CN111610508B - Multi-line laser radar - Google Patents
Multi-line laser radar Download PDFInfo
- Publication number
- CN111610508B CN111610508B CN201910137885.2A CN201910137885A CN111610508B CN 111610508 B CN111610508 B CN 111610508B CN 201910137885 A CN201910137885 A CN 201910137885A CN 111610508 B CN111610508 B CN 111610508B
- Authority
- CN
- China
- Prior art keywords
- laser
- rotating mirror
- mirror
- reflected
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000013461 design Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a multi-line laser radar. A multi-line lidar comprising: a laser emitting device; a laser receiving device for receiving the reflected laser; the reflected laser is the laser after the outgoing laser is reflected by the detected object; the main rotating mirror rotates around a rotating shaft of the main rotating mirror, and is used for reflecting outgoing laser emitted by the laser emitting device and reflecting the reflected laser to the laser receiving device; the secondary rotating mirror rotates around a rotating shaft of the secondary rotating mirror and is used for reflecting outgoing laser reflected by the primary rotating mirror to a scanning area and reflecting the reflected laser to the primary rotating mirror; and a rotation driving system for driving the primary rotating mirror and the secondary rotating mirror to rotate. In the multi-line laser radar, only the main rotating mirror and the secondary rotating mirror rotate, and the laser transmitting device and the laser receiving device are fixed; the control and structural system design in the multi-line laser radar are simplified, and the reliability of the multi-line laser radar is improved.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a multi-line laser radar.
Background
The laser radar is a system for detecting the characteristic quantities such as the position, the speed and the like of a detected object by emitting laser beams, and is widely applied to the field of laser detection.
At present, a plurality of transmitting-receiving pairs are arranged in the vertical direction for detection, the line number is the number of the transmitting-receiving pairs in the vertical direction, and the line number determines the vertical resolution of the laser radar. The plurality of transmitting-receiving pairs can detect a plurality of directions, and the whole laser radar rotates in the working process, so that the detection of the surrounding environment of the laser radar is realized.
However, the transmitting plates and the receiving plates arranged in the vertical direction occupy a certain space, which limits the increase of the number of lines of the laser radar and the improvement of the vertical resolution; multiple transmitting-receiving pairs, multiple components are needed to increase the cost, and meanwhile, the power consumption and the internal heat generation are increased; the working state of the laser radar is rotary, power supply and communication are required to be carried out on a transmitting-receiving pair on a rotary module, and the system design is complex.
Disclosure of Invention
Based on the above, it is necessary to provide a multi-line laser radar aiming at the problems of high cost and complex optical and structural system design of the traditional laser radar.
A multi-line lidar comprising:
the laser emission device is used for emitting outgoing laser;
The laser receiving device is arranged on the same side as the laser emitting device and is used for receiving the reflected laser; the reflected laser is the laser after the outgoing laser is reflected by the detected object;
The main rotating mirror rotates around a rotating shaft of the main rotating mirror, and is used for reflecting outgoing laser emitted by the laser emitting device and reflecting the reflected laser to the laser receiving device;
the secondary rotating mirror rotates around the rotating shaft of the secondary rotating mirror, and is used for reflecting the outgoing laser reflected by the main rotating mirror to a scanning area and also used for reflecting the reflected laser to the main rotating mirror; and
And the rotary driving system is used for driving the main rotary mirror and the secondary rotary mirror to rotate.
In one embodiment, the rotation axis of the main rotating mirror forms 45 degrees with the horizontal plane; the included angle between the normal line of the main rotating mirror and the rotating shaft of the main rotating mirror is a first angle, and the first angle is not zero.
In one embodiment, the rotation axis of the secondary rotating mirror is located in the vertical direction; the included angle between the normal line of the secondary rotating mirror and the rotating shaft of the secondary rotating mirror is a second angle; the second angle and the first angle cooperate to determine a scan angle range of the outgoing laser light in a longitudinal direction.
In one embodiment, the rotational speed of the primary turning mirror is greater than the rotational speed of the secondary turning mirror.
In one embodiment, the rotational speed of the primary turning mirror is N times the rotational speed of the secondary turning mirror; the N is a non-integer and the range of N is 10-100.
In one embodiment, the collimator lens further comprises a collimating lens group; the collimating lens group is used for collimating the emergent laser emitted by the laser emitting device.
