CN107153181A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
- Publication number
- CN107153181A CN107153181A CN201710104482.9A CN201710104482A CN107153181A CN 107153181 A CN107153181 A CN 107153181A CN 201710104482 A CN201710104482 A CN 201710104482A CN 107153181 A CN107153181 A CN 107153181A
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- Prior art keywords
- mems galvanometers
- laser
- laser radar
- dimension mems
- dimension
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of laser radar and laser radar control method are disclosed in embodiments of the invention, laser radar includes transmitting terminal two dimension MEMS galvanometers, the transmitting terminal two dimension MEMS galvanometers are arranged between transmitter and transmitting collimation unit, the optical path direction for changing shoot laser.The embodiment of the present invention can reduce cost, reduce volume, improve vertical resolution.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of laser radar and laser radar control method.
Background technology
Laser radar is to launch the system of the characteristic quantities such as the position of detecting laser beam target, speed, be widely used in swashing
Optical detection field.In order to be adapted to two dimension and/or three-dimensional detection, the laser beam that laser radar is launched needs rotation.In order to
The laser beam rotation for launching laser radar is reached, is generally laser radar is sent out in itself using mechanical device by the way of
Raw rotation.
Laser radar is set to rotate in itself using mechanical device, the requirement to machining is higher, its service life
Also influenceed by mechanical wear, the life-span is shorter, thus use cost is higher.Meanwhile, laser radar of the prior art is hanging down
Nogata can only be distributed more than ten tunnels or tens road laser, so as to limit laser radar upwards due to the conflict of space and volume
Vertical resolution, and laser radar of the prior art to assembly precision require it is very high, while the volume of parts has again
Strict limitation, so production difficulty is high, automation scheme is difficult to.
It can be seen that, in the prior art also without one kind without using mechanical rotational structure, and vertical resolution is higher, cost again compared with
Low laser radar.
The content of the invention
A kind of laser radar and laser radar control method are provided in the embodiment of the present invention, is tied without using machinery rotation
Structure, vertical resolution is higher and cost is relatively low.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：
On the one hand there is provided a kind of laser radar, including transmitting terminal two dimension MEMS galvanometers, the transmitting terminal two dimension MEMS shakes
Mirror is arranged between transmitter and transmitting collimation unit, the optical path direction for changing shoot laser.
Optionally, the transmitting terminal two dimension MEMS galvanometers change the optical path direction of shoot laser, including：
The transmitting terminal two dimension MEMS galvanometers rotate around X-direction, to change the optical path direction of shoot laser；And/or
The transmitting terminal two dimension MEMS galvanometers rotate around Y direction, to change the optical path direction of shoot laser.
Optionally, the transmitting terminal two dimension MEMS galvanometers include around X-direction rotation：
The transmitting terminal two dimension MEMS galvanometers rotate under the control of driver around X-direction；
The transmitting terminal two dimension MEMS galvanometers include around Y direction rotation：
The transmitting terminal two dimension MEMS galvanometers rotate under the control of driver around Y direction.
Optionally, the laser radar also includes receiving terminal two dimension MEMS galvanometers, and the receiving terminal two dimension MEMS galvanometers are set
It is placed between receiver and reception collimation unit, the optical path direction for changing reflection laser.
Optionally, the receiving terminal two dimension MEMS galvanometers change the optical path direction of shoot laser, including：
The receiving terminal two dimension MEMS galvanometers rotate around X-direction, to change the optical path direction of reflection laser；And/or
The receiving terminal two dimension MEMS galvanometers rotate around Y direction, to change the optical path direction of reflection laser.
Optionally, the receiving terminal end two dimension MEMS galvanometers include around X-direction rotation：
The receiving terminal two dimension MEMS galvanometers rotate under the control of driver around X-direction；
The receiving terminal two dimension MEMS galvanometers include around Y direction rotation：
The receiving terminal two dimension MEMS galvanometers rotate under the control of driver around Y direction.
Optionally, the transmitting terminal two dimension MEMS galvanometers and receiving terminal MEMS galvanometer synchronous axial systems.
Optionally, the X-direction is horizontal direction, and the Y direction is vertical direction；Or
The X-direction is vertical direction, and the Y-axis is horizontal direction.
