Patent Publication Number: US-2023161046-A1

Title: Mirror adjusting device, reflecting assembly, lidar, and intelligent driving apparatus

Description:
CROSS-REFERENCE To RELATED APPLICATION 
     The present application is a continuation of International Application No. PCT/CN2020/101422, filed on Jul. 10, 2020, the content of which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     This application relates to the technical field of laser detection, and in particular, to a mirror adjusting device, a reflecting assembly, a LiDAR, and an intelligent driving apparatus. 
     BACKGROUND 
     A mirror is a device for reflecting light. The mirror in the prior art has a fixed position and can only reflect light in a single direction. Further, it is troublesome to adjust the position of the mirror. 
     SUMMARY 
     This application provides a mirror adjusting device, a reflecting assembly, a LiDAR, and an intelligent driving apparatus. The mirror adjusting device, the reflecting assembly, the LiDAR, and the intelligent driving apparatus can conveniently adjust the position of a mirror so that the mirror can reflect light from different angles. 
     According to one aspect of this application, a mirror adjusting device is provided, comprising:
         a mounting bracket, provided with a mirror mounting structure for mounting a mirror at one side and an adjusting part at the opposite side, where the adjusting part includes a first curved wall protruding in a direction away from the mirror mounting structure, and the middle of the first curved wall is provided with a connecting structure;   a fixing bracket, provided with a groove at one side, where the groove includes a second curved wall recessed toward the other side of the fixing bracket, and the other side of the fixing bracket is provided with a through hole penetrating through the second curved wall, and the first curved wall abuts against the second curved wall; and   an elastic assembly, including an elastic member and a connecting member, where the elastic member abuts against the surface wall of the fixing bracket away from the groove. One end of the connecting member is connected to the elastic member, and the other end passes through the through hole to be connected to the connecting structure.       

     The adjusting part can rotate about at least two intersecting axes relative to the fixing bracket. During the rotation of the adjusting part relative to the fixing bracket, the elastic member provides the adjusting part with a pressing force against the second curved wall via the connecting member. The pressing force is configured to fix the fixing bracket and the adjusting part. 
     According to some embodiments of this application, a side of the fixing bracket facing away from the groove is provided with a third curved wall protruding away from the groove, and the elastic member abuts against the third curved wall. 
     According to some embodiments of this application, the first curved wall is spherical; and/or
         The second curved wall is spherical; and/or   The third curved wall is spherical.       

     According to some embodiments of this application, the elastic member includes at least three elastic sheets. One end of each elastic sheet is connected to one end of the connecting member facing away from the adjusting part, and the other end abuts against the third curved wall. 
     According to some embodiments of this application, the end of each elastic sheet facing away from the connecting member is provided with a contact point protruding toward the third curved wall, respectively, and each contact point abuts against the third curved wall, respectively. 
     According to some embodiments of this application, the connecting member is a threaded connecting member, and the threaded connecting member is in threaded connection with a connecting structure. 
     According to sonic embodiments of this application, the mirror adjusting device further includes:
         a base, connected to the fixing bracket and configured to connect the mirror adjusting device to an external component.       

     According to sonic embodiments of this application, the mirror adjusting device further includes:
         a fixing glue, connected to the fixing bracket and the elastic member, and configured to fix the elastic member and the fixing bracket.       

     A second aspect of this application also provides a reflecting assembly for LiDAR, including:
         a mirror, including a reflecting surface for reflecting laser.       

     For the mirror adjusting device of any one of the foregoing, the mirror is connected to a mirror mounting structure, and the reflecting surface is away from the mirror mounting structure. 
     A third aspect of this application also provides LiDAR, including a foregoing reflecting assembly. 
     A fourth aspect of this application also provides an intelligent driving apparatus, including a foregoing LiDAR. 
     In a mirror adjusting device provided by this application, a first curved wall and a second curved wall of a mounting bracket are embedded and abutted. An adjusting part can rotate about at least two intersecting axes relative to a fixing bracket, which gives the adjusting part the ability to adjust air angle in two directions relative to the fixing bracket. The angle change of the adjusting part causes an angle of the mirror mounted on the mirror mounting structure to change relative to the fixing bracket, thus achieving the objective of adjusting the angle of the mirror. Particularly, in the embodiment of this application, during the rotation of the adjusting part relative to the fixing bracket, the elastic member always provides the adjusting part with a pressing force against the second curved wall. This pressing force is configured to fix the relative positions of the adjusting part and the fixing bracket, which allows the mirror to be fixed at any time during the adjustment of the angle of the mirror. There is no need to arrange a positioning device correspondingly, thereby simplifying a fixing step of the mirror. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       To explain embodiments of this application or the technical solutions in the prior art more clearly, the following briefly introduces the drawings used in the embodiments or the prior art, The drawings in the following description are only some embodiments of this application. The person skilled in the art can obtain other drawings based on these drawings without inventive labor. 