In one embodiment, the lens further comprises a focusing lens group; the focusing lens group is used for focusing the reflected laser to the laser receiving device.
In one embodiment, the number of the laser emitting devices and the number of the laser receiving devices are 1.
In one embodiment, the rotary drive system includes a rotary drive device, a first connection assembly, a second connection assembly, and an encoder; the rotary driving device drives the main rotary mirror to rotate through the first connecting component; the rotary driving device drives the secondary rotating mirror to rotate through the second connecting component; the encoder is used for measuring the rotating speed and the position of the main rotating mirror and the secondary rotating mirror.
In one embodiment, the device further comprises a housing and a control board; the control board, the laser emitting device, the laser receiving device and the rotary driving system are all arranged in the shell; the control board is electrically connected with the laser emitting device, the laser receiving device and the rotary driving system.
The multi-line laser radar comprises a laser transmitting device, a laser receiving device, a main rotating mirror, a secondary rotating mirror and a rotary driving system; the outgoing laser emitted by the laser emitting device is emitted to the scanning area after being reflected by the primary rotating mirror and the secondary rotating mirror in sequence, and the reflected laser is emitted to the laser receiving device after being reflected by the secondary rotating mirror and the primary rotating mirror in sequence. In the multi-line laser radar, only the main turning mirror and the secondary turning mirror rotate and are passive optical devices, and power supply and communication to the main turning mirror and the secondary turning mirror are not needed; the laser emitting device and the laser receiving device are both fixed; the control and structural system design in the multi-line laser radar are simplified, and the reliability of the multi-line laser radar is improved. The main rotating mirror is inclined and rotated, and the emergent laser is reflected by the main rotating mirror and then is not vertically upwards emitted to the secondary rotating mirror, but the reflected emergent laser and the vertical direction form a fixed included angle for rotation; the emergent laser is reflected by the secondary turning mirror and then is emitted to the scanning area, and the emergent laser can be emitted to the range of 360 degrees around the multi-line laser radar through the rotation of the secondary turning mirror; the scanning effect and the functional requirement of the multi-line laser radar can be realized by only adopting one laser transmitting device and one laser receiving device, the occupied number of components is small, the cost is low, the occupied space is small, the power consumption is low, and the system design is simple.
Drawings
Fig. 1 is a schematic diagram of an internal structure of a multi-line lidar in an embodiment.
Fig. 2 is a schematic diagram of a scanning track of lissajous patterns formed by the optical axis when the primary rotating mirror and the secondary rotating mirror are rotated.
Fig. 3 is a schematic diagram of a scanning track of an optical axis when the primary rotating mirror rotates and the secondary rotating mirror is stationary.
FIG. 4 is a schematic diagram of a scanning trace of an optical axis with an angular resolution of 0.25 degrees.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In the description of the present application, it should be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application 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 thus should not be construed as limiting the present application. Furthermore, it will be understood that when an element is referred to as being "formed on" another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present.
Fig. 1 is a schematic diagram of an internal structure of a multi-line lidar in an embodiment. Referring to fig. 1, the laser radar includes a laser emitting device 110, a laser receiving device 120, a primary turning mirror 132, a secondary turning mirror 134, and a rotation driving system 180.
The laser emitting device 110 is used for emitting outgoing laser light. The frequency of the outgoing laser light emitted from the laser emitting device 110 can be set as needed. The emitted laser may be a visible light beam or a non-visible light beam. The present invention is not particularly limited. In the present embodiment, the laser emitting device 110 includes only one. In other embodiments, the laser emitting device 110 and the laser receiving device 120 may be multiple to enhance the scanning density of the outgoing laser light.
The laser receiving device 120 is configured to receive the reflected laser light, and convert the received reflected laser light into an electrical signal that can be identified by a processor or a processing chip. The reflected laser beam is a laser beam reflected by the object to be detected. In the present embodiment, the laser receiving device 120 is disposed on the same side as the laser emitting device 110 described above. Since the outgoing laser emitted by the laser emitting device 110 generally has a certain divergence angle, the cross-sectional diameter of the outgoing laser during propagation is larger and larger, and the spot of light irradiated onto the object to be detected is larger than the caliber of the laser emitting device 110. The reflected laser light reflected from the detection object must have a part of light irradiated onto the laser light receiving device 120 provided on the same side as the laser light emitting device 110, so that the reflected laser light is received by the laser light receiving device 120.
