CN112859045B - Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof - Google Patents
Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof Download PDFInfo
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- CN112859045B CN112859045B CN202011610770.XA CN202011610770A CN112859045B CN 112859045 B CN112859045 B CN 112859045B CN 202011610770 A CN202011610770 A CN 202011610770A CN 112859045 B CN112859045 B CN 112859045B
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- 238000007493 shaping process Methods 0.000 claims description 8
- 239000013307 optical fiber Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000002955 isolation Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- 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
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- 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)
- Aviation & Aerospace Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser scanning device and a laser radar, an unmanned aerial vehicle or an intelligent vehicle thereof. The laser scanning device includes: the scanning mirror assembly rotates around a rotation axis, the scanning mirror assembly is provided with four scanning mirror surfaces, the included angle of each scanning mirror surface relative to the rotation axis is not identical, and on a section perpendicular to the rotation axis, section lines of adjacent scanning mirror surfaces in the four scanning mirror surfaces are perpendicular to each other; a linear laser light source emitting a linear laser signal via a first scanning mirror surface of the four scanning mirror surfaces; a plurality of laser receiving units which receive echo signals of the linear laser signals through a second scanning mirror surface in the four scanning mirror surfaces; the plane of the linear laser signal emitted by the linear laser light source is parallel to or the same as the plane formed by the echo signals received by the laser receiving units.
Description
Technical Field
The invention relates to the field of three-dimensional laser scanning, in particular to a laser scanning device and a laser radar, an unmanned aerial vehicle or an intelligent vehicle thereof.
Background
The laser scanning device is a core optical-mechanical structure of the laser radar device, and can be used for other occasions needing laser scanning.
In industrial applications, a scanner with a compact and efficient structure is highly desirable in industry. Meanwhile, the number of parts can be reduced, and cost reduction is a problem to be solved urgently.
Particularly, the method is suitable for a large vertical field angle, is convenient for obtaining a larger number of scanning lines by using fewer light sources, has higher resolution and high precision, and a low-power-consumption scanning mode can be suitable for various practical scenes convenient for falling to the ground, meets the industrial requirements, and is also a problem of attention of a person skilled in the art.
Disclosure of Invention
The invention solves the technical problem of providing an implementation mode of a core optical-mechanical structure of a laser scanning device.
Furthermore, a laser scanning method with less light sources and high resolution is provided.
Furthermore, a laser scanning mode with more optimized light path performance and higher precision is provided.
Furthermore, a scanning mode suitable for a larger vertical field angle is provided.
Furthermore, a scanning mode with low power consumption is provided.
The invention discloses a laser scanning device, which comprises:
the scanning mirror assembly rotates around a rotation axis, the scanning mirror assembly is provided with four scanning mirror surfaces, the included angle of each scanning mirror surface relative to the rotation axis is not identical, and on a section perpendicular to the rotation axis, section lines of adjacent scanning mirror surfaces in the four scanning mirror surfaces are perpendicular to each other;
a linear laser light source emitting a linear laser signal via a first scanning mirror surface of the four scanning mirror surfaces;
a plurality of laser receiving units which receive echo signals of the linear laser signals through a second scanning mirror surface in the four scanning mirror surfaces;
the plane of the linear laser signal emitted by the linear laser light source is parallel to or the same as the plane formed by the echo signals received by the laser receiving units.
The first scanning mirror surface and the second scanning mirror surface are adjacent scanning mirror surfaces.
The projection of the linear laser signal on a reference plane is parallel to the rotation axis, the reference plane is positioned between the rotation axis and the linear laser source, and the reference plane is parallel to the rotation axis.
The laser scanning device includes:
the laser scanning device comprises a plurality of linear laser light sources, wherein each linear laser light source is correspondingly provided with a plurality of laser receiving units, the number of the laser receiving units corresponding to different linear laser light sources is the same or different, and the plurality of linear laser light sources are arranged on the same side or different sides of the view field of the laser scanning device.
The plurality of line-shaped laser light sources emit line-shaped laser signals at different times.