         FIG.  1    shows an exploded schematic diagram of a LiDAR in an embodiment of this application; 
         FIG.  2    shows a partially enlarged schematic diagram of  FIG.  1   ; 
         FIG.  3    shows a first perspective diagram of a reflecting assembly according to an embodiment of this application; 
         FIG.  4    shows a second perspective diagram of a reflecting assembly according to an embodiment of this application; 
         FIG.  5    shows a first exploded schematic diagram of a reflecting assembly according to an embodiment of this application; 
         FIG.  6    shows a second exploded schematic diagram of the reflecting assembly according to an embodiment of this application; 
         FIG.  7    shows a schematic diagram of a laser detection field of view of a LiDAR in the prior art, wherein an a-axis shows a horizontal 0-degree field of view line; 
         FIG.  8    shows a perspective diagram of a LiDAR according to an embodiment of this application; 
         FIG.  9    shows an exploded schematic diagram of a LiDAR according to an embodiment of the application; 
         FIG.  10    shows a perspective schematic diagram of a combination of a reflecting assembly, a galvanometer module, and a laser transceiving module according to an embodiment of this application; 
         FIG.  11    shows a schematic top view of a combination of a reflecting assembly, a galvanometer module, and a laser transceiving module according to an embodiment of this application; 
         FIG.  12    shows a schematic front view of a combination of a reflecting assembly, a galvanometer module, and a laser transceiving module according to an embodiment of this application; 
         FIG.  13    shows a schematic rear view of a combination of a reflecting assembly, a galvanometer module, and a laser transceiving module according to an embodiment of this application; 
         FIG.  14    shows a first perspective diagram of a base according to an embodiment of this application; 
         FIG.  15    shows a partially enlarged schematic diagram of A of  FIG.  14   ; 
         FIG.  16    shows a schematic diagram of a laser detection field of view of a LiDAR according to this application, where an abscissa is a horizontal angle of field of view, and an ordinate is a vertical angle of field of view; 
         FIG.  17    shows a perspective diagram of a galvanometer module according to an embodiment of this application; 
         FIG.  18    shows a second perspective diagram of a base according to an embodiment of this application; 
         FIG.  19    shows a schematic diagram of a car according to an embodiment of this application; 
         FIG.  20    shows a schematic diagram of a car according to another embodiment of this application; 
         FIG.  21    shows a perspective diagram of the combination of tooling according to an embodiment of this application and some parts of a LiDAR; 
         FIG.  22    is a partially enlarged schematic diagram of  FIG.  21   ; 
         FIG.  23    shows a perspective diagram of tooling according to an embodiment of this application; 
         FIG.  24    shows an exploded schematic diagram of tooling according to an embodiment of this application; 
         FIG.  25    shows a perspective diagram of an adjusting assembly according to an embodiment of this application; 
         FIG.  26    shows a first exploded schematic diagram of an adjusting assembly according to an embodiment of this application; and 
         FIG.  27    shows a second exploded schematic diagram of an adjusting assembly according to an embodiment of this application. 
     
    
    
     DETAILED DESCRIPTION 
     In order to make the objectives, technical solutions, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are only used to explain this application, but not to limit this application. 
     A mirror is a device for reflecting light. The mirror in the prior art has a fixed position and can only reflect light in a single direction. Further, it is troublesome to adjust the position of the mirror. 
     An embodiment of this application provides a mirror adjusting device. The mirror adjusting device can easily adjust the angle of the mirror, and the position of the mirror can be fixed immediately after the angle of the mirror is adjusted. The mirror adjusting device can be used in any scene where the mirror angle needs to be adjusted. For example, a vanity mirror, a dressing mirror, etc. For ease of description, this application takes the mirror adjusting device in a LiDAR as an example. It should be noted that the application of the mirror adjusting device in the embodiment of this application is not limited to the technical field of LiDAR. 
     As shown in  FIGS.  1 - 6   , the mirror  121  adjusting device can include a mounting bracket  122 , a fixing bracket  123 , and an elastic assembly. 
     One side of the mounting bracket  122  is provided with a mirror mounting structure  1221  for mounting the mirror  121 . The mirror mounting structure  1221  is configured to mount and fix the mirror  121 . In some embodiments, the mirror mounting structure  1221  can be a suction cup, an adhesive wall for bonding the mirror  121 , or a clamping structure for clamping the mirror  121 , or the like. A structure for mounting the mirror  121  is long publicized in the prior art, and will not be repeated here. The other side of the mounting bracket  122  opposite to the mirror mounting structure  1221  is provided with an adjusting part. The adjusting part includes a first curved wall  1222  (a convex smooth wall surface) protruding in a direction away from the mirror mounting structure  1221 , and a connecting structure  1223  is provided in the middle of the first curved wall  1222 . The first curved wall  1222  can be a partial wall surface of an elliptical sphere or a partial wall of a sphere (or the first curved wall  1222  is spherical). In some embodiments, the first curved wall  1222  can be half of the wall surface of the elliptical sphere or half of the wall surface of the sphere. 
     A groove is provided on one side of the fixing bracket  123 . The groove includes a second curved wall  1233  (a concave smooth wall surface) recessed toward the other side of the fixing bracket  123 . The groove is configured to be embedded and connected to the adjusting part. After the groove is connected to the adjusting part, the second curved wall  1233  abuts against the first curved wall  1222 . The second curved wall  1233  can be a partial wall surface of an elliptical sphere or a partial wall of a sphere (or the second curved wall  1233  is spherical). In some embodiments, the second curved wall  1233  can be half of the wall surface of the elliptical sphere or half of the wall surface of the sphere. The other side of the fixing bracket  123  opposite to the groove is also provided with a through hole  1232  penetrating through the second curved wall  1233 , The through hole  1232  can be a round-hole structure, a square-hole structure, or a hole-like structure in other shapes. 
     The elastic assembly includes an elastic member  124  and a connecting member  125 . The elastic member  124  is made of an elastic material, and when the elastic member  124  is deformed within a certain limit, the elastic member  124  can generate an elastic force to return to the original state. The elastic member  124  can be a spring, an elastic sheet  1241 , and the like. One end of the elastic member  124  is connected to the connecting member  125 , and the other end abuts against the surface wall of the fixing bracket  123  away from the groove. One end of the connecting member  125  is connected to the elastic member  124 , and the other end passes through the through hole  1232  to be connected to the connecting structure  1223 . When the elastic member  124  is connected to the connecting member  125  and the fixing bracket  123  at the same time, pressure on the fixing bracket  123  can be generated. This pressure can increase friction between the elastic member  124  and the fixing bracket  123 , so that the elastic member  124  is fixed to the fixing bracket  123 . In addition, the elastic force generated by the elastic member  124  is transferred from the connecting member  125  to the adjusting part, so that the adjusting part presses against the second curved wall  1233  of the groove. Therefore, the adjusting part is fixed in the groove. 