The laser radar only comprises one laser transmitting device 110 and one laser receiving device 120, so that the same scanning effect as that of the multipath transmitting-receiving pair is realized, the scanning high resolution is met, a small number of components are occupied, the system design is simple, the cost is low, the power consumption is low, and the space occupation is small.
The primary turning mirror 132 is used to reflect the outgoing laser light emitted from the laser emitting device 110 to the secondary turning mirror 134. The primary turning mirror 132 is also used to reflect the reflected laser light to the laser light receiving device 120. The secondary turning mirror 134 is used to reflect the outgoing laser light reflected by the primary turning mirror 132 to the scanning area. The secondary turning mirror 134 is also used to reflect the reflected laser light to the primary turning mirror 132. That is, the laser emitting device 132 emits the outgoing laser light, and the outgoing laser light is projected to the scanning area after being reflected by the main turning mirror 132 and the sub-turning mirror 134 in order. The outgoing laser beam is reflected back by the detection object in the scanning area, and is projected to the laser receiving device 120 after being reflected by the secondary turning mirror 134 and the primary turning mirror 132 in sequence, and is received by the laser receiving device 120. In this way, the outgoing light path and the incoming light path share the primary turning mirror 132 and the secondary turning mirror 134 of the multi-line lidar, reducing the complexity of the multi-line lidar structure and reducing costs.
It will be appreciated that high resolution scanning is achieved by the reflection of primary turning mirror 132 and secondary turning mirror 134, which have an angular relationship. The tilt angles of the main turning mirror 132 and the sub-turning mirror 134 may be adjusted and determined according to the vertical scanning range of the outgoing laser light to be projected, and are not limited to a specific state. In one embodiment, both primary turning mirror 132 and secondary turning mirror 134 are elliptical to ensure that the vertical cross-section of the reflected beam path is circular, resulting in a desired cone beam shape. The rotation driving system 180 is used to drive the primary rotating mirror 132 to rotate around its rotation axis, so that the outgoing laser light reflected by the primary rotating mirror 132 does not vertically upward strike the secondary rotating mirror 134, and the outgoing laser light precesses around the central longitudinal axis at a fixed angle. The outgoing laser light finally reflected from the secondary turning mirror 134 to the scanning area is scanned circularly on the vertical plane, and can be projected to different heights in the vertical direction, as shown in fig. 3. The rotation driving system 180 is further configured to drive the secondary rotating mirror 134 to rotate around its rotation axis, so that the outgoing laser light reflected by the primary rotating mirror 132 is projected onto the scanning area. Thus, each outgoing laser beam finally reflected from the secondary turning mirror 134 to the scanning area can be scanned in the horizontal direction, and scanning of 360-degree range of the surrounding space can be realized. After being reflected by the main turning mirror 132 and the secondary turning mirror 134, the optical axis track of the outgoing laser beam is lissajous curve, as shown in fig. 2. The shape of the curve is determined by the tilt angle and rotational speed of the primary and secondary turning mirrors 132, 134, and generally requires that the primary turning mirror 132 rotate at a greater speed than the secondary turning mirror 134.
The multi-line laser radar includes a laser transmitter 110, a laser receiver 120, a primary turning mirror 132, a secondary turning mirror 134, and a rotary drive system 180. The outgoing laser emitted by the laser emitting device 110 is reflected by the primary turning mirror 132 and the secondary turning mirror 134 in sequence and then goes out to the scanning area. The reflected laser light is reflected by the secondary turning mirror 134 and the primary turning mirror 132 in sequence and then directed to the laser light receiving device 120. In the multi-line laser radar, only the primary turning mirror 132 and the secondary turning mirror 134 rotate, and the primary turning mirror 132 and the secondary turning mirror 134 are all passive optical devices, so that power supply and communication for the primary turning mirror 132 and the secondary turning mirror 134 are not needed; the laser emitting device 110 and the laser receiving device 120 are both fixed; the control and structural system design in the multi-line laser radar are simplified, and the reliability of the multi-line laser radar is improved. The main turning mirror 132 is inclined and rotated, and the outgoing laser is reflected by the main turning mirror 132 and is not vertically emitted upwards to the secondary turning mirror 134, but the reflected outgoing laser is rotated at a fixed included angle with the vertical direction; the outgoing laser light is reflected by the sub-turn mirror 134 and then directed to the scanning region, and the rotation of the sub-turn mirror 134 enables the outgoing laser light to be directed to the scanning region in a 360 ° range around. The multi-line laser radar can realize the functions and effects of the multi-line laser radar by only needing one laser emitting device 110 and one laser receiving device 120, reduces the cost and the design difficulty of optical and mechanical structures, does not need the rotation of the laser emitting device 110 and the laser receiving device 120 in the scanning process, simplifies the control and structural system design in the multi-line laser radar, and improves the reliability of the multi-line laser radar.
