CN111308444A - Laser radar system - Google Patents
Laser radar system Download PDFInfo
- Publication number
- CN111308444A CN111308444A CN202010293767.3A CN202010293767A CN111308444A CN 111308444 A CN111308444 A CN 111308444A CN 202010293767 A CN202010293767 A CN 202010293767A CN 111308444 A CN111308444 A CN 111308444A
- Authority
- CN
- China
- Prior art keywords
- laser
- reflecting
- reflective
- rotating
- reflection
- 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.)
- Pending
Links
Images
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
Abstract
The invention discloses a laser radar system, which comprises a first rotating structure, a reflecting structure and at least one group of laser transceiving components, wherein the first rotating structure is arranged on the first rotating structure; the reflecting structure is rotatable around a rotating shaft of the reflecting structure, and the rotating shaft of the reflecting structure is intersected with the rotating shaft of the first rotating structure; at least one side surface of the reflecting structure is a reflecting surface; a plurality of laser transmitters in the laser transceiving component are sequentially arranged along the extending direction of the rotating shaft of the reflecting structure. The plurality of laser transmitters are sequentially arranged along the extension direction of the rotating shaft of the reflecting structure, so that the laser line number density in the extension direction of the rotating shaft of the reflecting structure can be greatly increased, and the resolution of a laser radar system in the direction is improved; the rotation axis that sets up reflection configuration simultaneously intersects with first revolution mechanic's rotation axis, and reflection configuration is rotatable around its rotation axis, can realize the scanning of laser radar system in first revolution mechanic rotation axis extending direction, and guarantees that laser radar system structure is small and exquisite simple.
Description
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a laser radar system.
Background
With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, mobile robots and the like. The laser radar system is a radar system for detecting the position, speed and other characteristic quantities of a target by laser, and the working principle of the radar system is that a detection laser beam is firstly emitted to the target, then a signal reflected from the target is received and compared with an emitted signal, and after appropriate processing, the information of the distance, direction, height, speed, attitude, even shape and the like of the target can be obtained.
Currently, the most common lidar systems include a single line lidar system optical system and a multi-line lidar system optical system, wherein the single line lidar system scans with a single beam and has a small scanning area; the multi-line laser radar system scans the surrounding environment through the rotation of the motor, and has the defects that a plurality of laser transmitters are needed, and the laser radar system is large in size and high in cost. In addition, the horizontal resolution of the existing lidar system is limited by the scanning frequency of the lidar system and the transmitting frequency of the laser, and usually, in order to ensure the measurement distance of the lidar system, a certain transmitting frequency needs to be sacrificed, and meanwhile, the corresponding horizontal resolution is also sacrificed, so that the higher horizontal resolution cannot be considered while the long-distance detection is realized.
Disclosure of Invention
In view of this, embodiments of the present invention provide a laser radar system, which achieves both good horizontal resolution and smaller volume and cost of the laser radar system.
The embodiment of the invention provides a laser radar system, which comprises a first rotating structure, a reflecting structure and at least one group of laser transceiving components, wherein the reflecting structure and the laser transceiving components are arranged on the first rotating structure;
the reflective structure is rotatable about a rotational axis of the reflective structure, and the rotational axis of the reflective structure intersects the rotational axis of the first rotational structure; the reflecting structure comprises at least three side surfaces, and at least one side surface is a reflecting surface;
the laser receiving and dispatching assembly comprises a laser emitting unit, the laser emitting unit comprises a plurality of laser emitters, and the laser emitters are arranged in sequence along the extending direction of the rotating shaft of the reflecting structure.
Optionally, at least two of the side surfaces are reflecting surfaces;
at least two the plane of reflection with the rotation axis of reflection configuration becomes an contained angle, and at least two the plane of reflection with the contained angle between the rotation axis of reflection configuration is different.
Optionally, along the extending direction of the rotation axis of the reflection structure, at least one of the reflection surfaces includes at least two reflection areas, at least two of the reflection areas and the rotation axis of the reflection structure form an included angle, and at least two of the reflection areas and the included angle between the rotation axes of the reflection structure are different.
Optionally, at least three side surfaces of the reflection structure are all reflection surfaces.