     In some embodiments, the adjusting part can rotate relative to the fixing bracket  123  about at least two intersecting axes (the two axes can be perpendicular to each other). And during the rotation of the adjusting part relative to the fixing bracket  123 , the elastic member  124  provides the adjusting part with a pressing force against the second curved wall  1233  via the connecting member  125 . The pressing force is configured to fix the fixing bracket  123  and the adjusting part. That is, during the rotation of the adjusting part relative to the fixing bracket  123 , the elastic member  124  always undergoes elastic deformation and generates an elastic force. In addition, the elastic force generated by the elastic member  124  can always fix the adjusting part in the groove. In this way, after the mirror  121  adjusting device is mounted with the mirror  121 , the mirror  121  can not only adjust the arrangement angle within a certain range, but also be positioned immediately after adjusting to a set angle, and there is no need to arrange a positioning device correspondingly, which simplifies the fixing step of the mirror  121 . 
     When the mounting bracket  122  moves relative to the fixing bracket  123 , the mounting bracket  122  drives the connecting member  125  to move relative to the fixing bracket  123 . The connecting member  125  drives the elastic member  124  to move relative to the fixing bracket  123 . If the elastic force generated by the elastic member  124  needs to be able to fix the mounting bracket  122  and the fixing bracket  123 , the direction of the elastic force needs to be parallel to the direction of an interaction force between the fixing bracket  123  and the adjusting part. When the relative position of the elastic member  124  and the fixing bracket  123  is changed, it is difficult to ensure that the elastic force generated shall be parallel to the direction of an interaction force between the fixing bracket  123  and the adjusting part. In order to solve the foregoing problems, in one embodiment, the side of the fixing bracket  123  away from the groove is provided with a third curved wall  1231  protruding away from the groove, and the elastic member  124  abuts against the third curved wall  1231 . In this way, when the elastic member  124  moves relative to the fixing member, the direction of the elastic force generated by the elastic member  124  can be adjusted at any time, The angle change of the adjustment is synchronized with the angle change of the interaction force between the adjusting part and the fixing bracket  123 . Such a structure allows the mounting bracket  122  to be more stably fixed to the fixing bracket  123 . Likewise, the third curved wall  1231  can be a partial wall of an elliptical sphere or a partial wall of a sphere (or the third curved wall  1231  is spherical). In some embodiments, the third curved wall  1231  can be half of the wall of the elliptical sphere or half of the wall of the sphere. 
     As shown in  FIG.  5   , the elastic member  124  can include at least three elastic sheets  1241 . One end of each elastic sheet  1241  is connected to one end of the connecting member  125  facing away from the adjusting part, and the other end abuts against the third curved wall  1231 . In some embodiments, the three elastic sheets  1241  can all be elongated, and each elastic sheet  1241  is arranged in a circular array with the connecting member  125  as a center. 
     Since the elastic member  124  is in contact with the third curved wall  1231 , when the elastic member  124  moves relative to the third curved wall  1231 , a frictional resistance is generated between the elastic member  124  and the third curved wall  1231 , and the frictional resistance hinders the elastic member  124  from moving relative to the third curved wall  1231 . In order to solve the foregoing problems, in one embodiment, the end of each elastic sheet  1241  away from the connecting member  125  is provided with a contact point  1242  protruding toward the third curved wall  1231 , respectively, and each contact point  1242  abuts against the third curved wall  1231 , respectively. The elastic member  124  abuts against the third curved wall  1231  by the contact point, thereby reducing the contact area between the elastic member  124  and the third curved wall  1231 , reducing the friction between the elastic member  124  and the third curved wall  1231 , and making it easier for the elastic member  124  to move relative to the fixing bracket  123 . 
     The connecting member  125  is mainly configured to connect the elastic member  124  and the connecting structure  1223 , and can be any known connecting member. In some embodiments, the connecting member  125  is a threaded connecting member  125 . As shown in  FIG.  5   , the connecting member  125  is a bolt, and the connecting structure  1223  is a threaded hole. One end of the connecting member  125  is connected to the elastic member  124 , and the other end passes through the through hole  1232  on the fixing bracket  123  to be in threaded connection with the connecting structure  1223 . When the connecting member  125  is a bolt, correspondingly, in order to facilitate the assembly of the mirror  121  adjusting device, the mirror  121  adjusting device can further include a base  126  connected to the fixing bracket  123 , and the base  126  is configured to connect the mirror  121  adjusting device to an external component. As shown in  FIG.  5   , the base  126  can be a plate-shaped member, and a plane on Which the base  126  is arranged is perpendicular to the axis of the through hole  1232  on the fixing bracket  123 . The fixing bracket  123  can be mounted on the base  126  or integrally formed with the base  126 . The base  126  can have a threaded hole, and the connecting member  125  is in threaded connection with the threaded hole. 
     When the first curved wall  1222 , the second curved wall  1233 , and the third curved wall  1231  are all part of a spherical surface, no matter how the adjusting part moves relative to the fixing bracket  123 , the fixing bracket  123 , the elastic assembly and the adjusting part are fixed relatively stably. When the first curved wall  1  the second curved wall  1233 , and the third curved wall  1231  are not part of the spherical surface, even if the adjusting part is fixed in the groove of the fixing bracket  123 , the adjusting part still has a trend of moving relative to the fixing bracket  123 . Therefore, in order to stabilize the positioning of the adjusting part, the fixing bracket  123  and the elastic assembly, the mirror  121  adjusting device can further include a fixing glue. The fixing glue is connected to the fixing bracket  123  and the elastic member  124  to fix the elastic member  124  and the fixing  bracket  123 . That is, after adjusting the relative position of the adjusting part relative to the fixing bracket  123 , the elastic member  124  and the fixing bracket  123  can be fixed by the fixing glue, so that the mirror  121  adjusting device does not cause the adjusting part and the fixing bracket  123  to spontaneously move during use. 