In one embodiment, as shown in FIG. 1, the axis of rotation of the primary turning mirror 132 is 45 degrees from horizontal. The angle between the normal of the primary turning mirror 132 and the axis of rotation of the primary turning mirror 132 is a first angle θ. It will be appreciated that to achieve the effect of the primary turning mirror 132, the first angle θ is not zero so that the outgoing laser light is not projected vertically upward to the secondary turning mirror 134 after reflection by the rotating primary turning mirror 132. Thus, after the outgoing laser light is reflected by the rotating main turning mirror 132, the outgoing laser light has an angle of 2θ with respect to the vertical direction, and the optical axis of the outgoing laser light precesses around the longitudinal axis, and the precession angle is θ. If the first angle θ is zero and the direction of the outgoing laser light emitted from the laser emitting device 110 is horizontal, the direction of the outgoing laser light reflected from the primary turning mirror 132 to the secondary turning mirror is always vertical during the rotation of the primary turning mirror 132, and the outgoing laser light is not directed in multiple directions. The first angle θ may be positive or negative. Preferably, the value of the first angle θ ranges from-45 ° to 45 ° and is not zero. As shown in fig. 3, the outgoing laser beam is reflected by the rotating primary turning mirror 132 and then directed to the scanning area by the stationary secondary turning mirror 134, and forms a circular scanning track on the vertical plane. By adjusting the first angle θ, the distribution size of the circular scan trajectory can be adjusted.
In one embodiment, as shown in FIG. 1, the axis of rotation of secondary turning mirror 134 is in a vertical direction. The angle between the normal of the secondary turning mirror 134 and the rotation axis of the secondary turning mirror 134 is the second angle γ. The plane at 45 deg. from the horizontal is the reference plane 136. The secondary turning mirror 134 has an angle phi with the reference plane 136, and has a relationship phi= (45 ° -gamma) with the second angle gamma, which has a value ranging from 0 ° to 90 °. The scanning track of the outgoing laser light reflected from the secondary turning mirror 134 to the scanning area is in the longitudinal direction, the uppermost edge has an angle (phi + theta) with the horizontal plane, and the lowermost edge has an angle (phi-theta) with the horizontal plane. Adjusting the second angle γ adjusts the angle phi between the secondary turning mirror 134 and the reference plane 136. By adjusting the included angle phi and the first angle theta, the longitudinal angle distribution of the emergent laser when projected to the scanning area from the secondary turning mirror 134 can be adjusted, namely the pitch angle of laser radar scanning is adjusted, so that the longitudinal scanning range of the laser radar is aligned to a proper scanning area, and the laser radar detection device is applicable to various laser radar detection scenes. At the same time, the secondary turning mirror 134 is rotated about its rotation axis so that the outgoing laser light can be scanned in the horizontal direction so that the outgoing laser light can be scanned over a 360 ° range around the lidar.
In an embodiment, the rotation speed of the primary rotating mirror 132 is greater than that of the secondary rotating mirror 134, so that the outgoing laser beam completes one scanning period in the horizontal direction and completes a plurality of scanning periods in the vertical direction, and a lissajous curve scanning track is formed. The greater the angular resolution that can be achieved, i.e., the denser the angular scanning, when the rotational speed of the primary turning mirror 132 is greater relative to the rotational speed of the secondary turning mirror 134.