Optionally, the reflection structure and the laser transceiver component are both fixedly arranged on the first rotation structure, and the first rotation structure drives the reflection structure and the laser transceiver component to rotate around the rotation axis of the first rotation structure by 360 degrees.
Optionally, the laser radar system further includes a second rotating structure, the reflecting structure is disposed on the second rotating structure, and the second rotating structure is disposed on the first rotating structure;
the second rotating structure drives the reflecting structure to rotate 360 degrees around the rotating shaft of the reflecting structure;
the first rotating structure drives the second rotating structure to rotate 360 degrees around a rotating shaft of the first rotating structure.
Optionally, the laser radar system includes multiple sets of the laser transceiver assemblies, and the relative positions of any two sets of the laser transceiver assemblies and the reflection structure are different.
Optionally, the laser transceiver module further includes a laser receiving unit;
each reflecting surface comprises an emitting area and a receiving area;
the laser emitting unit is positioned on one side of the reflecting structure and used for emitting laser beams, and the laser emitting unit reflects the emitted laser beams through the emitting area of the reflecting surface and then irradiates the target object;
the laser receiving unit and the laser emitting unit in the same group of laser receiving and transmitting assemblies are positioned on the same side of the reflecting structure, and the laser receiving unit is used for receiving laser beams reflected by the target object and then reflected by the receiving area of the reflecting surface.
Optionally, the lidar system further includes:
the emission mirror group is positioned between the laser emission unit and the reflection structure and is used for collimating the laser beam emitted by the laser emission unit and irradiating the collimated laser beam onto an emission area of the reflection structure;
the receiving mirror group is positioned between the laser receiving unit and the reflecting structure and is used for focusing the laser beams reflected by the receiving area of the reflecting structure and irradiating the laser beams onto the laser receiving unit;
and the filter lens is positioned between the receiving mirror group and the laser receiving unit and used for filtering ambient light.
Optionally, the reflecting structure includes a prism, a mirror, or a MEMS galvanometer.
The laser radar system provided by the embodiment of the invention comprises a first rotating structure, a reflecting structure and at least one group of laser transceiving components, wherein the reflecting structure can rotate around a rotating shaft of the reflecting structure, and the rotating shaft of the reflecting structure is intersected with the rotating shaft of the first rotating structure; the reflecting structure comprises at least three side surfaces, and at least one side surface is a reflecting surface; a plurality of laser transmitters in the laser transceiving component are sequentially arranged along the extending direction of the rotating shaft of the reflecting structure. The plurality of laser transmitters are sequentially arranged along the extension direction of the rotating shaft of the reflecting structure, so that the laser line number density in the extension direction of the rotating shaft of the reflecting structure can be greatly increased, and the resolution of a laser radar system in the direction is improved; meanwhile, a rotating shaft of the reflecting structure is intersected with a rotating shaft of the first rotating structure, the reflecting structure can rotate around the rotating shaft, the reflecting structure comprises at least one reflecting surface, and the laser radar system can scan in the extending direction of the rotating shaft of the first rotating structure in the process that the reflecting structure rotates around the rotating shaft of the reflecting structure, so that the laser radar system can scan in the whole three-dimensional space; and only through the reasonable setting mode who sets up reflection configuration and a plurality of laser emitter can realize the high resolution on the extending direction of reflection configuration's rotation axis and the scanning in whole three-dimensional space, guarantee that laser radar system structure is small and exquisite simple with low costs.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a reflective structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a laser path according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another reflective structure provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another reflective structure provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another reflective structure provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic diagram of another lidar system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of another lidar system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be fully described by the detailed description with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without inventive efforts fall within the scope of the present invention.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a reflection structure according to an embodiment of the present invention, as shown in fig. 1 and fig. 2, a laser radar system 10 according to an embodiment of the present invention includes a first rotation structure 11, a reflection structure 12, and at least one set of laser transceiver components 13, where the reflection structure 12 and the laser transceiver components 13 are both disposed on the first rotation structure 11; the reflective structure 12 is rotatable about a reflective structure rotation axis BB, and the reflective structure 12 rotation axis BB intersects the first rotation structure 11 rotation axis AA, e.g. the reflective structure 12 rotation axis BB is perpendicular to the first rotation structure 11 rotation axis AA; the reflective structure 12 includes at least three side surfaces 121, at least one side surface 121 being a reflective surface; the laser transceiver module 13 includes a laser transmitter 131, the laser transmitter 131 includes a plurality of laser emitters 1311, and the plurality of laser emitters 1311 are sequentially arranged along an extending direction of a rotation axis BB of the reflection structure.
For example, fig. 1 illustrates that the rotation axis BB of the reflection structure 12 is horizontally disposed, the rotation axis AA of the first rotation structure 11 is vertically disposed, and the plurality of laser emitters 1311 are sequentially disposed in the horizontal direction; fig. 2 illustrates that the reflective structure 12 includes four side surfaces 121, and the four side surfaces 121 in fig. 2 are an upper surface, a front surface, a lower surface and a rear surface, respectively. As shown in fig. 1, the laser transmitter 1311 may be a linear array laser transmitter or an area array laser transmitter, which is not limited in the embodiment of the present invention, and the number density of laser lines in the horizontal direction may be greatly increased by arranging a plurality of laser transmitters 1311 along the horizontal direction, so as to improve the horizontal resolution of the laser radar system 10.
Further, fig. 3 is an exemplary diagram of a laser light path according to an embodiment of the present invention, and referring to fig. 2 and fig. 3, the reflective structure 12 is rotatable around a rotation axis BB of the reflective structure, and the rotation axis BB of the reflective structure 12 intersects with a rotation axis AA of the first rotary structure 11, for example, the rotation axis BB of the reflective structure 12 is horizontally disposed, the rotation axis AA of the first rotary structure 11 is vertically disposed, during laser detection, the reflective structure 12 rotates around the rotation axis BB of the reflective structure, that is, the reflective surface rotates around the rotation axis BB of the reflective structure 12, an incident angle of laser light emitted by the laser emitter 1311 incident on the reflective surface changes, according to a light reflection principle, a reflection angle of reflected light reflected by the reflective surface changes, and therefore, as the reflective surface rotates around the rotation axis BB of the reflective structure 12, the reflective surface of the reflective structure 12 can reflect light emitted by the laser emitter 1311 to different vertical angles, therefore, the scanning in the vertical direction is realized, and the scanning of the laser radar system in the whole three-dimensional space is further realized.
In summary, the laser radar system provided by the embodiment of the invention has the advantages that the plurality of laser transmitters are sequentially arranged along the extending direction of the rotating shaft of the reflecting structure, so that the number density of laser lines in the extending direction of the rotating shaft of the reflecting structure can be greatly increased, and the resolution of the laser radar system in the direction is improved; meanwhile, a rotating shaft of the reflecting structure is intersected with a rotating shaft of the first rotating structure, the reflecting structure can rotate around the rotating shaft, the reflecting structure comprises at least one reflecting surface, and the laser radar system can scan in the extending direction of the rotating shaft of the first rotating structure in the process that the reflecting structure rotates around the rotating shaft of the reflecting structure, so that the laser radar system can scan in the whole three-dimensional space; and only through the reasonable setting mode who sets up reflection configuration and a plurality of laser emitter can realize the high resolution on the extending direction of reflection configuration's rotation axis and the scanning in whole three-dimensional space, guarantee that laser radar system structure is small and exquisite simple with low costs.
Optionally, in the technical solution provided in the embodiment of the present invention, by reasonably setting the structure of the reflection structure 12, the detection effect of the laser radar system 10 in the extending direction of the rotation axis BB of the reflection structure 12 can be further improved. In the following, two possible implementations are taken as examples to specifically describe how to improve the detection effect of the laser radar system 10 in the extending direction of the rotation axis BB of the reflection structure 12 by properly arranging the structure of the reflection structure 12.
As a feasible implementation manner of the embodiment of the present invention, fig. 4 is a schematic structural diagram of another reflective structure provided in the embodiment of the present invention, and as shown in fig. 4, in the reflective structure 12 provided in the embodiment of the present invention, at least two side surfaces 121 are reflective surfaces; at least two reflecting surfaces form an included angle with the rotation axis BB of the reflecting structure 12, and the included angles between the at least two reflecting surfaces and the rotation axis BB of the reflecting structure 12 are different.
For example, fig. 4 illustrates that the reflection structure 12 is in a shape of a rectangular pyramid, where at least two side surfaces 121 of the reflection structure 12 of the rectangular pyramid structure are reflection surfaces, and included angles between the at least two reflection surfaces and a rotation axis BB of the reflection structure 12 are different, so that when the reflection structure 12 rotates around the rotation axis BB of the reflection structure 12, not only light emitted from the laser emitter 1311 can be reflected to different vertical angles, and scanning in the vertical direction is achieved; and after the laser beams are reflected by different reflecting surfaces, the laser beams can be projected to different horizontal angles, so that the distribution condition of the laser beams on the horizontal plane is changed. Further, through the contained angle between the rotation axis BB that rationally sets up each plane of reflection and reflection structure 12, can guarantee the distribution condition of rational regulation laser beam on the horizontal direction, make it present the different distribution of density as required, promote laser radar system's detection effect. In other embodiments, as shown in fig. 5, the reflective structure 12 may be a frustum of a prism, the center line of which is perpendicular to the rotation axis AA as the rotation axis, and the included angles between the side surfaces and the center axis are not exactly the same.
As another possible implementation manner of the embodiment of the present invention, fig. 6 is a schematic structural diagram of another reflective structure provided in the embodiment of the present invention, and as shown in fig. 6, in the reflective structure 12 provided in the embodiment of the present invention, along an extending direction of a rotation axis BB of the reflective structure 12, at least one reflective surface includes at least two reflective regions 1211, at least two reflective regions 1211 form an included angle with the rotation axis B of the reflective structure 12, and the included angles between at least two reflective regions 1211 and the rotation axis BB of the reflective structure 12 are different.
For example, fig. 6 illustrates that one of the reflection surfaces of the reflection structure 12 includes five reflection regions 1211, and the included angles between at least two reflection regions and the rotation axis BB of the reflection structure 12 are different, so that when laser light is incident on the reflection regions 1211 with different included angles with the rotation axis BB of the reflection structure 12, each laser beam can be projected to different horizontal angles after being reflected by the different reflection regions 1211, thereby changing the distribution of the laser beams in the horizontal direction. Furthermore, by reasonably setting the included angle between each reflection region 1211 and the rotation axis BB of the reflection structure 12, the distribution of the laser beam in the horizontal direction can be reasonably adjusted, so that the laser beam is distributed in different densities as required, and the detection effect of the laser radar system is improved.
To sum up, through the structure of reasonable setting reflection structure 12, guarantee can rationally adjust the distribution condition of laser beam on the horizontal direction, make it present the different distribution of density as required, promote laser radar system's detection effect.
As a possible implementation manner of the embodiment of the present invention, the reflective structure 12 may include a prism, a mirror, or a MEMS galvanometer, and the embodiment of the present invention does not limit a specific type of the reflective structure 12, and fig. 1 to fig. 3 only illustrate the reflective structure 12 as the prism. Further, when the reflective structure 12 is a prism, the prism may be a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism, which is not limited in the embodiment of the present invention, and fig. 1 and 2 illustrate an example in which the prism is a quadrangular prism and includes four side surfaces.
Further, since the number of times that the laser radar system completes scanning in the vertical direction is the same as the number of the reflection surfaces in one rotation period of the reflection structure 12, at least three side surfaces of the reflection structure 12 may be set to be the reflection surfaces, and when the reflection structure 12 is a prism, that is, a plurality of side surfaces of the prism may be the reflection surfaces. So along with reflecting structure 12 rotates around reflecting structure 12's rotation axis BB, in a rotation cycle of reflecting structure 12, can improve the number of times that laser radar system accomplished the vertical direction scanning in a rotation cycle, be favorable to improving laser radar system's repetition frequency, can increase the point cloud data that can acquire in the unit interval, improve measurement accuracy. Therefore, the side surfaces of the reflection structure 12 may be all set as reflection surfaces, and the more the number of the side surfaces is, the more point cloud data that can be acquired in one rotation period can be increased, and the measurement accuracy is improved. .
As a feasible implementation manner of the embodiment of the present invention, the reflection structure 12 and the laser transceiver component 13 are both fixedly disposed on the first rotation structure 11, and the first rotation structure 11 can drive the reflection structure 12 and the laser transceiver component 13 to rotate 360 ° around a rotation axis of the first rotation structure, so as to implement 360 ° scanning of the laser radar system 10, ensure that the laser radar system 10 provided by the embodiment of the present invention can implement 360 ° scanning without dead angle, and improve a detection effect of the laser radar system.
As a possible implementation manner of the embodiment of the present invention, the laser radar system may further include a second rotating structure (not shown in the figure), on which the reflecting structure 12 is disposed, and on which the second rotating structure is disposed on the first rotating structure 11; the second rotating structure drives the reflecting structure 12 to rotate 360 degrees around the rotating axis BB of the reflecting structure 12; first revolution mechanic 11 drives second revolution mechanic and around first revolution mechanic 11's rotation axis AA 360 rotatory, can also be along with first revolution mechanic 11 is rotatory when guaranteeing that reflecting structure 12 self is rotatory, outside the realization is surveyed the scanning of vertical direction, can also be to 360 no dead angles scanning of laser radar system environment, guarantee that laser radar system scanning detection is respond well. Alternatively, the first rotating structure 11 may be a stepping motor, and the second rotating structure 12 may also be a stepping motor, and the specific types of the first rotating structure 11 and the second rotating structure 12 are not limited in the embodiment of the present invention.
As a feasible implementation manner of the embodiment of the present invention, fig. 7 is a schematic structural diagram of another lidar system according to the embodiment of the present invention, and as shown in fig. 7, the lidar system 10 according to the embodiment of the present invention may include multiple sets of laser transceiver components 13, where relative positions of any two sets of laser transceiver components 13 and the reflection structure 12 are different.
For example, fig. 7 illustrates that the laser radar system 10 includes two sets of laser transceiver assemblies 13, and the two sets of laser transceiver assemblies 13 are respectively located at different directions of the reflecting structure 12, for example, symmetrically located at two sides of the reflecting structure 12, in this case, the horizontal angle resolution of the laser radar system 10 can also be further improved.
As a possible implementation manner of the embodiment of the present invention, with continued reference to fig. 1 and fig. 2, the laser transceiver component 13 provided in the embodiment of the present invention may further include a laser receiving unit 132; correspondingly, each reflecting surface comprises an emitting area 121A and a receiving area 121B; the laser emitting unit 131 is located at one side of the reflecting structure 12 and is used for emitting a laser beam, and the laser emitting unit 131 reflects the emitted laser beam through the emitting area 121A of the reflecting surface and irradiates the target object; the laser receiving unit 132 is located on the same side of the reflecting structure 12 as the laser emitting unit 131 in the same group of laser transceiving components 13, and the laser receiving unit 132 is configured to receive the laser beam reflected by the receiving area 121B of the reflecting surface after being reflected from the target object.
By providing the emitting area 121A and the receiving area 121B on the reflection surface, the emitting area 121A can reflect the laser beam onto the object, and the receiving area 121B can receive the laser beam reflected by the object and reflect it onto the laser receiving unit 132. Because the same reflecting surface comprises the emitting area 121A and the receiving area 121B, the emitting area 121A of the reflecting surface reflects the laser beam on the target object, and the laser beam reflected by the target object can be received by the receiving area 121B of the reflecting surface and then reflected to the laser receiving unit 132, so that the laser receiving unit 132 with a large photosensitive surface is not required to be specially arranged to receive the laser beam reflected by the target object, and the effects of reducing the manufacturing cost and the manufacturing difficulty of the laser radar system are achieved.
On the basis of the foregoing embodiment, fig. 8 is a schematic mechanism diagram of another laser radar system according to an embodiment of the present invention, and as shown in fig. 8, the laser radar system according to the embodiment may further include a transmitting mirror group 14, located between the laser emitting unit 131 and the reflecting structure 12, for collimating the laser beam emitted by the laser emitting unit 131 and then irradiating the collimated laser beam onto the emitting area 121A of the reflecting structure 12; the receiving mirror group 15 is located between the laser receiving unit 132 and the reflecting structure 12, and is configured to focus the laser beam reflected by the receiving area 121B of the reflecting structure 12 and irradiate the laser beam onto the laser receiving unit 132; the filter 16 is located between the receiving lens set 15 and the laser receiving unit 132, and is used for filtering out ambient light.
Specifically, each laser beam in each laser emitting unit 131 enters the same emitting lens 14 for focusing and collimating, and then is reflected and projected to the environment through the reflecting structure 12, and an object in the environment reflects the laser beam and projects the laser beam to the receiving area 121B of the reflecting structure 12, so that the laser beam reflected by the receiving area 121B is focused through the same receiving lens 15, filtered by the filter 16, and then is incident on the corresponding laser receiving unit 132. Further, the same lens group may be used for the emitting lens group 14 and the receiving lens group 15, and the specific implementation may be designed according to an actual light path, which is not limited in the embodiment of the present invention. The filter 16 serves to transmit the laser beam emitted from the laser emitting unit 131 and filter light other than the laser beam emitted from the laser emitting unit 131, such as ambient light (sunlight, incandescent light, etc.), thereby improving the recognition accuracy of the target.
Further, the plurality of laser emitters 1311 in the laser emitting unit 131 may be fiber lasers, semiconductor lasers (such as laser diodes LD or vertical cavity surface emitting lasers VCSEL), gas lasers or solid lasers, and the like, which is not limited in this embodiment of the present invention. The photodetectors in the laser receiving unit 132 may be a plurality of Avalanche Photodiodes (APDs) arranged in an array, or may be a single large-area APD, a focal plane array detector, a Silicon photomultiplier (SiPM), also referred to as an MPPC detector (multi-pixel Photo-detector), or other types of array detectors known to those skilled in the art. Further, the number of the laser emitters 1311 in the laser emitting unit 131 and the number of the photodetectors in the laser receiving unit 132 may be the same, for example, 16 laser emitters 1311 may be included in the laser emitting unit 131 provided in the embodiment of the present invention, and correspondingly, 16 photodetectors are included in the laser receiving unit 132. Further, the lidar system according to the embodiment of the present invention may further include a 16-channel transimpedance amplifier (not shown in the figure), where the 16-channel transimpedance amplifier is electrically connected to the laser receiving unit 132, and is configured to amplify and convert the photocurrent signal output by the laser receiving unit 132 into a voltage signal.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that the features of the various embodiments of the invention may be partially or fully coupled to each other or combined and may be capable of cooperating with each other in various ways and of being technically driven. Numerous variations, rearrangements, combinations, and substitutions will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A laser radar system is characterized by comprising a first rotating structure, a reflecting structure and at least one group of laser transceiving components, wherein the reflecting structure and the laser transceiving components are arranged on the first rotating structure;
the reflective structure is rotatable about a rotational axis of the reflective structure, and the rotational axis of the reflective structure intersects the rotational axis of the first rotational structure; the reflecting structure comprises at least three side surfaces, and at least one side surface is a reflecting surface;
the laser receiving and dispatching assembly comprises a laser emitting unit, the laser emitting unit comprises a plurality of laser emitters, and the laser emitters are arranged in sequence along the extending direction of the rotating shaft of the reflecting structure.
2. The lidar system of claim 1, wherein at least two of the side surfaces are reflective surfaces;
at least two the plane of reflection with the rotation axis of reflection configuration becomes an contained angle, and at least two the plane of reflection with the contained angle between the rotation axis of reflection configuration is different.
3. The lidar system of claim 1, wherein at least one of the reflective surfaces comprises at least two reflective regions extending along a direction of rotation of the reflective structure, at least two of the reflective regions being at different angles to the axis of rotation of the reflective structure.
4. The lidar system of claim 1, wherein at least three sides of the reflective structure are reflective surfaces.
5. The lidar system of claim 1, wherein the reflective structure and the laser transceiver assembly are both fixedly disposed on the first rotary structure, and the first rotary structure drives the reflective structure and the laser transceiver assembly to rotate 360 ° around a rotation axis of the first rotary structure.
6. The lidar system of claim 5, further comprising a second rotating structure, the reflective structure disposed on the second rotating structure, the second rotating structure disposed on the first rotating structure;
the second rotating structure drives the reflecting structure to rotate 360 degrees around the rotating shaft of the reflecting structure;
the first rotating structure drives the second rotating structure to rotate 360 degrees around a rotating shaft of the first rotating structure.
7. The lidar system of claim 1, wherein the lidar system comprises a plurality of sets of the lidar assemblies, and wherein any two sets of the lidar assemblies are positioned differently relative to the reflective structure.
8. The lidar system of claim 1, wherein the lidar assembly further comprises a laser receiving unit;
each reflecting surface comprises an emitting area and a receiving area;
the laser emitting unit is positioned on one side of the reflecting structure and used for emitting laser beams, and the laser emitting unit reflects the emitted laser beams through the emitting area of the reflecting surface and then irradiates the target object;
the laser receiving unit and the laser emitting unit in the same group of laser receiving and transmitting assemblies are positioned on the same side of the reflecting structure, and the laser receiving unit is used for receiving laser beams reflected by the target object and then reflected by the receiving area of the reflecting surface.
9. The lidar system of claim 8, further comprising:
the emission mirror group is positioned between the laser emission unit and the reflection structure and is used for collimating the laser beam emitted by the laser emission unit and irradiating the collimated laser beam onto an emission area of the reflection structure;
the receiving mirror group is positioned between the laser receiving unit and the reflecting structure and is used for focusing the laser beams reflected by the receiving area of the reflecting structure and irradiating the laser beams onto the laser receiving unit;
and the filter lens is positioned between the receiving mirror group and the laser receiving unit and used for filtering ambient light.
10. The lidar system of any of claims 1-9, wherein the reflective structure comprises a prism, a mirror, or a MEMS galvanometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010293767.3A CN111308444A (en) | 2020-04-15 | 2020-04-15 | Laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010293767.3A CN111308444A (en) | 2020-04-15 | 2020-04-15 | Laser radar system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111308444A true CN111308444A (en) | 2020-06-19 |
Family
ID=71152188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010293767.3A Pending CN111308444A (en) | 2020-04-15 | 2020-04-15 | Laser radar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111308444A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946665A (en) * | 2021-01-28 | 2021-06-11 | 深圳市镭神智能系统有限公司 | Laser radar system |
-
2020
- 2020-04-15 CN CN202010293767.3A patent/CN111308444A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946665A (en) * | 2021-01-28 | 2021-06-11 | 深圳市镭神智能系统有限公司 | Laser radar system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021175141A1 (en) | Prism and multi-layer laser radar | |
| CN108226899B (en) | Laser radar and working method thereof | |
| CN108445467B (en) | Scanning laser radar system | |
| CN110333511B (en) | Transmit-receive synchronous laser radar optical system | |
| EP3958012A1 (en) | Prism and multi-beam lidar system | |
| CN112789512A (en) | Laser radar and autopilot device | |
| CN111308443B (en) | Laser radar | |
| CN211236225U (en) | Large-view-field laser radar optical-mechanical system | |
| US20240027584A1 (en) | Detection device and control method thereof | |
| CN109738880A (en) | A kind of laser radar system and laser ranging system | |
| CN112965044A (en) | Laser radar | |
| CN211718520U (en) | Multi-line laser radar | |
| CN212008925U (en) | Multi-line laser radar | |
| CN113030911A (en) | Laser radar system | |
| CN113589256A (en) | Unmanned laser radar for split-view-field multi-surface rotating mirror | |
| CN111025266B (en) | Prism and multi-line laser radar | |
| WO2022110210A1 (en) | Laser radar and mobile platform | |
| CN212275968U (en) | Laser radar system | |
| CN111308444A (en) | Laser radar system | |
| CN112946666A (en) | Laser radar system | |
| CN113721220A (en) | Method for realizing two-dimensional optical scanning by single-degree-of-freedom rotation | |
| CN112789511A (en) | Laser radar and autopilot device | |
| CN212275967U (en) | Laser radar | |
| CN116559886A (en) | Laser radar and terminal equipment | |
| CN210243829U (en) | Laser radar system and laser ranging device |
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 |