The plurality of line-shaped laser light sources are arranged along the extending direction of the rotation shaft, or the plurality of line-shaped laser light sources are arranged along the perpendicular direction of the extending direction of the rotation shaft.
The plurality of laser receiving units are sequentially arranged along the extension direction of the rotating shaft.
The same laser receiving unit can receive echo signals from different linear laser light sources.
A portion of the plurality of laser receiving units is enabled according to a scan mirror plane currently projected by the line laser light source.
In the direction parallel to the scanning axis, the receiving field of view generated by each laser receiving unit through the second scanning mirror surface is contained in the emitting field of view generated by the linear laser light source through the first scanning mirror surface.
Wherein (beta) n1 、β n2 ) For the actual receiving view field angle range of the nth laser receiving unit corresponding to the same linear laser light source, alpha 1 、α 2 、α 3 、α 4 Is the included angle of each of four scanning mirror surfaces (theta) 1 、θ 2 ) The outgoing angle range of the linear laser signal actually emitted by the linear laser light source.
The linear laser light source comprises a laser and a beam shaping module, wherein the beam shaping module is an optical fiber or a micro lens or a diffraction element.
The invention also discloses a laser radar, which is provided with the laser scanning device.
The invention also discloses an intelligent vehicle or unmanned aerial vehicle, which is provided with the laser radar.
The invention provides an implementation mode of a core optical-mechanical structure of a laser scanning device, which utilizes fewer linear laser light sources to realize laser scanning of a scanning mirror assembly based on incomplete included angles of scanning mirrors, thereby improving resolution. The transmitting light path and the receiving light path are mutually isolated, so that the related interference of the linear laser signal and the echo signal is avoided, and the signal acquisition precision is improved. In addition, the invention is applicable to larger vertical field angles and has lower power consumption.
Drawings
Fig. 1 is a schematic diagram of a laser scanning device according to the present invention.
FIG. 2 is a schematic diagram of a scanning mirror assembly of the present invention.
FIGS. 3A, 3B, and 3C are schematic diagrams of scanning mirror surfaces of a scanning mirror assembly of the present invention.
Fig. 4 is a schematic top view of the laser scanning device of the present invention.
Fig. 5A, 5C, and 5D are schematic structural diagrams of the laser scanning device of the present invention.
Fig. 5B is an equivalent view of the fields of view of the linear laser light source 11 and the laser receiving unit 12.
Fig. 6 and 7 are schematic structural diagrams of the laser scanning device of the present invention.
Fig. 8 is a schematic diagram of the structure of the laser of the present invention.
Detailed Description
The following describes the implementation procedure of the technical solution of the present invention in conjunction with specific embodiments, and is not meant to limit the present invention.
The invention discloses a laser scanning device, and fig. 1 is a schematic structural diagram of the laser scanning device. FIG. 2 is a schematic diagram of a scanning mirror assembly of the present invention.
The laser scanning apparatus 100 includes a line laser light source 11, a plurality of laser light receiving units 12, and a scanning mirror assembly 20.
The scanning mirror assembly 20 rotates about an axis of rotation O. The laser light source of the present invention adopts a linear shape, and the linear laser light source 11 emits a linear laser signal L having a specific divergence angle and generates an emission field of view by rotation of the scanning mirror assembly. As shown in fig. 2, the scanning mirror assembly 20 has four scanning mirror surfaces I, II, III, IV, each having a normal F. And the angles of the included angles alpha of the four scanning mirror surfaces relative to the rotation axis O are not identical.
As shown in fig. 3A-3C, a schematic view of the structure of the scanning mirror is shown. As shown in fig. 3C, the scanning mirror 23 is parallel to the scanning axis O, and the angle α between the scanning mirror 23 and the scanning axis O is 0 degrees. As shown in fig. 3A, the scan mirror 21 has an angle α with respect to the scan axis O, and as shown, the normal line of the scan mirror 21 rotates clockwise with respect to fig. 3C, and the angle α has a negative value, as shown in fig. 3B, the scan mirror 22 has an angle α with respect to the scan axis O, and as shown, the normal line of the scan mirror 22 rotates counterclockwise with respect to fig. 3C, and the angle α has a positive value. The specific degree of the included angle alpha can be set according to the requirement.