     As shown in  FIGS.  1 - 6   , a second aspect of this application also provides a reflecting assembly  120  for a LiDAR. The reflecting assembly  120  includes a minor  121  adjusting device and a mirror  121  according to any of the above-mentioned embodiments. The mirror  121  is mounted on a mirror mounting structure  1221  of the mirror  121  adjusting device, and the reflecting surface of the mirror  121  faces away from the mirror mounting structure  1221 . 
     A third aspect of this application also provides a LiDAR  100 , which includes a reflecting assembly  120  according to any of the foregoing embodiments. A mirror  121  in the reflecting assembly  120  is configured to reflect laser. In addition, during a mounting or debugging process, the optical path of the reflected laser can be adjusted by changing the arrangement angle of the mirror  121 . 
     In the prior art, when a LiDAR has a plurality of reflecting devices, the distance and the deflection angle of a galvanometer device relative to each reflecting device affect a detection field of view corresponding to each reflecting device. The reflecting device at the edge is farther relative to the galvanometer device. The relative deflection angle is larger, so the detection field of view generated moves upwards and deviates from a horizontal 0-degree detection field of view.  FIG.  7    shows five detection fields of view. An edge detection field of view at both sides deviates from an alignment line a of the horizontal 0-degree detection field of view upwards. It can be understood that the horizontal 0-degree detection field of view is a target detection region. When the edge detection field of view deviates from a horizontal detection field of view, an edge transceiving device cannot detect an object at a target region, which affects the overall detection efficiency of the LiDAR for the target region. 
     As shown in  FIGS.  8 - 18   , this application also provides a LiDAR  100 . The LiDAR  100  has a plurality of laser transceiving devices  141 . Under the premise that the reflected laser field of view formed by each laser transceiving device  141  meets the requirements, the LiDAR  100  can make the volume of the LiDAR  100  smaller. In some embodiments, the LiDAR  100  includes a housing, a laser transceiving module  140 , a reflecting assembly  120 , and a gal vanometer module  130 . It should be noted that, for the convenience of description, it is defined that the LiDAR  100  has an intermediate optical path axis  150  arranged in the middle of the detection region, and the intermediate optical path axis  150  can serve as the axis  150  of the LiDAR  100  pointing in a straight forward direction. 
     The housing includes a base  110 , and the base  110  can be a regular plate-shaped member or an irregular structure. The base  110  can be arranged inside the LiDAR  100  to provide a carrier for other components of the LiDAR  100 . The base  110  can also be a part of a housing of the LiDAR  100 . The base  110  includes a bearing surface  111  facing the inside of the LiDAR  100 , and the galvanometer module  130  of the LiDAR  100  is fixed on the bearing surface  111 . The bearing surface  111  can be a flat surface or an irregular curved surface, and the specific shape of the bearing surface  111  depends on specific assembly requirements. 
     The bearing surface  111  of the base  110  is provided with an adjusting structure  160  for adjusting the distance between the reflecting assembly  120  and the bearing surface  111 . The adjusting structure  160  can be an independent component and connected to the hearing surface  111 . For example, the adjusting structure  160  can be connected to the bearing surface  111 . The bearing surface  111  is bonded or threaded. The adjusting structure  160  can also be integrally provided with the base  110 , that is, the adjusting structure  160  is a convex or concave structure on the bearing surface  111  of the base  110 . 
     The reflecting assembly  120  includes a plurality of mirrors  121 , and each mirror  121  is configured to reflect the light emitted from the LiDAR  100  to the galvanometer module  130 , respectively. As shown in  FIGS.  9 - 11   , the reflecting assembly  120  in  FIG.  11    has seven components for reflecting, but the three reflecting assemblies located in the middle and on both sides of this application are configured to detect and scan the ROI area. The mirror that belongs to the ROI area is therefore not used as the mirror  121  in this embodiment. 
     In some embodiments, four mirrors  121  (in other embodiments, the number of minors is not limited, and can be two or more) are provided. Each mirror  121  independently receives emergent laser inside the LiDAR  100 , and reflects the emergent laser to the galvanometer module  130 . Particularly, each mirror  121  is fixed to the adjusting structure  160 , respectively. The adjusting structure  160  is configured so that each mirror  121  mounted thereon has a corresponding distance from the bearing surface  111  (for example, as shown in  FIG.  12   , the mirrors  121  that are arranged on both sides of a middle optical path axis  150  and to which the distance from the middle optical path axis  150  is the same have the same height), so that the emergent laser reflected by each mirror  121  forms a preset laser detection field of view (which can be an optimal laser detection field of view) outside the LiDAR  100 . In other embodiments, after the mirror  121  is mounted in the adjusting structure  160 , the distance of each mirror  121  relative to the bearing surface  111  can also be different, so that the laser detection field of view formed outward by the emergent laser reflected by each mirror  121  at the LiDAR  100  is in the best state. 
     It should be noted that in some embodiments, when the adjusting structure  160  all protrude from the bearing surface  111 , the distance from the mirror  121  to the bearing surface  111  is determined by reference to the part of the mirror  121  closest to the bearing surface  111  instead of the center of the mirror  121 . Since the adjusting structure  160  can raise the mirror  121  corresponding to the emitting laser that deviates from the middle optical path axis  150  by a certain distance relative to the bearing surface  111 . This structure can offset the influence on a laser detection region caused by its deviation from the middle optical path axis  150 . After the mirror  121  is raised, a space occupied by the mirror  121  is an original surplus space, so this structure does not occupy additional volume, so that the overall volume of the LiDAR  100  remains unchanged. Therefore, compared with the LiDAR in the prior art, the volume of the LiDAR  100  in this disclosure can be smaller. 