In the present embodiment, the rotational speed of the primary turning mirror 132 is N times the rotational speed of the secondary turning mirror 134. N is a non-integer and ranges from 10 to 100. At this time, as shown in fig. 4, the scanning track of the lissajous curve will drift a fixed distance for each frame, and this way can cover the non-scanning area of the lissajous curve of the previous frame, so that the scanning covers the whole scanning area, and the generation of the scanning blind area is avoided. The angular resolution of the multi-line lidar is related to the rotation period of the primary turning mirror 132 and the secondary turning mirror 134 by:
Wherein n is a positive integer, and n is the number of complete rings contained in the Lissajous curve scanning track in one rotation period of the secondary rotating mirror. The angular resolution of the lidar is ω, the period of rotation of primary turning mirror 132 is T, and the period of rotation of secondary turning mirror 134 is T. The period T of the main turning mirror 132 and the period T of the sub-turning mirror 134 can be adjusted by controlling the rotation speeds of the main turning mirror 132 and the sub-turning mirror 134, and the angular resolution ω of the laser radar scan can be properly obtained. By way of example, when the angular resolution is 0.25, then,
As shown in fig. 4, the secondary turning mirror 134 rotates one cycle to complete one scanning cycle, forming a lissajous curve scanning track of the first frame. The secondary turning mirror 134 rotates to complete the next scanning cycle, forming a lissajous curve scanning trajectory for the second frame. Compared with the Lissajous curve of the first frame, the Lissajous curve of the second frame is staggered by 0.25 degrees, and the gaps between rings in the Lissajous curve scanning track of the first frame are covered, so that the Lissajous curve scanning track of the later frame can cover the non-scanning area of the Lissajous curve scanning track of the former frame, and the scanning resolution is improved.
In one embodiment, as shown in FIG. 1, the multi-line lidar further includes a collimating lens group 114. The collimating lens group 114 is used for collimating the outgoing laser light emitted from the laser emitting device 110. In the present embodiment, the collimator lens group 114 is disposed between the laser emitting device 110 and the main turning mirror 132. Typically, the outgoing laser light emitted by the laser emitting device 110 is divergent, and after passing through the collimator lens group 114, the outgoing laser light is directed to the primary turning mirror 132 in a substantially parallel beam. In other embodiments, the laser emitting device 110 includes a laser and a modulator, such as a frequency modulator, that modulates the emitted outgoing laser light to emit the outgoing laser light at a fixed frequency.
In one embodiment, as shown in FIG. 1, the multi-line lidar further includes a focusing lens group 124. The focusing lens group 124 is used to focus the reflected laser light to the laser light receiving device 120. In the present embodiment, the focusing lens group 124 is disposed between the laser light receiving device 120 and the main turning mirror 132. The focusing lens group 124 can collect the reflected laser light and then receive the laser light by the laser light receiving device 120. In one embodiment, the focusing lens group 124 is a fresnel lens. The Fresnel lens only keeps the curved surface with refraction, saves a large amount of materials and achieves the same light condensation effect, thereby being beneficial to reducing the cost.
In one embodiment, the number of laser emitting devices 110 and laser receiving devices 120 is 1. Only one laser emitting device 110 is required to emit a beam of emergent laser, and the scanning effect of the multi-line laser radar with high resolution can be realized through the actions of the main turning mirror 132 and the secondary turning mirror 134. Meanwhile, only one laser receiving device 120 is required to receive the reflected laser light reflected from the object to be detected. Compared with the traditional multi-line laser radar, simple structure and cost saving.
In one embodiment, the rotary drive system 180 includes a rotary drive device, a first connection assembly, a second connection assembly, and an encoder. The first connection assembly is connected to the rotary drive device and the primary rotary mirror 132, respectively. The rotation driving device drives the main rotary mirror 132 to rotate through the first connecting assembly. The second connection assembly is connected to the rotary drive and the secondary turning mirror 134, respectively. The rotary driving device drives the secondary rotary mirror 134 to rotate through the second connecting assembly. The encoders are used to measure the rotational speed and position of the primary and secondary turning mirrors 132, 134. Optionally, the rotary drive device is a motor. Optionally, the first connection component is a first gear set, and the rotation driving device drives the main rotating mirror to rotate through the first gear set. Optionally, the second connection component is a second gear set, and the rotation driving device drives the secondary rotating mirror to rotate through the second gear set. Alternatively, the rotary driving device 140 includes a first motor 142 and a second motor 144, where the first motor 142 drives the primary rotary mirror 132 to rotate through a first connection assembly 182, and the second motor 144 drives the secondary rotary mirror 134 to rotate through a second connection assembly 184, as shown in fig. 1; the encoder 150 includes a first encoder 152 and a second encoder 154; the first encoder 152 is disposed on the rotation shaft of the main turning mirror 132, and is used for measuring the rotation speed and position of the main turning mirror 132; the second encoder 154 is disposed on the rotation shaft of the secondary turning mirror 134 for measuring the rotation speed and position of the secondary turning mirror 134.