The angle values of the included angles alpha of the four scanning mirror surfaces can be different, and the angles of the included angles alpha of two or three scanning mirror surfaces can be the same. The cross-sectional lines of adjacent ones of the four scan mirrors are perpendicular to each other in a cross-section perpendicular to the axis of rotation, as shown in FIG. 4.
Fig. 4 is a plan view of the laser scanner of the present invention. The plurality of laser receiving units 12 receive echo signals R of the line laser signals L emitted from the same line laser light source 11. That is, the linear laser light source 11 emits a linear laser signal to the environment through the rotation of the scanning mirror assembly 20, and is commonly received by the plurality of laser receiving units 12 through the reflection of the scanning mirror assembly 20 after being blocked by an obstacle.
The line laser signal L includes a line laser signal L1 projected to the first scanning mirror surface of the scanning mirror assembly 20 and a line laser signal L2 reflected off the first scanning mirror surface of the scanning mirror assembly 20.
The echo signal R includes an echo signal R2 projected to the second scanning mirror surface of the scanning mirror assembly 20 and an echo signal R1 reflected by the second scanning mirror surface of the scanning mirror assembly 20 to the laser receiving unit 12. The first scanning mirror surface and the second scanning mirror surface are adjacent scanning mirror surfaces. As the scan mirror assembly 20 rotates, the scan mirror I, II, III, IV can in turn become a first scan mirror or a second scan mirror. The plane of the linear laser signal L1 emitted by the linear laser source is parallel to or the same plane as the plane formed by the echo signals R1 received by the plurality of laser receiving units.
Along with the rotation of the scanning mirror assembly 20, the linear laser signal L2 is always parallel to the echo signal R2, forming a parallel light path.
A coordinate system is established with the rotation axis O as the Z axis, and the Y axis direction is the main optical axis direction of the laser scanning apparatus 100. A reference plane E is located between the rotation axis O and the line laser light source 11, the reference plane being parallel to the rotation axis. The direction of extension D of the projection of the line-shaped laser signal on the reference plane E is in the same plane as the rotation axis O, or the direction of extension D is parallel to the rotation axis O, so that the direction of extension of the echo signal is also parallel to the rotation axis O. The plurality of laser receiving units are also arranged in sequence along the extension direction of the rotation shaft. So that the reception field of view of the laser receiving unit corresponds to the emission field of view of the line-shaped laser light source.
In addition, because the included angle of each scanning mirror surface is different, the reflection direction of the linear laser signal L2 generated by the linear laser source corresponding to each scanning mirror surface is different, the position of the emission view field in the Z-axis direction is different, and the emission view field moves back and forth, so that the number of scanning lines can be correspondingly doubled by utilizing the same linear laser source, and the resolution is improved. If the angles of the four scanning mirror surfaces are different, namely, four angles exist, the number of the generated scanning lines can be four times as large as the angles of the four scanning mirror surfaces, if three angles exist, the number of the generated scanning lines is three times, and the like.
Because the position of the transmitting view field is changed in the process of rotating the scanning mirror assembly, requirements are set for the setting mode of the plurality of laser receiving units, and the plurality of laser receiving units can receive echo signals, and the transmitting view field is matched with the receiving view field.
In the first embodiment, all the laser receiving units corresponding to the same linear laser light source can receive the echo signal of the linear laser light source when corresponding to each scanning mirror, that is, in the direction parallel to the scanning axis O (Z direction), the receiving field of view generated by each of the laser receiving units via the second scanning mirror is included in the transmitting field of view generated by the linear laser light source via the first scanning mirror.
Referring to fig. 5A, in the present embodiment, each line-shaped laser light source 11 corresponds to three laser light receiving units 12, and the plurality of laser light receiving units 12 each have a reception field of view and an actual reception field of view. The field of view corresponding to the section from the laser receiving unit 12 to the scanning mirror surface is the actual receiving field of view, and the field of view of the section from the echo signal R2 irradiated to the scanning mirror surface is the receiving field of view.