     When the adjusting structure  160  and the base  110  are integrally arranged, the adjusting structure  160  can be a boss on the bearing surface  111  or can be a groove on the bearing surface  111 , or part of the adjusting structure is the boss on the bearing surface  111  and part of the adjusting structure is the groove on the bearing surface  111 . In the above three cases, the arrangement height from the mirror  121  to the base  110  can be adjusted. When the adjusting structures  160  are all the bosses on the bearing surface  111 , the adjusting structure  160  can include a plurality of second bosses  161  arranged on the bearing surface  111 , and each mirror  121  is connected to each second boss  161  in a one-to-one correspondence. The size of each second boss  161  in a direction perpendicular to the bearing surface  111  is equal to a distance from the mirror  121  connected to the hearing surface  111  to the bearing surface  111 . That is, the arrangement height from each mirror  121  to the base  110  is determined by the size of each second boss  161  in the direction perpendicular to the bearing surface  111 . When the size of the second boss  161  in the direction perpendicular to the hearing surface  111  is larger, the distance of the corresponding mirror  121  relative to the bearing surface  111  is larger. When the size of the second boss  161  in the direction perpendicular to the bearing surface  111  is smaller, the distance from the corresponding mirror  121  to the bearing surface  111  is smaller. 
     In order to facilitate the positional arrangement of the plurality of mirrors  121 , each mirror  121  can be arranged around the galvanometer module  130 . In some embodiments, the projection of the center of each mirror  121  on the bearing surface  111  can be arranged in a common arc. When the mirror  121  is arranged in the above structure, to obtain an optimal detection field of view, the adjusting structure  160  can be configured to make a distance from the mirror  121  that deviates from the middle optical path axis  150  to the bearing surface  111  greater. That is, the size of the second boss  161  perpendicular to the bearing surface  111  that deviates from the middle optical path axis  150  is larger. In this way, the height of the field of view corresponding to the mirror  121  located far away from the middle optical path axis  150  deviating from a center 0-degree field of view alignment line can be reduced. A specific detection field of view effect is shown in  FIG.  16   , thereby improving the detection efficiency of a detection module at the edge. In turn, the overall detection efficiency of the LiDAR is improved. 
     The LiDAR  100  includes the laser transceiving module  140 , and the laser transceiving module  140  is arranged in the housing of the LiDAR  100 . As shown in  FIG.  11   , in some embodiments, the reflecting assembly  120  is arranged on the side of the galvanometer module  130 , and the laser transceiving module  140  is arranged on the side of the galvanometer module  130  away from the reflecting assembly  120 . The laser transceiving module  140  includes a plurality of laser transceiving devices  141 , and an emergent laser generated by each laser transceiving device  141  emits to each mirror  121  in a one-to-one correspondence. The number of laser transceiving devices  141  can be the same as the number of mirrors  121 , and the laser transceiving devices  141  and the mirrors  121  have a one-to-one correspondence. In other embodiments, the number of laser transceiving devices  141  can be more than the number of mirrors  121 , and the emergent laser generated by the plurality of laser transceiving devices  141  emits to the same mirror  121  at the same time. The laser transceiving module  140  and the reflecting assembly  120  are arranged on both sides of the galvanometer module  130 , respectively, thereby improving the integration degree of the LiDAR  100 , and reducing the overall occupied space of the LiDAR  100 . 
     The laser transceiving device  141  can be fixed to the base  110  and other positions in the housing. To achieve better integration, each laser transceiving device  141  can be fixed to the base  110 . When the laser transceiving device  141  is fixed to the base  110 , each laser transceiving device  141  is arranged at the adjusting structure  160 . The adjusting structure  160  is configured so that each laser transceiving device  141  mounted thereon has a corresponding distance from the bearing surface  111 . Therefore, the emergent laser generated by each laser transceiving device  141  emits to the corresponding mirror  121  along a preset path. The above structure enables each laser transceiving device  141  to correspond to the position of each mirror  121 . 
     Likewise, the parts of the adjusting structure  160  that is connected to the laser transceiving device can all be bosses on the bearing surface  111  or can all be grooves on the bearing surface  111 , or can partially be bosses on the bearing surface  111  and partially be grooves on the bearing surface  111 . In the foregoing three cases, the arrangement height from the laser transceiving device  141  to the base  110  can be adjusted. When the part of the adjusting structure  160  that is connected to the laser transceiving device  141  is the boss on the bearing surface  111 , the adjusting structure  160  further includes a plurality of first bosses  162  arranged on the bearing surface  111 . Each laser transceiving device  141  is connected to each first boss  162  in a one-to-one correspondence. The size of each first boss  162  in the direction perpendicular to the bearing surface  111  is equal to a distance from the laser transceiving device  141  connected thereto to the bearing surface  111 . That is, the arrangement height from each laser transceiving device  141  to the base  110  is determined by the size of each first boss  162  in the direction perpendicular to the bearing surface  111 . When the size of the first boss  162  in the direction perpendicular to the bearing surface  111  is larger, a distance from the corresponding laser transceiving device  141  to the bearing surface  111  is larger. When the size of the first boss  162  in the direction perpendicular to the bearing surface  111  is larger, a distance from the corresponding laser transceiving device  141  to the bearing surface  111  is smaller. 
