CN110907913A

CN110907913A - Laser radar capable of scanning 360 degrees

Info

Publication number: CN110907913A
Application number: CN201811079023.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Tianjin Tianruibo Technology Co Ltd
Current assignee: Tianjin Tianruibo Technology Co Ltd
Priority date: 2018-09-17
Filing date: 2018-09-17
Publication date: 2020-03-24

Abstract

The invention relates to a laser radar capable of scanning 360 degrees, which is suitable for the technical field of laser radars. The method comprises the following steps: one or more laser emitting units, a laser receiving unit, a time calculating unit, mechanical rotating parts, a reflecting mirror, a light shield and a shell. The laser emitting unit and the laser receiving unit are vertically arranged inside the mechanical rotating part. The mirror is mounted on top of the mechanical rotation part at an angle of 45 degrees. The laser emitting unit emits laser vertically upwards, the angle of the laser emitting unit is changed through the reflector rotating at a high speed to scan the periphery for 360 degrees, and the returned laser signal enters the laser receiving unit through the reflector. Therefore, all electronic components are kept static, and only the mechanical part keeps rotating at a high speed, so that the stability, the reliability and the service life of the product are improved.

Description

Laser radar capable of scanning 360 degrees

Technical Field

The invention relates to the technical field of laser scanning, in particular to a rotary laser scanning device.

Background

The laser radar is a radar system that detects a characteristic quantity such as a position and a velocity of a target by emitting a laser beam. With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, unmanned aerial vehicles, mobile robots and the like.

The scanning range of the prior panoramic laser radar is 360 degrees, the principle is that a rotating mechanism drives a rotating frame to rotate at a high speed by 360 degrees, electronic components such as a laser emitting unit and a laser receiving unit are arranged on the rotating frame, and along with the high-speed rotation of the rotating frame, the electronic components rotate at a high speed, so that the service life of a product is influenced. And the electronic components do high-speed rotation movement, and the power supply of the electronic components must be carried out in an electric slip ring mode or a wireless charging mode, so that the stability, the reliability and the service life of the product are reduced.

Disclosure of Invention

In view of the above, it is necessary to provide a lidar in which all electronic components are kept stationary and only a mechanical part rotates, so as to improve the stability, reliability and lifespan of the product.

In order to meet the technical requirement, the invention discloses the following technical scheme:

a360-degree scanning laser radar comprises one or more laser emitting units, a laser receiving unit, a time calculating unit, a mechanical rotating component, a reflecting mirror, a light shield and a shell. The laser emitting unit and the laser receiving unit are vertically arranged inside the mechanical rotating part. The mirror is mounted on top of the mechanical rotation part at an angle of 45 degrees.

The laser emission unit comprises a laser and a corresponding emission collimating lens, and laser is adjusted into a beam of parallel light for detection through the laser collimating lens after being emitted.

The number of the laser emission units is 1 or more, the laser radar is a single-line laser radar when the number of the laser emission units is 1, and the laser radar is a multi-line laser radar when the number of the laser emission units is more than 1.

The laser emitting unit can emit pulse laser and measure distance by using a TOF flight time method, and can also emit laser beams after amplitude modulation and measure distance by using a phase distance measuring principle.

The laser receiving unit comprises a laser receiving sensor and a corresponding laser focusing lens, and the returned laser passes through the laser focusing lens and is focused on the laser receiving sensor.

The reflector is a front surface reflector; the mirror is mounted on top of the mechanical rotation part at an angle of 45 degrees to the mechanical rotation part.

The laser emitting unit and the laser receiving unit are vertically and upwards installed inside the mechanical rotating part. The laser emitting unit emits laser and changes the angle through the reflector rotating at high speed to scan the periphery for 360 degrees, and the returned laser signal enters the laser receiving unit through the reflector.

When the number of the laser emitting units is one, the emitted single laser beams are vertically upward, and 360-degree single line scanning is carried out on the periphery through a reflector; when the number of the laser emitting units is multiple, multiple emitted laser beams are upwards emitted at a certain included angle, the included angle between every two laser beams is equal, and 360-degree multi-line scanning is carried out on the periphery through the reflecting mirror.

The time calculation unit adopts a TDC time digital conversion technology to calculate time.

The mechanical rotating part comprises a rotating driving piece, a rotating frame, a code disc and a code disc counting sensor.

The rotary driving part can be an independent motor and drives the rotary frame to rotate by utilizing the transmission device, the rotary driving part can also be a specially designed motor, the rotary frame is an extension of a motor rotor, and the rotary driving part can also be an electromagnetic driving device.

The coded disc is sleeved outside the rotating frame, and the coded disc counting sensor corresponds to the coded disc in position so as to monitor the rotating angle and the direction of the rotating frame.

Drawings

FIG. 1 is a side view of a lidar shown in an exemplary embodiment of the invention

FIG. 2 is an isometric view of a lidar shown in an exemplary embodiment of the invention

FIG. 3 is a schematic diagram of a laser transmitter unit and a laser receiver unit according to an exemplary embodiment of the present invention

FIG. 4 is a schematic diagram of a lidar housing according to an exemplary embodiment of the present invention

Detailed Description

The present invention will be described in detail below with reference to specific embodiments and the accompanying drawings.

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

As shown in fig. 1 and 2, the rotating frame 302 is mounted in the bearing frame 309 through a bearing 310, and the bearing frame 309 is fixed on a base plate 311.

The brushless micro motor 308 is installed in the motor frame 300, and the motor frame 300 is fixed on the base plate 311.

The motor shaft 307 is provided with a belt 301, and the belt 301 drives the rotating frame 302 to rotate at a high speed.

In other embodiments, the rotating frame may itself be an extension of a specially-made motor rotor, and the rotating frame may also be driven by other types of electromagnetic drives.

Further, a code wheel 304 is mounted on the rotating frame 302. The code wheel counting sensor 305 counts the code wheel at the corresponding position, the code wheel counting sensor 305 is installed on the sensor frame 306, and the sensor frame 306 is installed on the motor frame 300.

Preferably, the upper portion of the rotating frame 302 is a 45 degree inclined surface, and the reflecting mirror 105 processed into a corresponding shape is adhered to the inclined surface. The mirror 105 is a front surface mirror. The mirror surface faces downward.

Further, the rotary frame 302 has an optical path hole 303 formed at a position corresponding to the reflecting mirror 105.

In the present embodiment, the laser emitting unit 103 and the laser receiving unit 101 are integrated in the ranging module 102 mounted on the base plate 311, and are mounted inside the rotating frame 302 in the vertical direction. The laser emitted vertically by the laser emitting unit 103 is reflected by the reflecting mirror 105 and then emitted horizontally, and the laser returned after detecting an environmental object is reflected by the reflecting mirror 105 and then received by the laser receiving unit 101.

In other embodiments, a plurality of laser emitting units are vertically installed inside the rotating frame 302 at an equal angle, and emit a plurality of laser beams to perform multi-line scanning on the periphery.

As shown in fig. 3, the laser emitting unit 103 includes a laser 111 and a corresponding emitting collimating lens 112, and the laser is emitted and then adjusted into a beam of parallel light by the laser collimating lens 112 for detection. The laser receiving unit 101 includes a laser receiving sensor 114 and a corresponding laser focusing lens 113, and the returned laser light is focused on the laser receiving sensor 114 through the laser focusing lens 113.

After the laser emitting unit 103 emits laser beams, the time calculating unit starts timing, after the laser receiving unit 101 receives the returned laser photons, the time calculating unit finishes timing, and then the distance from the laser emitting unit to the corresponding position of the reflector 105 and the distance from the laser receiving unit to the corresponding position of the reflector 105 are removed according to a corresponding algorithm, namely the distance from the environmental object to the laser radar. The time calculating unit is installed inside the housing, not shown in the schematic diagram.

After the laser radar is powered on, the rotating frame 302 is rapidly accelerated and enters a uniform rotating state. While the other electronic components start to function normally. Under normal working conditions, within one pulse time of the code wheel counting sensor 305, a plurality of distance information can be obtained, and the distance information is uniformly distributed on the angle corresponding to the counting pulse by utilizing an interpolation method. When the rotating frame 302 rotates for a circle, the laser radar can obtain the distance information of the surrounding 360-degree environmental object.

As shown in fig. 4, a cylindrical light shield 201 is mounted on a housing 202 of the laser radar, and has a light narrow-band pass function, so that light with other wavelengths in the external environment can be filtered, and the IP protection level of the product can be improved.

After the invention is applied, all electronic components of the laser radar are kept static, and only the mechanical part rotates at high speed, so that the stability, the reliability and the service life of the laser radar product are improved.

Claims

1. A360-degree scanning laser radar is characterized by comprising one or more laser emitting units, a laser receiving unit, a time calculating unit, a mechanical rotating component, a reflecting mirror, a light shield and a shell; the laser emitting unit and the laser receiving unit are vertically arranged in the mechanical rotating part; the mirror is mounted at the top of the mechanical rotation component at an angle of 45 degrees.

2. The 360-degree scanning lidar according to claim 1, wherein the laser emitting unit comprises a laser and a corresponding emitting collimating lens, and the laser is adjusted into a beam of parallel light for detection after being emitted; the number of the laser emission units is 1 or more, the laser radar is a single-line laser radar when the number of the laser emission units is 1, and the laser radar is a multi-line laser radar when the number of the laser emission units is more than 1.

3. A 360 degree scanning lidar according to claims 1 and 2, wherein the laser transmitter unit is capable of transmitting pulsed laser and ranging using TOF time of flight, or is capable of transmitting amplitude modulated laser beam and ranging using phase ranging principle.

4. A 360 degree scanning lidar according to claim 1 wherein said laser receiver unit comprises a laser receiver sensor and a corresponding laser focusing lens, and wherein said returned laser light is focused onto said laser receiver sensor through said laser focusing lens.

5. A 360 degree scanning lidar according to claim 1 wherein said mirror is a front surface mirror; the mirror is mounted on top of the mechanical rotation part at an angle of 45 degrees to the mechanical rotation part.

6. The 360-degree scanning lidar according to claims 1 to 5, wherein the laser emitting unit and the laser receiving unit are vertically installed upward inside a mechanical rotating member, the laser emitting unit emits laser light and changes an angle by a mirror rotating at a high speed to scan the surroundings by 360 degrees, and a returned laser signal enters the laser receiving unit through the mirror.

7. The 360-degree scanning lidar according to claims 1 to 6, wherein when the number of the laser emitting units is one, the emitted single laser beam is vertically upward, and 360-degree single line scanning is performed on the periphery through the reflector; when the number of the laser emitting units is multiple, multiple emitted laser beams are upwards emitted at a certain included angle, the included angle between every two laser beams is equal, and 360-degree multi-line scanning is carried out on the periphery through the reflecting mirror.

8. A 360 degree scanning lidar according to claim 1 wherein said time calculation unit employs a TDC time-to-digital conversion technique for time calculation.

9. The 360 degree scanning lidar of claim 1, wherein the mechanical rotation component comprises a rotary drive, a rotating gantry, a code wheel count sensor; the rotary driving part can be an independent motor, the transmission device is utilized to drive the rotary frame to rotate, the rotary driving part can also be a specially designed motor, the rotary frame is an extension of a motor rotor, and the rotary driving part can also be an electromagnetic driving device; the coded disc is sleeved outside the rotating frame, and the coded disc counting sensor corresponds to the coded disc in position so as to monitor the rotating angle and the direction of the rotating frame.

10. The 360 degree scanning lidar of claim 1, wherein the lens hood is cylindrical, having a narrow band pass function, while increasing product IP protection.