Specifically, as shown in fig. 4, the line laser light source 11 emits a line laser signal through the scanning mirror I, and the laser receiving unit 12 receives an echo signal through the scanning mirror IV.
As the scanning mirror assembly 20 rotates, signals at the transmitting end and the receiving end are always reflected by two adjacent scanning mirrors, respectively. The field of view of the line laser signal L2 in the xy plane ranges between L2' and L2 ". The echo signal R2 is always parallel to the line laser signal L2, with a field of view in the xy plane ranging between R2' and R2 ".
In the YZ plane, the laser receiving unit 12 has a section of actual receiving field, and the receiving fields are reflected by different scanning mirrors, and finally all reflect to form the actual receiving field, that is, the receiving fields of the laser receiving unit 12 corresponding to each scanning mirror are different but correspond to the same actual receiving field in the Z direction.
In order to successfully complete the transmission and the corresponding reception, the transmission field of view of the line-shaped laser light source 11 corresponds to the reception field of view of the corresponding laser receiving unit by the same piece of field of view range in the surrounding environment, and in general, the reception field of view is included in the transmission field of view.
As shown in FIG. 4, the scanning mirror I has an angle alpha relative to the rotation axis O 1 . The scanning mirror surface IV has an included angle alpha relative to the rotation axis O 4 。
As shown in fig. 5B, the equivalent view of the line laser light source 11 and the laser receiving unit 12 is shown. The emission field of view of the line laser light source 11 and the reception field of view of the laser light receiving unit 12 are directed to the same area in the detection environment of the laser radar.
In a three-dimensional coordinate system with the rotation axis O as the z axis, (θ) 1 、θ 2 ) An outgoing angle range of the linear laser signal L1 of the linear laser light source 11, θ 1 Is the angle theta of the first side edge of the linear laser signal L1 relative to the Y axis 2 Is the angle of the second side of the line laser signal L1 with respect to the Y-axis.
(β n1 、β n2 ) The angle range of the actual receiving view field of the nth laser receiving unit corresponding to the same linear laser light source. Beta n1 Angle beta of the first side of the actual receiving field angle of the nth laser receiving unit relative to the Y-axis n2 The angle of the second side of the actual receiving field angle of the nth laser receiving unit with respect to the Y axis. Alpha 1 、α 2 、α 3 、α 4 Is the angle of each of the four scan mirrors I, II, III, IV with respect to the axis of rotation O. (θ) 1 +2α 1 ,θ 2 +2α 1 ) The angular range of the emission field of the line laser light source 11 is the angular range of L2 in the Z direction in fig. 4.
The positions of the line laser light source 11 and the laser light receiving unit 12 simultaneously satisfy the following formulas.
When the first scanning mirror is the scanning mirror I and the second scanning mirror is the scanning mirror IV, the positions of the linear laser light source 11 and the laser receiving unit 12 satisfy the formula (1):
when the first scanning mirror is the scanning mirror II and the second scanning mirror is the scanning mirror I, the positions of the linear laser light source 11 and the laser receiving unit 12 satisfy the formula (2):
when the first scanning mirror is the scanning mirror III and the second scanning mirror is the scanning mirror II, the positions of the linear laser light source 11 and the laser receiving unit 12 satisfy the formula (3):
when the first scanning mirror is the scanning mirror IV and the second scanning mirror is the scanning mirror III, the positions of the linear laser light source 11 and the laser receiving unit 12 satisfy the formula (4):
therefore, no matter how the receiving view fields and the transmitting view fields of different scanning mirror pairs are adjusted, the receiving view fields of the laser receiving units 12 corresponding to the same linear laser light source fall into the transmitting view fields of the linear laser light sources, and the separate setting of transmitting and receiving at two sides of the scanning mirror assembly is realized. In a preferred embodiment, the reception fields of view of the different laser reception units 12 corresponding to the same line-shaped laser light source are sequentially adjacent so that the total reception field of view is as enlarged as possible.