     In some embodiments, when a certain laser transceiving device  141  emits laser to a certain mirror  121 , it can be considered that the laser transceiving device  141  corresponds to the mirror  121 . The first boss  162  to which the laser transceiving device  141  is connected corresponds to the second boss  161  connected to this mirror  121 . In some embodiments, the size of the first boss  162  and the second boss  161  corresponding to each other perpendicular to the bearing surface  111  can be the same, so that the raised height of the laser transceiving device  141  and the mirror  121  corresponding to each other are the same. 
     In some embodiments, the base  110  can be an outer shell of the LiDAR  100 , wherein the bearing surface  111  of the base  110  is a wall surface of the base facing the inside of the LiDAR  100 . At this time, the base  110  further includes an outer wall surface  112  opposite to the bearing surface  111 , and the outer wall surface  112  is arranged outside the LiDAR.  100 . 
     When the adjusting structure  160  and the base  110  are integrally arranged, since the adjusting structure  160  is a protrusion on the bearing surface  111 , the adjusting structure  160  increases the material of the base  110  on the one hand, and also increases the weight of the base  110  on the other hand. To reduce the material of the base  110  and the weight of the base  110 . in some embodiments, a plurality of first heat dissipation grooves (not shown in the figure) can be arranged on the outer wall surface  112  of the base  110 . Each first heat dissipation groove is arranged in the orthographic projection region of each first boss  161  on the outer wall surface  112 . The first heat dissipation groove can also increase the outer surface area of the LiDAR  100 , so the heat dissipation performance of the LiDAR  100  can also be improved. The size and depth of the first heat dissipation groove depend on specific requirements. Each first boss  161  and each second boss  162  can be correspondingly provided with one first heat dissipation groove or a plurality of first heat dissipation grooves, When the material strength of the base  110  is sufficient, the depth of the first heat dissipation groove can be greater than the minimum wall thickness of the base  110 . Similarly, a plurality of second heat dissipation grooves  113  can also be provided on the outer wall surface  112 . Each second heat dissipation groove  113  is arranged in the orthographic projection region of each second boss  162  on the outer wall surface  112  in a one-to-one correspondence. The first heat dissipation groove can dissipate heat for the reflecting assembly  120 . The second heat dissipation groove  113  can dissipate heat for the laser transceiving module  140 . 
     When the laser transceiving module  140  and the reflecting assembly  120  are arranged on both sides of the galvanometer module  130 , respectively, to make the emergent laser generated by the laser transceiving module  140  emit to the reflecting assembly  120 , the height from the galvanometer module  130  to the laser transceiving module  140  and the reflecting assembly  120  can be adjusted. In some embodiments, as shown in  FIG.  17   , the galvanometer module  130  can include a bracket  131  and a galvanometer device  132 . The bracket  131  is connected to the bearing surface  111 . The galvanometer device  132  is arranged on the bracket  131 . The bracket  131  can include a relief channel. The emergent laser generated by each laser transceiving device  141  passes through the relief channel and emits to each mirror  121  in a one-to-one correspondence. The bracket  131  is configured to raise the height of the galvanometer module  130 . The relief channel in the bracket  131  is configured to allow the laser transceiving module  140  to generate the emergent laser to pass through and emit to the reflecting assembly  120 . 
     In some embodiments, the galvanometer module  130  can further include a light shielding plate  133 . The light shielding plate  133  is arranged in the relief channel for shielding the laser reflected by the reflecting assembly  120  to the laser transceiving module  140 . The shielding plate  133  can be a separate component and connected to the bracket  131 . The light shielding plate  133  can also be integrally formed with the bracket  131 . The light shielding plate  133  can prevent the stray light reflected by the reflecting assembly  120  from returning to the laser transceiving device  141 , thereby affecting the detection accuracy. When the reflecting assembly  120  has a plurality of mirrors  121 , the light shielding plate  133  can include a plurality of relief holes  1331 . The emergent laser generated by each laser transceiving device  141  correspondingly passes through one relief hole  1331  and emits to the mirror  121 . That is, the number of the relief holes  1331  corresponds to the number of the laser transceiving devices  141  one by one. When the number of the laser transceiving devices  141  is the same as the number of the mirrors  121 , the number of the laser transceiving device  141 , the mirrors  121 , and the relief holes  1331  is the same. The size of the relief hole  1331  depends on actual demands, and is not repeated here. 
     In some embodiments, the reflecting assembly  120  can further include the mirror adjusting device in any of the foregoing embodiments. The mirror adjusting device is configured to mount the foregoing mirror  121  for reflecting laser. When the reflecting assembly  120  has the plurality of mirrors  121 , the plurality of mirror adjusting devices can be added. Each mirror adjusting device is mounted with each mirror  121  in a one-to-one correspondence. 
     As shown in  FIGS.  19 - 20   , a fourth aspect of this application also provides an intelligent driving apparatus  10 . The intelligent driving apparatus  10  includes the LiDAR  100  in any of the foregoing embodiments. In some embodiments, the intelligent driving apparatus  10  can be a car. When the intelligent driving apparatus  10  is a car, the intelligent driving device  10  also includes a car body  200 . The LiDAR  100  is mounted on the outer part of the car body  200  or embedded in the car body  200 . When the LiDAR  100  is mounted outside the car body  200 , the LiDAR  100  is preferably mounted on the roof of the car body  200 . 
     In all the foregoing embodiments, a mirror adjusting device capable of adjusting the position of a mirror is disclosed. The mirror adjusting device in the foregoing embodiments can adjust the position of the mirror, but it is difficult to ensure the adjustment accuracy. To improve the adjustment accuracy of the position of the mirror, referring to  FIGS.  21 - 27   , the following also provides tooling for adjusting the position of the mirror. The tooling can adjust the position of the mirror separately during the assembly process of the mirror, and can also cooperate with the mirror adjusting device in the previous embodiment to adjust the position of the mirror together. When the tooling adjusts the position of the mirror separately, after the position adjustment of the mirror is completed, the position of the mirror needs to he fixed with a fixing component (such as an adhesive, etc.). When the tooling cooperates with the mirror adjusting device in the foregoing embodiments to adjust the position of the mirror together, the mirror is immediately fixed after the position adjustment of the mirror is completed. 