Second aspect there is provided having given a kind of laser radar control method, including：
Transmitting terminal two dimension MEMS galvanometers change the optical path direction of shoot laser, and the transmitting terminal two dimension MEMS galvanometers are arranged at
Between transmitter and transmitting collimation unit.
Optionally, methods described also includes：
Receiving terminal two dimension MEMS galvanometers change the optical path direction of reflection laser, and the receiving terminal two dimension MEMS galvanometers are arranged at
Between receiver and reception collimation unit.
A kind of laser radar, including transmitting terminal two dimension MEMS galvanometers, the transmitting terminal are disclosed in embodiments of the invention
Two-dimentional MEMS galvanometers are arranged between transmitter and transmitting collimation unit, the optical path direction for changing shoot laser.Two dimension
MEMS galvanometers can rotate in the two directions, therefore can change the light path of shoot laser, make the direction of shoot laser two
Rotated on individual direction, therefore the laser radar of the embodiment of the present invention without being equipped with mechanical rotational structure is that can realize laser
The rotation of light beam, in addition, can reduce the volume and cost of laser radar without mechanical rotational structure, increases the service life.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 show the structural representation of the laser radar of the embodiment of the present invention；
Fig. 2 show the structural representation of the laser radar of the embodiment of the present invention；
Fig. 3 show the detects schematic diagram of the laser radar of the embodiment of the present invention.
Embodiment
Following examples of the present invention provide the control method of a kind of laser radar and laser radar, can reduce cost,
Reduce volume, improve vertical resolution.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 1, the laser radar includes hair
End two dimension MEMS galvanometers 110 are penetrated, the transmitting terminal two dimension MEMS galvanometers 110 are arranged at transmitter 120 and transmitting collimation unit 130
Between, the optical path direction for changing shoot laser.
MEMS galvanometers are that (MEMS galvanometers, Micro-Electro-Mechanical System's MEMS galvanometer shake
Mirror).MEMS refers to size at several millimeters or even smaller high-tech device, and its internal structure is general in micron even nanometer amount
Level, is an independent intelligence system.Mainly it is made up of sensor, actuator and micro- energy three parts, it is mainly characterized by
Miniaturization and high integration.
In the embodiment of the present invention, employ MEMS galvanometers to change the laser radar of shoot laser optical path direction, without machine
Tool structure, it is to avoid the drawbacks of life-span caused is relatively low because mechanical structure is worn and torn, simultaneously because without mechanical structure, can subtract
The size of small laser radar, reduces cost.Simultaneously because without mechanical structure, in identical space can be distributed more multichannel goes out
Laser is penetrated, the vertical resolution of laser radar can be improved.Simultaneously as the cost of MEMS galvanometers is low, it is easy to large-scale production,
And follow-up debugging is simple, therefore the popularization using two dimension MEMS galvanometers also beneficial to laser radar.
In the embodiment of the present invention, the transmitting terminal two dimension MEMS galvanometers 110 change the optical path direction of shoot laser, including：
The transmitting terminal two dimension MEMS galvanometers 110 rotate around X-direction, to change the optical path direction of shoot laser；With/
Or
The transmitting terminal two dimension MEMS galvanometers 110 rotate around Y direction, to change the optical path direction of shoot laser.
Two-dimentional MEMS galvanometers 110 can rotate in the two directions, you can with while changing in horizontal direction and Vertical Square
The optical path direction of upward shoot laser.
In the embodiment of the present invention, the X-direction is horizontal direction, and the Y direction is vertical direction；Or
The X-direction is vertical direction, and the Y-axis is horizontal direction.
In other embodiments of the invention, X-axis and/or Y-axis can have certain folder with horizontal direction or vertical direction
Angle.
In the embodiment of the present invention, the transmitting terminal two dimension MEMS galvanometers 110 include around X-direction rotation：
The transmitting terminal two dimension MEMS galvanometers 110 rotate under the control of driver around X-direction；
The transmitting terminal two dimension MEMS galvanometers 110 include around Y direction rotation：
The transmitting terminal two dimension MEMS galvanometers 110 rotate under the control of driver around Y direction.
The laser radar of the embodiment of the present invention, employs two-dimentional MEMS galvanometers to change the side of shoot laser in transmitting terminal
To without mechanical structure, small volume, cost is low, and vertical resolution is higher.
In the embodiment of the present invention, employ two-dimentional MEMS galvanometers to substitute the function of mechanical rotating mechanism, phase in transmitting terminal
That answers also uses two-dimentional MEMS galvanometers in receiving terminal.
Fig. 2 show the structural representation of the laser radar of the embodiment of the present invention, as shown in Fig. 2 the laser radar is also
Including receiving terminal two dimension MEMS galvanometers 210, the receiving terminal two dimension MEMS galvanometers 210 are arranged at receiver 220 and collimated with receiving
Between unit 230, the optical path direction for changing reflection laser.
The receiving terminal two dimension MEMS galvanometers 210 change the optical path direction of shoot laser, including：
The receiving terminal two dimension MEMS galvanometers 210 rotate around X-direction, to change the optical path direction of reflection laser；With/
Or
The receiving terminal two dimension MEMS galvanometers 210 rotate around Y direction, to change the optical path direction of reflection laser.
In the embodiment of the present invention, the receiving terminal end two dimension MEMS galvanometers 210 include around X-direction rotation：
The receiving terminal two dimension MEMS galvanometers 210 rotate under the control of driver around X-direction；
The receiving terminal two dimension MEMS galvanometers 210 include around Y direction rotation：
The receiving terminal two dimension MEMS galvanometers 210 rotate under the control of driver around Y direction.
In the embodiment of the present invention, the transmitting terminal two dimension MEMS galvanometers 210 and the synchronous axial system of receiving terminal MEMS galvanometers 110.
The laser radar of the embodiment of the present invention can improve vertical resolution, reduce volume, reduce cost.
Fig. 3 is the schematic diagram of the Monitoring by Lidar of the embodiment of the present invention, as shown in figure 3, LASER Light Source 310 launches outgoing
Laser, the direction of shoot laser is after exit end two dimension MEMS galvanometers 320 change, via the transmitting outgoing of collimation unit 330.
Shoot laser reflected by object 300 after reflection laser, received collimation unit 340, receiving terminal two dimension MEMS
After galvanometer 350, received by receiver 360.
Shoot laser and reflection laser respectively by exit end two dimension MEMS galvanometers 320, receiving terminal two dimension MEMS galvanometers 350
Change direction, so as to realize the detection without rotating machinery structure, vertical resolution can be improved, reduce volume, reduce cost.
It is corresponding with above-mentioned laser radar, the embodiments of the invention provide a kind of laser radar control method, including：
Transmitting terminal two dimension MEMS galvanometers change the optical path direction of shoot laser, and the transmitting terminal two dimension MEMS galvanometers are arranged at
Between transmitter and transmitting collimation unit.
In the embodiment of the present invention, methods described also includes：
Receiving terminal two dimension MEMS galvanometers change the optical path direction of reflection laser, and the receiving terminal two dimension MEMS galvanometers are arranged at
Between receiver and reception collimation unit.
The embodiment of the present invention can improve vertical resolution, reduce volume, reduce cost.
A kind of laser radar and laser radar control method are disclosed in embodiments of the invention, the laser radar includes
Transmitting terminal two dimension MEMS galvanometers, the transmitting terminal two dimension MEMS galvanometers are arranged between transmitter and transmitting collimation unit, are used for
Change the optical path direction of shoot laser.Two-dimentional MEMS galvanometers can rotate in the two directions, therefore can change shoot laser
Light path, the direction of shoot laser is rotated in the two directions, therefore the laser radar of the embodiment of the present invention need not match somebody with somebody
Standby host tool rotational structure is that can realize the rotation of laser beam, in addition, can reduce laser radar without mechanical rotational structure
Volume and cost, increase the service life.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to application specific integrated circuit, dedicated cpu, private memory, special components and parts etc. are included come real by specialized hardware
It is existing, but the former is more preferably embodiment in many cases.Understood based on such, the technical scheme sheet in the embodiment of the present invention
The part contributed in other words to prior art in matter can be embodied in the form of software product, computer software production
Product can be stored in storage medium, such as read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., including some instructions are to cause a computer equipment (can be
People's computer, server, or network equipment etc.) perform described in some parts of each embodiment of the invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the scope of the protection.
Claims (10)
1. a kind of laser radar, it is characterised in that including transmitting terminal two dimension MEMS galvanometers, the transmitting terminal two dimension MEMS galvanometers are set
It is placed between transmitter and transmitting collimation unit, the optical path direction for changing shoot laser.
2. laser radar as claimed in claim 1, it is characterised in that the transmitting terminal two dimension MEMS galvanometers change shoot laser
Optical path direction, including：
The transmitting terminal two dimension MEMS galvanometers rotate around X-direction, to change the optical path direction of shoot laser；And/or
The transmitting terminal two dimension MEMS galvanometers rotate around Y direction, to change the optical path direction of shoot laser.
3. laser radar as claimed in claim 2, it is characterised in that the transmitting terminal two dimension MEMS galvanometers are around X-direction
Rotation includes：
The transmitting terminal two dimension MEMS galvanometers rotate under the control of driver around X-direction；
The transmitting terminal two dimension MEMS galvanometers include around Y direction rotation：
The transmitting terminal two dimension MEMS galvanometers rotate under the control of driver around Y direction.
4. the laser radar as described in any one of claims 1 to 3, it is characterised in that the laser radar also includes receiving terminal
Two-dimentional MEMS galvanometers, the receiving terminal two dimension MEMS galvanometers are arranged between receiver and reception collimation unit, anti-for changing
Penetrate the optical path direction of laser.
5. laser radar as claimed in claim 4, it is characterised in that the receiving terminal two dimension MEMS galvanometers change shoot laser
Optical path direction, including：
The receiving terminal two dimension MEMS galvanometers rotate around X-direction, to change the optical path direction of reflection laser；And/or
The receiving terminal two dimension MEMS galvanometers rotate around Y direction, to change the optical path direction of reflection laser.
6. laser radar as claimed in claim 5, it is characterised in that the receiving terminal end two dimension MEMS galvanometers are around X-axis side
Include to rotation：
The receiving terminal two dimension MEMS galvanometers rotate under the control of driver around X-direction；
The receiving terminal two dimension MEMS galvanometers include around Y direction rotation：
The receiving terminal two dimension MEMS galvanometers rotate under the control of driver around Y direction.
7. the laser radar as described in any one of claim 4 to 6, it is characterised in that the transmitting terminal two dimension MEMS galvanometers with
Receiving terminal MEMS galvanometer synchronous axial systems.
8. the laser radar as described in any one of claim 2 to 7, it is characterised in that the X-direction is horizontal direction, institute
Y direction is stated for vertical direction；Or
The X-direction is vertical direction, and the Y-axis is horizontal direction.
9. a kind of laser radar control method, it is characterised in that including：
Transmitting terminal two dimension MEMS galvanometers change the optical path direction of shoot laser, and the transmitting terminal two dimension MEMS galvanometers are arranged at transmitting
Between device and transmitting collimation unit.
10. method as claimed in claim 9, it is characterised in that methods described also includes：
Receiving terminal two dimension MEMS galvanometers change the optical path direction of reflection laser, and the receiving terminal two dimension MEMS galvanometers are arranged at reception
Between device and reception collimation unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710104482.9A CN107153181A (en) | 2017-02-24 | 2017-02-24 | Laser radar and laser radar control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710104482.9A CN107153181A (en) | 2017-02-24 | 2017-02-24 | Laser radar and laser radar control method |
Publications (1)
| Publication Number | Publication Date |
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| CN107153181A true CN107153181A (en) | 2017-09-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710104482.9A Pending CN107153181A (en) | 2017-02-24 | 2017-02-24 | Laser radar and laser radar control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109404676A (en) * | 2018-12-13 | 2019-03-01 | 百度在线网络技术（北京）有限公司 | Support equipment and its manufacturing method and control method, device, equipment and medium |
| CN113030913A (en) * | 2019-12-09 | 2021-06-25 | 觉芯电子(无锡)有限公司 | Laser radar device and system based on two-dimensional galvanometer |
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| CN113030913A (en) * | 2019-12-09 | 2021-06-25 | 觉芯电子(无锡)有限公司 | Laser radar device and system based on two-dimensional galvanometer |
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