The linear laser light source and the laser receiving unit in this embodiment are located at two sides of the scanning mirror assembly 20, so that the transmitting light path and the receiving light path are mutually isolated, the related interference of the linear laser signal and the echo signal is avoided, the light path performance is more optimized, and the signal acquisition precision is improved.
Especially, the core framework at two sides of the separate scanning mirror assembly at the transmitting end and the receiving end can be realized under the premise that the included angles of the scanning mirrors are different and the resolution ratio is improved, and the system performance and the efficiency are improved by the same simple design.
In the prior art, the point light source is not used for realizing scanning under the conditions that the included angles of all scanning mirrors are different, and the transmitting end and the receiving end transmit and receive by using different scanning mirrors, but the invention uses the linear light source to realize that even if all scanning mirrors adjust the receiving and transmitting view fields, the laser receiving unit 12 can still realize effective signal receiving, realize scanning, and meanwhile, the quantity of the light sources is small, and the power consumption is low.
The laser receiving units of the embodiment have no redundancy, can work at full load, have high component efficiency, reduce the number of components required to be arranged and reduce the cost.
The laser scanning apparatus 100 may further include a plurality of line-shaped laser light sources 11, each of which is correspondingly provided with a plurality of laser receiving units 12, and the number of the laser receiving units corresponding to different line-shaped laser light sources may be the same or different.
As shown in fig. 5A, the laser scanning apparatus 100 includes two line-shaped laser light sources 11, each of which is provided with three laser receiving units 12. The plurality of line-shaped laser light sources emit line-shaped laser signals at different times. Each line-shaped laser light source 11 is correspondingly received by a laser light receiving unit 12 explicitly specified in advance. As in fig. 5A, the first line-shaped laser light source 11 corresponds to the first three laser light receiving units 12, and the second line-shaped laser light source 11 corresponds to the second three laser light receiving units 12.
In the second embodiment, the plurality of laser receiving units 12 corresponding to the same line-shaped laser light source 11 can correspondingly receive echo signals corresponding to different scanning mirrors through the redundancy of the number. That is, since the included angle α of each scanning mirror surface is different, the echo signals corresponding to each scanning mirror surface occupy different positions in the extending direction of the rotation axis O, especially the scanning mirror surfaces corresponding to the transmitting end and the receiving end may be different, and the adjustment degrees of the optical paths of the linear laser signal L1 and the actually received field of view may be different, so that only a part of the plurality of laser receiving units disposed along the extending direction of the rotation axis O may be located within the coverage area of the current echo signal, and therefore, according to the scanning mirror surface currently projected by the linear laser light source, a part of the plurality of laser receiving units may be enabled, thereby improving efficiency.
As shown in fig. 5C, taking one linear laser light source 11 as an example, the linear laser light source 11 corresponds to four laser receiving units 12, and the part covered by the dotted line part corresponds to the echo signal generated by one scanning mirror in the figure, and covers three laser receiving units 12, and the part covered by the solid line part corresponds to the echo signal generated by the other scanning mirror in the figure, and covers the next three laser receiving units 12. It can be seen that the same laser receiving unit is capable of receiving echo signals from the same line laser source via different scanning mirrors, such as the second or third laser receiving unit of fig. 5C. Then, as the scanning mirror assembly 20 rotates, a portion of the plurality of laser receiving units 12 is enabled according to the scanning mirror surface currently projected by the line laser light source 11, i.e., the first, second, and third laser receiving units are enabled when an echo signal is generated by the first scanning mirror surface, and the second, third, and fourth laser receiving units are enabled when an echo signal is generated by the second scanning mirror surface.
According to the invention, the mode that one linear laser light source corresponds to a plurality of laser receiving units in a group of receiving and transmitting units is changed, so that the number of the linear laser light sources is reduced, the cost is reduced, and the laser scanning is realized by using fewer linear laser light sources. The number of the lower linear laser sources can be utilized through different included angles of the scanning mirror surfaces, so that the number of scanning lines which can be generated by the laser scanning device is increased, and the resolution is improved.