In one embodiment, the laser emitting device 110 further comprises an isolator. An isolator is disposed between the laser and the primary turning mirror 132. The isolator is used for isolating the reflected laser. In other embodiments, the projection of the isolator on the plane of the laser and the projection of the focusing lens group 124 on the plane of the laser are not intersected, so that the reflected laser does not project onto the laser and the reflected laser converged by the focusing lens group 124 is not blocked. The provision of the isolator in the laser emitting device 110 can prevent a portion of the light from being projected to the laser during the process of receiving the outgoing laser light by the laser receiving device 120, which would reduce the service life of the laser.
In one embodiment, the multi-line lidar further includes a housing 160 and a control board 170, as shown in fig. 1. The rotary drive system 180, the laser emitting device 110, the laser receiving device 120, and the control board 170 are fixedly disposed within the housing 160. The control board 170 is electrically connected to the laser transmitter 110, the laser receiver 120, and the rotary drive system 180. Optionally, a control board 170 is disposed under the laser emitting device 110 and the laser receiving device 120 to facilitate power supply and communication.
In one embodiment, the housing 160 includes a transmissive region 162 around the secondary turning mirror 134. The transmission region 162 is a filter region through which the outgoing laser light can pass and be projected to the scanning region, while the reflected laser light reflected by the detection object in the scanning region can pass through the filter region to the inside of the multi-line lidar. Alternatively, the transmissive region 162 is disposed obliquely toward the secondary turning mirror 134, i.e., the transmissive region 162 forms a tapered configuration that tapers from top to bottom. In other embodiments, the transmissive region 162 may not be defined.
In one embodiment, the outgoing laser emitted by the laser emitting device 110 is a pulsed outgoing laser. The pulse laser has larger output power, so that the measurement result is more accurate.
In one embodiment, the multi-line lidar may be formed in a multi-segment structure based on the volume occupied by the internal components.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. A multi-line lidar comprising:
the laser emission device is used for emitting outgoing laser;
The laser receiving device is arranged on the same side as the laser emitting device and is used for receiving the reflected laser; the reflected laser is the laser after the outgoing laser is reflected by the detected object;
The main rotating mirror rotates around a rotating shaft of the main rotating mirror, and is used for reflecting outgoing laser emitted by the laser emitting device and reflecting the reflected laser to the laser receiving device;
the secondary rotating mirror rotates around the rotating shaft of the secondary rotating mirror, and is used for reflecting the outgoing laser reflected by the main rotating mirror to a scanning area and also used for reflecting the reflected laser to the main rotating mirror; and
The rotary driving system is used for driving the main rotary mirror and the secondary rotary mirror to rotate;
Wherein the rotation axis of the main rotating mirror forms 45 degrees with the horizontal plane; the included angle between the normal line of the main rotating mirror and the rotating shaft of the main rotating mirror is a first angle, and the first angle is not zero;
wherein the rotating shaft of the secondary rotating mirror is positioned in the vertical direction; the included angle between the normal line of the secondary rotating mirror and the rotating shaft of the secondary rotating mirror is a second angle; the second angle and the first angle cooperate to determine a scanning angle range of the emergent laser in the longitudinal direction;
the rotating speed of the main rotating mirror is larger than that of the secondary rotating mirror;
The rotating speed of the main rotating mirror is N times of that of the secondary rotating mirror; the N is a non-integer and the range of N is 10-100.
2. The multi-line lidar of claim 1, further comprising a collimating lens group; the collimating lens group is used for collimating the emergent laser emitted by the laser emitting device.
3. The multi-line lidar of claim 1, further comprising a focusing lens group; the focusing lens group is used for focusing the reflected laser to the laser receiving device.
