direction;

at least one first transceiver module adjacent to the second transceiver module is obliquely arranged, and an arrangement included angle between an optical axis of the second transceiver module and an optical axis of the first transceiver module is an acute angle.

4. The lidar of claim 3, wherein the placement angle is 3-10 °.

5. The laser radar of claim 1, wherein the laser radar further comprises a foldback mirror assembly, the first transceiver module, the second transceiver module and the galvanometer are located on the same side of the foldback mirror assembly, the outgoing laser emitted by the first transceiver module and the second transceiver module is emitted to the foldback mirror assembly and reflected to be incident to the galvanometer, and the foldback mirror assembly is further used for reflecting the echo laser reflected by the galvanometer to be incident to the corresponding first transceiver module and second transceiver module;

The turning mirror assembly comprises a turning support and a plurality of reflecting lenses, the turning support is provided with a first side close to the vibrating mirror and a second side far away from the vibrating mirror, the turning support is provided with a light passing hole penetrating through the first side and the second side, part of the reflecting lenses are installed on the second side and cover the light passing hole, and part of the reflecting lenses are installed on the first side.

6. The lidar of claim 5, wherein the return bracket is provided with an adjustment notch extending through the first side and the second side, the adjustment notch extending to a side wall extending through the return bracket, and the reflective lens on the first side covers the adjustment notch.

7. The lidar of claim 5, wherein the reflection lens comprises more than two first lenses and more than two second lenses, wherein the first lenses are used for being matched with the first transceiver module in a one-to-one correspondence manner, the second lenses are used for being matched with the second transceiver module, more than two first installation planes are arranged on the second side, the first installation planes are sequentially connected along a first direction, the light-transmitting holes are in one-to-one correspondence with the first installation planes, the first installation planes are used for assembling the first lenses, the second installation planes are used for installing the second lenses, and the second installation planes are located between two adjacent light-transmitting holes.

8. The lidar of any of claims 1 to 7, further comprising a housing and a control board, wherein the housing has a width direction, a height direction and a length direction, the control board comprises a transmission board, an interface board and a digital board, the interface board, the first transceiver module and the digital board are sequentially installed inside the housing along the width direction, the second transceiver module is installed between more than two first transceiver modules, the vibrating mirror and the transmission board are distributed inside the housing along the length direction, the transmission board and the first transceiver module are distributed inside the housing along the height direction, and the transmission board is electrically connected with the interface board and the digital board respectively.

9. The lidar of claim 8, wherein the transmission plate is electrically connected to the interface plate by hot-press soldering, and/or the transmission plate is electrically connected to the digital plate by hot-press soldering.

10. The lidar of claim 8, wherein the housing comprises a base, a top cover, a first side cover and a second side cover, wherein the top cover is covered on the base, and the first side cover and the second side cover are respectively arranged on two opposite sides of the top cover in the width direction;

The interface board comprises a first circuit board and a second circuit board, and the first circuit board and the second circuit board are arranged between the first side cover and the first transceiver module at intervals along the width direction;

the digital board comprises a third circuit board and a fourth circuit board, and the third circuit board and the fourth circuit board are installed between the second side cover and the first receiving and transmitting module at intervals along the width direction.

11. An autopilot device comprising a autopilot body and a lidar according to any one of claims 1 to 10, wherein the lidar is mounted to the autopilot body.