As shown in fig. 1, the line-shaped laser light source 11 and the corresponding plurality of laser light receiving units 12 are disposed at both sides of the field of view of the laser scanning apparatus, that is, at both sides of the scanning mirror assembly 20. By using the scanning mirror assembly 20 as an isolation device, the linear laser signal emitted by the linear laser source 11 is not directly incident to the laser receiving unit 12, so that the optical path isolation is realized, and the accuracy of data acquisition is improved.
In the third embodiment, the same laser receiving unit 12 can receive echo signals from different linear laser light sources 11. As shown in fig. 5D, five laser receiving units 12 correspond to two line-shaped laser light sources 11, and one of the laser receiving units 12 can receive echo signals of different line-shaped laser light sources 11 at different times.
The plurality of line-shaped laser light sources 11 as shown in fig. 5A are disposed on the same side of the field of view of the laser scanning apparatus, and the plurality of line-shaped laser light sources 11 may be disposed on different sides of the field of view of the laser scanning apparatus as shown in fig. 6 and 7.
In fig. 6, a plurality of laser receiving units 12 corresponding to the same line-shaped laser light source 11 are arranged together with a certain distance from the line-shaped laser light source on the same side. The plurality of laser light receiving units 12 corresponding to the same line-shaped laser light source 11 in fig. 7 are provided in a mixed manner with the line-shaped laser light source on the same side, that is, the signal emitted from the right line-shaped laser light source 11 in fig. 7 is commonly received by the three laser light receiving units 12 on the left side, and the signal emitted from the left line-shaped laser light source 11 in fig. 7 is commonly received by the three laser light receiving units 12 on the right side. The arrangement of the laser receiving units 12 can be set according to the requirements. The receiving surface of the laser receiving unit is provided with a diaphragm to eliminate stray light.
The plurality of line-shaped laser light sources may be arranged to emit laser signals at different times. That is, only one linear laser light source emits laser signals at the same time, so that the mutual interference of received data possibly caused by simultaneous emission of a plurality of linear laser light sources is avoided, and the confusion of identification is avoided.
As can be seen from fig. 5A and 5D, the plurality of line-shaped laser light sources 11 are sequentially arranged along the extending direction of the rotation axis O. The plurality of laser receiving units are sequentially arranged along the extending direction of the rotating shaft O, and a larger vertical field angle can be obtained by the laser scanning device of the invention through sequential adjacent of the corresponding fields of view of each linear laser light source 11. In another embodiment, the plurality of line-shaped laser light sources may also be arranged along a direction perpendicular to the extending direction of the rotation axis.
The line laser light source 11 is for generating a line laser signal. Fig. 8 is a schematic diagram showing the structure of the line laser light source 11. Specifically, the line-shaped laser light source 11 includes a laser 111 and a beam shaping module 112. The laser 111 emits a laser signal toward the beam shaping module 112, and the beam shaping module 112 shapes the laser signal to form a line-shaped laser signal. The beam shaping module 112 is an optical fiber or a microlens or a diffraction element. The invention converts the point light source emitted by the same laser into the linear laser signal, so that the energy emitted by the laser is subjected to fine spatial distribution, and meanwhile, the invention has lower power consumption.
The invention also discloses a laser radar which is provided with the laser scanning device.
The invention also discloses an intelligent vehicle provided with the laser radar.
The invention also discloses an unmanned aerial vehicle provided with the laser radar.
The invention provides an implementation mode of a core optical-mechanical structure of a laser scanning device, which utilizes fewer linear laser light sources to realize laser scanning of a scanning mirror assembly based on incomplete included angles of scanning mirrors, thereby improving resolution. The transmitting light path and the receiving light path are mutually isolated, so that the related interference of the linear laser signal and the echo signal is avoided, and the accuracy of signal acquisition is improved. In addition, the invention is applicable to larger vertical field angles and has lower power consumption.
The above embodiments are only illustrative of the implementation of the present invention and are not intended to limit the scope of the present invention, and various obvious modifications and equivalent alternatives can be made by those skilled in the art, which are included in the scope of the present invention as defined in the appended claims.
Claims (13)
1. A laser scanning device, comprising:
the scanning mirror assembly rotates around a rotation axis, the scanning mirror assembly is provided with four scanning mirror surfaces, the included angle of each scanning mirror surface relative to the rotation axis is not identical, and on a section perpendicular to the rotation axis, section lines of adjacent scanning mirror surfaces in the four scanning mirror surfaces are perpendicular to each other;
a linear laser light source emitting a linear laser signal via a first scanning mirror surface of the four scanning mirror surfaces, wherein the extending direction of projection of the linear laser signal on a reference surface is parallel to the rotating shaft, and the extending direction of an echo signal of the linear laser signal is parallel to the rotating shaft;
the plurality of laser receiving units commonly receive echo signals of the linear laser signals through a second scanning mirror surface in the four scanning mirror surfaces, the linear laser light source and the plurality of laser receiving units are arranged at two sides of the scanning mirror assembly separately, so that a transmitting light path and a receiving light path are mutually isolated, vertical receiving view fields of different laser receiving units corresponding to the same linear laser light source are adjacent in sequence, and the total vertical receiving view field is continuously enlarged;
wherein, the plane of the linear laser signal emitted by the linear laser light source is parallel to or the same as the plane formed by the echo signals received by the laser receiving units;
all laser receiving units corresponding to the same linear laser light source can receive echo signals of the linear laser light source when corresponding to each scanning mirror surface in the direction parallel to the scanning axis;
wherein (beta) n1 、β n2 ) For the actual receiving view field angle range of the nth laser receiving unit corresponding to the same linear laser light source, alpha 1 、α 2 、α 3 、α 4 Is the included angle of each of four scanning mirror surfaces (theta) 1 、θ 2 ) The outgoing angle range of the linear laser signal actually emitted by the linear laser light source.
2. The laser scanning device of claim 1, wherein the first scanning mirror and the second scanning mirror are adjacent scanning mirrors.
3. The laser scanning device of claim 1, wherein the reference plane is located between the rotation axis and the line laser source, the reference plane being parallel to the rotation axis.
4. The laser scanning device of claim 1, wherein the laser scanning device comprises:
the laser scanning device comprises a plurality of linear laser light sources, wherein each linear laser light source is correspondingly provided with a plurality of laser receiving units, the number of the laser receiving units corresponding to different linear laser light sources is the same or different, and the plurality of linear laser light sources are arranged on the same side or different sides of the view field of the laser scanning device.
5. The laser scanning device of claim 4, wherein the plurality of line laser light sources emit line laser signals at different times.
6. The laser scanning device as claimed in claim 4, wherein the plurality of line-shaped laser light sources are arranged along the extending direction of the rotation axis or the plurality of line-shaped laser light sources are arranged along a direction perpendicular to the extending direction of the rotation axis.
7. The laser scanning device as claimed in claim 1, 2 or 4, wherein the plurality of laser receiving units are sequentially arranged along the extension direction of the rotation axis.
8. A laser scanning device as claimed in claim 4 or 5, characterized in that the same laser receiving unit is capable of receiving echo signals from different line-shaped laser light sources.
9. The laser scanning device of claim 1, wherein a portion of the plurality of laser receiving units is enabled based on a scan mirror plane currently projected by the line laser light source.
10. The laser scanning device of claim 1, wherein the received field of view generated by each of the laser receiving units via the second scanning mirror is included in the emitted field of view generated by the line laser light source via the first scanning mirror in a direction parallel to the scanning axis.
11. The laser scanning device of claim 1, wherein the linear laser light source comprises a laser and a beam shaping module, the beam shaping module being an optical fiber or a microlens or a diffraction element.
12. A lidar provided with a laser scanning device according to any of claims 1 to 11.
13. An unmanned aerial vehicle or intelligent vehicle, wherein a lidar according to claim 12 is provided.
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