     In some embodiments, as shown in  FIGS.  21 - 27   , a fifth aspect of this application also provides tooling for adjusting the mirror. The tooling includes a fixing base  210  and an adjusting assembly  220 . The fixing base  210  has a positioning structure. The positioning structure is configured to position the fixing device  240 . The fixing device  240  is a device configured to fix the mirror  121 . For example, in the LiDAR, the mirror  121  needs to be fixed inside the LiDAR. If the position of the mirror  121  relative to a housing is adjusted, the entire housing of the LiDAR can be regarded as the fixing device  240 . 
     The adjusting assembly  220  is mounted at the fixing base  210 . The adjusting assembly  220  includes a positioning portion  221  and a connecting portion  222 . The positioning portion  221  is configured to fix the mirror  121 . The connecting portion  222  is connected to the fixing base  210  and the positioning portion  221 , respectively. The adjusting assembly  220  is configured such that the relative positions of the connecting portion  222  and the positioning portion  221  can be adjusted. Therefore, the position of the minor  121  relative to the fixing device  240  can be adjusted by adjusting the position of the positioning portion  221  relative to the connecting portion  222 . That is, the arrangement position of the mirror  121  relative to the fixing device  240  needs to be adjusted. In some embodiments, the fixing device  240  is first fixed on the fixing base  210 . The position of the mirror  121  relative to the fixing base  210  is adjusted with the adjusting assembly  220  connected to the mirror  121  and the fixing base  210 . The position of the adjusting mirror  121  relative to the fixing device  240  is further adjusted. In addition, during the adjustment process, the positioning portion  221  of the adjusting assembly  220  first positions the mirror  121 , and then adjusts the position of the mirror  121  by adjusting the relative position of the connecting portion  222  and the positioning portion  221 . Compared with the manual adjustment of the position of the mirror  121  in the prior art, a solution of adjusting the position of the mirror  121  after positioning the mirror  121  by means of tooling has higher adjustment accuracy. 
     It should be noted that the foregoing “positioning portion  221  is configured to fix the minor  121 ” includes the positioning portion  221  to directly contact the mirror  121  to position the mirror  121 , and also includes the positioning portion  221  to fix the mirror  121  via an intermediate object. For example, the positioning portion  221  is connected to the middle object. The mirror  121  is fixed to the intermediate object, that is, the positioning portion  221  is configured to fix the minor  121 . Similarly, the foregoing “positioning structure is configured to position the fixing device  240 ” includes: a positioning structure directly positions the fixing device  240  or indirectly positions the fixing device  240 . In some embodiments, when the adjusting assembly  220  adjusts the position of the mirror  121 , the mirror  121  can be adjusted to move or rotate, and mirror  121  can be adjusted to move while rotating. No matter in which manner the adjusting assembly  220  can adjust the mirror  121  to move, it is considered that the adjusting assembly  220  can adjust the position of the mirror  121 . 
     For convenience, the mirror  121  is adjusted to a specific angle with the fixing device  240 . In some embodiments, the fixing base  210  can further include an adjusting boss  211 . The adjusting boss  211  includes an adjusting surface  2111 . The connecting portion  222  is connected to the adjusting surface  2111 . In this way, when the adjusting boss  211  is designed, the adjusting surface  2111  and the fixing base  210  can be at a specific angle, so that after the adjusting assembly  220  is mounted at the adjusting surface  2111 , the positioning portion  221  can fix the mirror  121  at a preset angular position, thereby facilitating the adjustment of the mirror  121 . 
     When the LiDAR has the plurality of mirrors  121  for reflecting laser, the tooling in this application can include the same number of adjusting assemblies  220  as the mirrors  121 . Each adjusting assembly  220  is connected to the fixing base  210 . Each adjusting assembly  220  is connected to each mirror  121  in a one-to-one correspondence to adjust the position of each mirror  121  relative to the fixing device  240  correspondingly. Similarly, the fixing base  210  can also include the same number of adjusting bosses  211  as the adjusting assemblies  220 . Each adjusting boss  211  includes one adjusting surface  2111 . Each adjusting surface  2111  and the fixing base  210  are at a specific angle. Each adjusting assembly  220  is connected to the adjusting surfaces  2111  in a one-to-one correspondence. 
     As shown in  FIGS.  25  to  26   , the positioning portion  221  includes a first clamping block  2211 , a second clamping block  2212 , and an intermediate connecting block. The first clamping block  2211  and the second clamping block  2212  are elastically connected to the intermediate connecting block. The first clamping block  2211  and the second clamping block  2212  are configured to clamp the mirror  121  and the fixing device  240 . That is, the positioning portion  221  can elastically clamp the mirror  121 . In other embodiments, the positioning portion  221  can also fix the mirror  121  in other ways, such as snap-fitting connection with the mirror  121 , bonding with the mirror  121 , and the like. 
     The intermediate connecting block includes a first block body  2213 . The first block body  2213  includes a first side wall  2217  and a second side wall opposite to the first side wall  2217 . A first guide post  2215  is provided on the first side wall  2217 . A second guide post  2214  is provided on the second side waif The first block body  2213  is also provided with a through hole penetrating through the first side wall  2217  and the second side wall. The first clamping block  2211  is provided with a first guide hole. The first guide post  2215  extends into the first guide hole. The second clamping block  2212  is provided with a second guide hole. The second guide post  2214  extends into the second guide hole. The positioning portion  221  further includes a threaded connecting member  2216 . The threaded connecting member  2216  passes through the first clamping block  2211 , the through hole, and the second clamping block  2212 , respectively. The threaded connecting member  2216  is configured to adjust a distance from the first clamping block  2211  to the second clamping block  2212  via rotation. In the above structure, the first guide post  2215  and the second guide post  2214  can guide the first clamping block  2211  and the second clamping block  2212 , respectively, so that during a process that the first clamping block  2211  and the second clamping block  2212  clamp the mirror  121 , the rotation of the mirror  121  can be restricted, thereby facilitating precise positioning of the mirror  121 . 
     To further define the first clamping portion and the second clamping portion, two first guide posts  2215  can be provided on the first side wall  2217 . Two second guide posts  2214  can be provided on the second side wall. Two first guide holes are provided on the first clamping clock  2211 . Two second guide holes are provided on the second clamping block  2212 . Each first guide post  2215  passes through each first guide hole in a one-to-one correspondence. Each second guide post  2214  passes through each second guide hole in a one-to-one correspondence. In other embodiments, the number of the first guide post  2215 , the second guide post  2214 , the first guide hole, and the second guide hole can also be more than two. 
     Both the first clamping block  2211  and the second clamping block  2212  are elastically connected to the intermediate connecting block. In some embodiments, a first elastic member is provided on the first guiding post  2215 . The first elastic member is configured to press against the first clamping block  2211  and the first block body  2213 , respectively, to generate a pushing force for pushing the first clamping block  2211  away from the first block body  2213 . A second elastic member is provided on the second guiding post  2214 . The second elastic member is configured to press against the second clamping block  2212  and the first block body  2213 , respectively, to generate a pushing force for pushing the second clamping block  2212  away from the first block body  2213 . In this way, the positioning portion  221  can be adapted to the mirrors  121  of different sizes, that is, the mirror  121  whose size varies within a certain range can be fixed by the positioning portion  221 . Both the first elastic member and the second elastic member can be a spring, an elastic sheet, silicone, or other elastic devices. 
     As shown in  FIG.  25   , the connecting portion  222  includes a first connecting arm  2221  and a second connecting arm  2222  arranged opposite to the first connecting arm  2221 . The first block body  2213  is arranged between the first connecting arm  2221  and the second connecting arm  2222 . A first through hole is provided on the first connecting arm  2221 . A second through hole is provided on the second connecting arm  2222 . The connecting portion  222  further includes a threaded pusher  2224 , The threaded pusher  2224  passes through the first through hole to abut against the first block body  2213 . The threaded pusher  2224  is configured to push the first block body  2213  to be close to the end of the threaded pusher via rotation and move toward the traveling direction of the threaded pusher  2224 . The first block body  2213  is further provided with a third guide hole. The connecting member further includes a third guide post  2223 . The third guide post  2223  penetrates through the second through hole and extends into the third guide hole. When rotating, the threaded pusher  2224  moves against the end of the first block body  2213 , and then the first block body  2213  moves or rotates as a whole, and finally drives the mirror  121  to move or rotate. Therefore, the position of the mirror  121  can be adjusted by rotating the threaded pusher  2224 . Since the structure of the threaded pusher  2224  to adjust the position of the mirror  121  has an effect similar to a worm gear, an adjustment stroke can be enlarged. Therefore, the position adjustment of the mirror  121  is more accurate, and the position adjustment error is smaller. 
     As shown in  FIG.  25   , the third guide post  2223  is connected to a third elastic member. One end of the third elastic member abuts against the second connecting arm  2222 , and the other end abuts against the first block body  2213 . In this way, when the threaded pusher  2224  pushes the first block body  2213 , the third elastic member can co-locate the first block body  2213  with the threaded pusher  2224 . When the threaded pusher  2224  retracts (that is, the threaded pusher  2224  moves in a direction away from the first block body  2213 ), the third elastic member can also push the first block body  2213  to abut against the threaded pusher  2224 . 
     In some embodiments, the end of the first connecting arm  2221  away from the threaded pusher  2224  is provided with a first notch. The first notch penetrates in a direction in which the first connecting arm  2221  points to the second connecting arm  2222 . The end of the first clamping block  2211  close to the first connecting arm  2221  is arranged in the first notch and positioned by the first notch. The end of the second connecting arm  2221  away from the threaded pusher  2224  is provided with a second notch. The second notch penetrates in a direction in which the first connecting arm  2221  points to the second connecting arm  2222 . The end of the second clamping block  2212  close to the second connecting arm  2222  is arranged in the second notch and positioned by the second notch. 
     In some embodiments, the surface of the first block body  2213  connected to the threaded pusher  2224  is provided with a groove structure. The end of the threaded pusher  2224  connected to the first block body  2213  extends into the groove structure, such that the threaded pusher  2224  does not slip on the first block body  2213 . 
     In some embodiments, when the tooling is used in the LiDAR, the tooling can also include a reflecting adjusting assembly  230 . The reflecting adjusting assembly  230  is configured to reflect laser, and serves as a detected object during the adjustment of the position of the mirror  121 . In some embodiments, the reflecting adjusting assembly  230  has the same number of reflecting surfaces as the mirrors  121 . Each reflecting surface reflects an emergent laser (the laser emitting to an object to be detected) and a reflected laser (the laser reflected back by the object to be detected) emitted from the mirror  121  in a one-to-one correspondence. 
     The same or similar reference signs in the drawings correspond to the same or similar components. In the description of this application, it should be understood that if terms “upper,” “lower,” “left,” “right,” etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, the terms are only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the device or element should have a specific orientation or is constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for exemplary description, and cannot be understood as a limitation of the disclosure. For the person skilled in the art, the meaning of the foregoing terms can be understood according to specific circumstances. 
     The foregoing embodiments are only exemplary embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included within the protection scope of this application.