4. The multi-line lidar of claim 1, wherein the number of the laser emitting means and the laser receiving means is 1.
5. The multi-line lidar of claim 1, wherein the rotational drive system comprises a rotational drive, a first connection assembly, a second connection assembly, and an encoder; the rotary driving device drives the main rotary mirror to rotate through the first connecting component; the rotary driving device drives the secondary rotating mirror to rotate through the second connecting component; the encoder is used for measuring the rotating speed and the position of the main rotating mirror and the secondary rotating mirror.
6. The multi-line lidar of claim 1, further comprising a housing and a control board; the control board, the laser emitting device, the laser receiving device and the rotary driving system are all arranged in the shell; the control board is electrically connected with the laser emitting device, the laser receiving device and the rotary driving system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137885.2A CN111610508B (en) | 2019-02-25 | 2019-02-25 | Multi-line laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137885.2A CN111610508B (en) | 2019-02-25 | 2019-02-25 | Multi-line laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111610508A CN111610508A (en) | 2020-09-01 |
| CN111610508B true CN111610508B (en) | 2024-09-27 |
Family
ID=72202831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910137885.2A Active CN111610508B (en) | 2019-02-25 | 2019-02-25 | Multi-line laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111610508B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209979838U (en) * | 2019-02-25 | 2020-01-21 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015059850A (en) * | 2013-09-19 | 2015-03-30 | 株式会社デンソーウェーブ | Laser radar device |
| EP3206072A4 (en) * | 2014-10-07 | 2018-04-04 | Konica Minolta, Inc. | Scanning optical system and radar |
| CN205103397U (en) * | 2015-09-23 | 2016-03-23 | 上海物景智能科技有限公司 | Laser rangefinder radar |
| CN105824029B (en) * | 2016-05-10 | 2018-09-04 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| KR101678122B1 (en) * | 2016-06-17 | 2016-11-29 | 윤봉수 | Apparatus for omnidirectional lidar |
| CN106199630A (en) * | 2016-06-30 | 2016-12-07 | 西安深穹光电科技有限公司 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
| CN106353745A (en) * | 2016-11-01 | 2017-01-25 | 北京北科天绘科技有限公司 | Two-dimensional scanning device of laser radar |
| CN107153197A (en) * | 2017-03-15 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN108226899B (en) * | 2018-01-17 | 2020-09-29 | 上海禾赛光电科技有限公司 | Laser radar and working method thereof |
| US10473767B2 (en) * | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| CN109254297B (en) * | 2018-10-30 | 2023-09-08 | 杭州欧镭激光技术有限公司 | Optical path system of laser radar and laser radar |
-
2019
- 2019-02-25 CN CN201910137885.2A patent/CN111610508B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209979838U (en) * | 2019-02-25 | 2020-01-21 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111610508A (en) | 2020-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7356195B2 (en) | Prism and multibeam laser radar | |
| CN108957424B (en) | Multi-line laser radar system | |
| US20200326413A1 (en) | Laser scanning device, radar device and scanning method thereof | |
| CN108445467A (en) | A kind of scanning laser radar system | |
| EP2058671A2 (en) | Laser radar apparatus that measures direction and distance of an object | |
| CN109975783B (en) | Laser radar | |
| CN110231606B (en) | Laser scanning device and laser radar device including the same | |
| CN107450060B (en) | Laser scanning device | |
| CN112789512A (en) | Laser radar and autopilot device | |
| CN108872965A (en) | A kind of laser radar | |
| CN109765542B (en) | Multi-line laser radar | |
| US11333880B2 (en) | Coaxial macro scanner system | |
| JP7099514B2 (en) | Scanning optical system and rider | |
| CN212229161U (en) | Laser radar device with prism reflection structure | |
| CN111273254B (en) | Laser radar transmitting device and laser radar | |
| CN113655461A (en) | Laser radar device with prism reflection structure | |
| CN209979838U (en) | Multi-line laser radar | |
| US11796678B2 (en) | Optical device and LiDAR system including the same | |
| CN111610508B (en) | Multi-line laser radar | |
| CN114265041A (en) | Scanning device and scanning method | |
| CN210690805U (en) | Multi-line laser radar | |
| CN111665485B (en) | Laser radar | |
| CN108226952A (en) | A kind of laser scanning imaging system | |
| CN210572725U (en) | Multi-line laser radar | |
| CN111273255B (en) | Laser radar transmitting device and laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |