CN113075681A - Scanning device and scanning measurement system - Google Patents
Scanning device and scanning measurement system Download PDFInfo
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- CN113075681A CN113075681A CN202110279773.8A CN202110279773A CN113075681A CN 113075681 A CN113075681 A CN 113075681A CN 202110279773 A CN202110279773 A CN 202110279773A CN 113075681 A CN113075681 A CN 113075681A
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The invention provides a scanning device and a scanning measurement system, comprising: the included angle between the normal of the reflecting surface of the reflector and the rotating shaft is an acute angle; the first rotating mechanism controls the reflector to rotate 360 degrees around the rotating shaft, so that scanning light emitted in a preset plane is reflected by the reflector and then emitted 360 degrees around the rotating shaft, or measuring light rotating 360 degrees around the rotating shaft is reflected to the preset plane by the reflector, the whole scanning and measuring system does not need to be controlled to rotate 360 degrees, 360-degree scanning can be achieved only by controlling the reflector to rotate 360 degrees, and the mechanical stability of the whole measuring system is improved.
Description
Technical Field
The present invention relates to the field of optical scanning technology, and more particularly, to a scanning device and a scanning measurement system.
Background
The current full-angle (360 °) scanning measurement system, such as a full-angle scanning lidar measurement system, controls the whole measurement system to rotate 360 ° by a mechanical rotating mechanism, so as to realize 360 ° scanning. Although the scanning measurement system is widely applied to the fields of environmental mapping, building detection, tunnel and mine detection and the like, the scanning measurement system still has the problem of poor mechanical stability. Based on this, how to improve the mechanical stability of the scanning measurement system is one of the problems that those skilled in the art are demanding to solve.
Disclosure of Invention
In view of the above, the present invention provides a scanning device and a scanning measurement system to improve the mechanical stability of the existing measurement system.
In order to achieve the purpose, the invention provides the following technical scheme:
a scanning device, comprising:
the included angle between the normal of the reflecting surface of the reflecting mirror and the rotating shaft is an acute angle;
the first rotating mechanism controls the reflector to rotate 360 degrees around the rotating shaft, so that scanning light emitted in a preset plane is reflected by the reflector and then emitted 360 degrees around the rotating shaft, or measuring light rotating 360 degrees around the rotating shaft is reflected to the preset plane.
Optionally, the method further comprises:
at least one Risley prism located between the preset plane and the mirror;
and the second rotating mechanism controls the Risley prism to rotate 360 degrees around the rotating shaft, so that the scanning light emitted in a preset plane is refracted by the at least one Risley prism and reflected by the reflector and then emitted by rotating 360 degrees around the rotating shaft, or the measuring light rotating 360 degrees around the rotating shaft is reflected by the reflector and refracted by the at least one Risley prism into the preset plane.
Optionally, the first rotating mechanism includes a first motor, the second rotating mechanism includes a second motor, the first motor is disposed on a side of the mirror departing from the preset plane, and the second motor is disposed on a side surface of the Risley prism.
Optionally, the scanning device comprises a Risley prism;
the inclined surface of the Risley prism faces away from the reflective surface of the mirror.
Optionally, the scanning device comprises two Risley prisms;
the inclined surfaces of the two Risley prisms are disposed toward the reflective surface of the mirror.
Optionally, the method further comprises:
a lens comprising an adjustable lens with adjustable focal length or position, the lens being positioned between the at least one Risley prism and the predetermined plane to adjust the direction of the scanning light or the measuring light through the lens.
A scanning measurement system, comprising:
the receiving and transmitting module is positioned in a preset plane and used for transmitting scanning light;
the scanning device is the scanning device as described in any one of the above, and the scanning device is configured to reflect the scanning light to a space, rotate the scanning light by 360 ° to scan the space by 360 °, receive the measurement light reflected by the object in the space, and reflect the measurement light into the preset plane;
the transceiver module is further configured to receive the measurement light and measure the measurement light to obtain object information of the space according to a measurement result, where the object information includes distribution information of objects and distance information of the objects.
Optionally, the scanning measurement system includes a transceiver module, the transceiver module includes a laser transmitter and a photodetector, and the laser transmitter and the photodetector are disposed adjacent to each other;
or, the scanning measurement system comprises a plurality of transceiver modules, each transceiver module comprises a laser transmitter and a photoelectric detector, the laser transmitters and the photoelectric detectors are arranged in proximity, and the transceiver modules are arranged in a preset manner.
A scanning measurement system, comprising:
the scanning device is the scanning device as described in any one of the above, and is configured to receive infrared light radiated by an object in a space and reflect the infrared light into a preset plane;
and the transceiver module is positioned in the preset plane and used for receiving the infrared light and measuring the infrared light so as to obtain the heat radiation distribution of the space according to a measurement result.
Optionally, the transceiver module comprises at least one infrared sensor.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
according to the scanning device and the scanning measurement system provided by the invention, the first rotating mechanism controls the reflector to rotate 360 degrees around the rotating shaft, so that light rays emitted in a preset plane are reflected by the reflector and then emitted 360 degrees around the rotating shaft, or the light rays rotating 360 degrees around the rotating shaft are reflected to the preset plane by the reflector, so that 360-degree scanning can be realized only by controlling the reflector to rotate 360 degrees without controlling the whole scanning measurement system to rotate 360 degrees, and further the mechanical stability of the whole measurement system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a scanning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a scanning cylinder of a scanning device according to an embodiment of the present invention;
FIG. 3 is a diagram of a discrete point distribution of a scanning device according to an embodiment of the present invention;
FIG. 4 is a graph illustrating a discrete point distribution of a scanning device according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a scanning apparatus according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of a scanning apparatus according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of a scanning apparatus according to another embodiment of the present invention;
fig. 8 is a schematic structural diagram of a scanning device according to another embodiment of the present invention;
fig. 9 to 12 are schematic views illustrating a scan simulation result of a scanning apparatus according to an embodiment of the present invention;
fig. 13 to fig. 15 are schematic views illustrating a scan simulation result of a scanning apparatus according to an embodiment of the present invention;
fig. 16 is a schematic structural diagram of a scanning device according to another embodiment of the present invention;
fig. 17 is a schematic structural diagram of a scanning device according to another embodiment of the present invention;
fig. 18 is a schematic structural diagram of a scanning device according to another embodiment of the present invention;
fig. 19 to 21 are schematic views illustrating a scan simulation result of a scan apparatus according to another embodiment of the present invention;
FIG. 22 is a schematic structural diagram of a scanning measurement system according to an embodiment of the present invention;
fig. 23 is a schematic diagram illustrating an arrangement of a plurality of transmitting modules and a plurality of receiving modules according to an embodiment of the present invention;
fig. 24 is a schematic diagram of a distribution of positions of a plurality of transmitting modules and a plurality of receiving modules according to an embodiment of the present invention;
FIGS. 25 and 26 are graphs showing results of scan simulations of the system shown in FIG. 24;
fig. 27 is a schematic diagram of a distribution of positions of a plurality of transmitting modules and a plurality of receiving modules according to another embodiment of the present invention;
FIGS. 28-31 are diagrams illustrating results of scan simulations of the system of FIG. 27;
FIG. 32 is a schematic view of a fastening device according to an embodiment of the present invention;
fig. 33 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the above is the core idea of the present invention, and the above objects, features and advantages of the present invention can be more clearly understood. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a scanning apparatus, as shown in fig. 1, including a mirror 10 and a first rotation mechanism (not shown).
Wherein, the included angle theta between the normal F1 of the reflecting surface of the reflector 10 and the rotating shaft Z is an acute angle; the first rotating mechanism controls the reflecting mirror 10 to rotate 360 degrees around the rotating axis Z, so that the scanning light λ emitted in the preset plane XY is reflected by the reflecting mirror 10 and then emitted 360 degrees around the rotating axis Z, or the measuring light δ within a range of rotating 360 degrees around the rotating axis Z is reflected by the reflecting mirror 10 into the preset plane XY.
It should be noted that, when the scanning device in the embodiment of the present invention is applied to a laser radar scanning measurement system, the light emitting surface of the laser emitter emitting the scanning light λ is located in the preset plane XY so that the scanning light λ exits from the preset plane XY, and the receiving surface of the photodetector receiving the measurement light δ is located in the preset plane XY so that the photodetector can detect the measurement light δ reflected by the mirror 10 into the preset plane XY.
In some embodiments of the present invention, the preset plane XY is perpendicular to the rotation axis Z, that is, the scanning light λ emitted from the preset plane XY is incident on the reflecting mirror 10 along a direction parallel to the rotation axis Z, or the measuring light δ rotating around the rotation axis Z within 360 ° is reflected by the reflecting mirror 10 and then is incident on the preset plane XY along a direction parallel to the rotation axis Z. Of course, the present invention is not limited thereto, and in other embodiments, the predetermined plane XY may not be perpendicular to the rotation axis Z, which is not described herein again.
In the embodiment of the present invention, if the preset plane XY emits only one scanning light λ, and the direction vector of the scanning light λ incident on the reflecting mirror 10 along the direction parallel to the rotation axis Z is L (0,0,1), and the vector of the normal F1 of the plane where the reflecting mirror 10 is located is N (sin θ cos β, sin θ sin β, cos θ), then after the scanning light λ passes through the reflecting mirror 10, the direction vector thereof is:
R＝L-2×(N·L)×N (1)；
where θ is an angle between the Z axis and a normal F1 of the mirror 10, β is an angle between the X axis and a normal F1 of the mirror 10, and R is a direction vector of the scanning light λ emitted after passing through the mirror 10.
When the scanning device in the embodiment of the invention scans the surrounding environment, the scanning device is realized by adopting a method for constructing a virtual cylindrical surface, namely constructing a cylindrical surface with the radius of r as shown in fig. 2, unfolding the cylindrical surface into a two-dimensional plane, and dividing the two-dimensional plane according to a grid (7 degrees multiplied by 1 degree). The divided two-dimensional plane is composed of grids, and the quality of the scanning measurement system is judged according to the factors of different rotating speeds, different scanning light lambda emission positions, namely the positions of laser emitters emitting scanning light lambda and the like. The rotation axis of the scanning device is a Z axis, the mirror 10 rotates around the Z axis, and each time the mirror 10 rotates by a certain angle, the photodetector in the preset plane XY receives the measurement light δ reflected by the mirror 10. With this configuration, a 360 ° scan coverage can be achieved, and a scatter point distribution can be obtained with only a single mirror 10 as shown in fig. 3 and 4. Fig. 3 and 4 are schematic diagrams of distribution of scattered points corresponding to scanning light λ emitted from different positions or laser emitters at different positions, where the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, and the coordinates respectively corresponding to the laser emitters or different scanning light λ beams are: (0,0, 0) and (0, 4, 0).
In some embodiments of the present invention, as shown in fig. 5, the scanning apparatus further includes:
at least one Risley prism 11, the at least one Risley prism 11 being located between the predetermined plane XY and the mirror 10;
and the second rotating mechanism controls the Risley prism 11 to rotate 360 degrees around the rotating shaft Z, so that the scanning light lambda emitted in the preset plane XY is refracted by the at least one Risley prism 11 and reflected by the reflecting mirror 10 and then emitted by rotating 360 degrees around the rotating shaft Z, or the measuring light delta within the range of rotating 360 degrees around the rotating shaft Z is reflected by the reflecting mirror 10 and refracted by the at least one Risley prism 11 to be in the preset plane XY.
It should be noted that, the first rotating mechanism and the second rotating mechanism in the embodiment of the present invention may be motors, as shown in fig. 6, the first rotating mechanism includes a first motor 12, the second rotating mechanism includes a second motor 13, the first motor 12 is disposed on a side of the reflecting mirror 10 away from the preset plane XY, and the second motor 13 is disposed on a side surface of the Risley prism 11, so that the reflecting mirror 10 and the Risley prism 11 are controlled by the motors to rotate 360 ° around the rotation axis Z. Alternatively, the first motor 12 and the second motor 13 are servo motors, although the invention is not limited thereto, and in other embodiments, the first rotating mechanism and the second rotating mechanism can control the mirror 10 and the Risley prism 11 to rotate 360 ° around the rotation axis Z by other devices.
It should be noted that, in the embodiment of the present invention, the rotational speeds of the Risley prism 11 and the mirror 10 may be the same or different; the rotational speed of the different Risley prisms 11 may be the same or different. The rotational speeds of the Risley prism 11 and the mirror 10 can be set according to the circumstances of the scanning environment.
In the embodiment of the present invention, the direction of the light beam, that is, the directions of the scanning light λ and the measuring light δ, can be controlled by using the refraction conditions of the light at different interfaces through the Risley prism 11. Moreover, because the Risley prism 11 is a wedge prism, the Risley prism 11 can be controlled to rotate 360 degrees around the Z axis, so that the light beam can continuously scan in a wide angle range, and compared with other scanning devices of the traditional laser radar, for example, compared with a galvanometer, a scanning mirror of a micro electro mechanical system and the like, the Risley prism 11 has the advantages of being insensitive to vibration, high in scanning speed, high in precision, large in field of view and the like.
In some embodiments of the present invention, as shown in fig. 5, the scanning device includes a Risley prism 11, and since the Risley prism 11 is a wedge prism, i.e., includes an inclined surface and a horizontal surface, in some embodiments of the present invention, as shown in fig. 7, the inclined surface of the Risley prism 11 faces away from the reflective surface of the mirror 10, and in other embodiments, as shown in fig. 8, the inclined surface of the Risley prism 11 faces toward the reflective surface of the mirror 10.
Since the coordinates of the scanning light λ on the preset plane XY, the vertex angle α of the Risley prism 11, and the angle θ 4 of the mirror 10 with the rotation axis Z are adjustable, for the structure shown in fig. 7, the light traveling along a straight line can be traced. When the inclined surface is the first surface through which light passes and the scanning light lambda passes through the center of the Risley prism 11, the direction vector of the scanning light lambda can be obtained as r1(0,0,1), the normal vector of the first face of the Risley prism 11 is n1(sin θ cos β, sin θ sin β, cos θ). Where θ is the angle between the Z-axis and the normal to the mirror 10 and β is the angle between the X-axis and the normal to the mirror 10.
The direction vector of the refracted ray of the scanning light λ can be obtained from snell's law as:
wherein r is1Is the direction vector, r, of the incident ray, i.e. the scanning light, lambda2Is the direction vector of the refracted ray of the scanning light lambda, n is the refractive index, n1、n2Is the normal vector of the two faces of the Risley prism 11 through which the light passes.
After emerging from the first, inclined, surface, the light propagates in the Risley prism 11 to the second surface of the prism, the normal vector of which is n2(0,0, -1). Snell's law is:
the normal vector of the mirror 10 is N ═ (sin θ cos β, sin θ sin β, cos θ), and the direction vector of the light finally passing through one mirror 10 is:
R＝L-2×(N·L)×N (4)；
where R is the direction vector of the outgoing light, L is the direction vector of the incoming light, and N is the normal vector of the plane where the reflector 10 is located.
When the scanning device scans the surrounding environment, the scanning device is realized by adopting a method for constructing a virtual cylindrical surface, namely constructing a cylindrical surface with the radius of r, unfolding the cylindrical surface into a two-dimensional plane, and dividing the two-dimensional plane according to a grid (2 degrees multiplied by 0.2 degrees). Therefore, when only one scanning light λ is emitted from the preset plane XY, that is, a set of laser generators is set according to the value of the preset plane XY, a distribution diagram of discrete points and a time evolution process of coverage can be obtained through simulation, and the results are shown in fig. 9 to 12. Fig. 9 is a three-dimensional discrete point distribution diagram, fig. 10 is a two-dimensional discrete point distribution diagram, fig. 11 is an enlarged view of fig. 10, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, the abscissa of fig. 12 is time, and the ordinate is coverage. From the simulation results, it can be seen that for the structure shown in fig. 7, the coverage can reach 91.38% when the scanning light λ of the single light beam is incident at a single point.
When the inclined surface faces the mirror, as shown in fig. 8, the first surface through which the light passes is a plane perpendicular to the rotation axis Z, i.e., when the light passes through this plane, the light is not deflected, when the light is incident from the center of the plane of the Risley prism 11, the light propagates along the axis and is refracted at the second surface, the vector expression of snell's formula is formula (3), the light reaches the mirror 10, and the rest is substantially the same as the case when the first surface is the inclined surface, and the 360 ° dispersion point distribution thereof is shown in fig. 13 to 15. In fig. 13, a three-dimensional discrete point distribution diagram, fig. 14 a two-dimensional discrete point distribution diagram, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, the abscissa in fig. 15 is time, and the ordinate is coverage.
For the structure shown in fig. 8, the coverage ratio can reach 86.6% when the single point incidence is the scanning light λ of the single light beam, and the coverage ratio in the two cases can be found by comparing and analyzing, the coverage ratio shown in fig. 7 is higher and more practical, therefore, the inclined surface of the Risley prism 11 is preferably arranged to be away from the reflecting surface of the reflecting mirror 10.
In other embodiments of the present invention, as shown in fig. 16, the scanning device may further include two Risley prisms 11, although the present invention is not limited thereto, and in other embodiments, the scanning device may further include three, four or more Risley prisms 11.
Due to the shape characteristics of the Risley prisms 11, the two Risley prisms 11 have four combinations, and simulation analysis of the four combinations shows that: under the same conditions, the combination shown in fig. 17 can achieve higher coverage than the other three combinations. As shown in fig. 17, in some embodiments of the present invention, the inclined surfaces of the two Risley prisms 11 are not parallel, and the inclined surfaces of the Risley prisms 11 are disposed toward the reflection surface of the reflecting mirror 10.
The scanning device having two Risley prisms 11 has two more refractions of light rays than the scanning device having a single Risley prism 11, i.e., the refractions also occur at both surfaces of the second Risley prism 11, but the vector expressions of the light rays passing through the surfaces of the respective elements can still be expressed by the expressions (2), (3) and (4).
It should be noted that when more Risley prisms 11 are used in the scanning device, there are more combinations, and each combination can be subjected to simulation testing to determine the highest coverage that can be achieved and to select the best combination.
In order to further improve the scanning coverage, in some embodiments of the present invention, as shown in fig. 18, the scanning apparatus further includes: a lens 12, the lens 12 comprising an adjustable lens with adjustable focal length or position, the lens 12 being located between the at least one Risley prism 11 and the predetermined plane XY to adjust the direction of the scanning light λ or the measuring light δ through the lens 12.
After the emission direction of the scanning light lambda is adjusted through the lens 12, two light rays intersect at a position of 50cm, and under the condition that the position of the scanning light lambda or the position of the measuring light delta is unchanged, a three-dimensional and two-dimensional discrete point distribution diagram and a time evolution process diagram of the coverage rate can be obtained. Fig. 19 is a three-dimensional discrete point distribution diagram, fig. 20 is a discrete point distribution diagram obtained in a single transceiving structure, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, and in fig. 21, the abscissa is time and the ordinate is coverage.
From the above simulation results, it can be found that the scan coverage reaches 100%. Of course, the lens 12 in the embodiment of the present invention includes a lens with adjustable focal length or position, i.e. the light can be focused at 110m by adding an adjustable lens. The adjustable lens is equivalent to an angle converter, namely, the adjustable lens plays a role of introducing an angle to an incident light beam, and adjusts the direction of the light beam to enable the direction of the light beam to change greatly. After the light beams of the scanning light lambda pass through the adjustable lens, the light rays can be focused on an image focal plane of the adjustable lens, and due to the focusing effect, the light beams can be concentrated at the image focal plane, so that the high-resolution scanning light lambda has higher resolution on a scene or an object at the image focal plane. Based on this, the adjustable lens can cooperate with the reflector 10 to optimize the spot distribution, so that the scanning device can scan more details.
An embodiment of the present invention further provides a scanning measurement system, as shown in fig. 22, where the scanning measurement system may be a laser radar scanning measurement system, and the system includes:
at least one transceiver module 20, the transceiver module 20 being located in the preset plane XY, the transceiver module 20 being configured to emit scanning light;
the scanning device 30, the scanning device 30 is the scanning device according to any of the above embodiments, the scanning device 30 is configured to reflect the scanning light to a space, rotate the scanning light by 360 ° to scan the space by 360 °, receive the measuring light reflected by the object in the space, and reflect the measuring light to the preset plane XY;
the transceiver module 20 is further configured to receive the measurement light and measure the measurement light to obtain object information of a space according to a measurement result, where the object information includes spatial distribution information of objects and distance information of the objects. Wherein, the distance information of the object refers to the distance information from the object to the scanning and measuring system.
In some embodiments of the present invention, the scanning measurement system includes a transceiver module 20, and the transceiver module 20 includes a laser transmitter and a photodetector, which are disposed adjacent to each other. Optionally, the transceiver module 20 further comprises a control device for regulating the position or the emitting direction of the laser emitter. The discrete point distribution of a single laser emitter and a single photodetector under a single mirror 10 is shown in fig. 3 and 4.
However, considering that the scanning speed v and the detection distance L are related, that is, the scanning light λ emitted from the preset plane XY reaches the object through the detection distance L and then is returned to the photodetector, the elapsed time is also the time required for scanning, i.e., t is 2L/v, and for scanning, the length L1 of the object in the environment to be scanned is related to the scanning time, i.e., L1 is t × v. When the detection distance L increases, the scanning speed decreases, and therefore, in order to increase the scanning speed and maintain a sufficient scanning speed even when the detection distance is increased, a multi-transmission-reception structure is introduced.
That is, in other embodiments of the present invention, the scanning and measuring system includes a plurality of transceiver modules 20, each transceiver module 20 includes a laser transmitter and a photodetector, the laser transmitter and the photodetector are disposed adjacent to each other, and the transceiver modules 20 are arranged according to a predetermined manner. Alternatively, as shown in fig. 23, the plurality of transceiver modules 20 are arranged in a circularly symmetric manner. Optionally, the transceiver module 20 further comprises a control device for regulating the position or the emitting direction of the laser emitter.
When the scanning measurement system includes a plurality of transceiver modules 20 and the emission directions of a plurality of laser transmitters are adjusted, the position distribution of the laser transmitters is shown in fig. 24, and the distribution of discrete points is shown in fig. 25. Wherein, the coordinates of the seven laser emitters in fig. 24 are (0.72,1.55), (-1.93,0.86), (-0.57, -2.7), (-2.0,0.17), (0.79, -3.95), (-3.1,2.05), (0.57,2.7), and the emitting directions of the laser emitters are [ [0.023,0.026,1], [0.2, -0.1,1], [ -0.211,0.1,1], [ -0.106, -0.205,1], [0.12,0.21,1], [0.038, -0.113,1], [ -0.111,0.02,1 ]. In fig. 25, the abscissa is the angle in the horizontal direction, and the ordinate is the angle in the vertical direction; fig. 25 is a time evolution process of coverage, the abscissa is time, and the ordinate is coverage, and it can be seen from the coverage result graph that full coverage of the scanning range is achieved in a short time. As can be seen from simulation of a single laser emitter and a plurality of laser emitters, the scattering point distribution range of the laser emitters is obviously superior to that of the single laser emitter, the emission direction of scanning light of the laser emitters can be changed by regulating and controlling the laser emitters, and the laser emitters can be reasonably applied to different scenes.
In some embodiments of the present invention, the scanning range of the laser radar may be set to be 110m (radius of a virtual cylindrical surface), when light reaches 110m, a light beam irradiates an object, the light is diffusely reflected, a part of the light returns along the original path to reach the transceiver module 20 on the preset plane XY, and the detection of the surrounding environment is completed by information fed back by the object plane in one period.
In some embodiments of the present invention, the integration time is set to 0.1s, that is, one period is 0.1s, the rotation of the optical devices such as the mirror and the prism is controlled by a servo motor, the servo motor is controlled by pulses, 216 to 65536 pulses are required for one rotation of the servo motor, that is, 65536 discrete points can be collected in one period.
When the structure of the laser emitters and the photodetectors is applied to a scanning measurement system with a Risley prism, the laser emitters and the photodetectors can be designed into a required layout structure as required to realize full-coverage scanning.
For example, when 4 laser emitters and 4 photodetectors are employed, the layout structure thereof is as shown in fig. 27. Wherein, the laser emitter and the photodetector are as close as possible, and the optical refraction and reflection processes of the scanning device with the Risley prism are repeated, so as to obtain the three-dimensional and two-dimensional discrete point distribution of the scene to be measured and the evolution process of the coverage rate with time, as shown in fig. 28 to fig. 31. Fig. 28 is a three-dimensional discrete point distribution diagram, fig. 29 is a two-dimensional discrete point distribution diagram, fig. 30 is an enlarged view of fig. 29, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, and in fig. 31, the abscissa is time and the ordinate is coverage.
It can be seen through simulation that: compared with the coverage rate (91.38%) of a system with a single transceiver module 20, the coverage rate of the system with a plurality of transceiver modules 20 is obviously improved, 100% is reached within the range of +/-14 degrees, and the time for reaching 100% of the coverage rate is shortened, namely, the equivalent scanning speed is improved.
By arranging a plurality of transceiver modules 20 in a laser radar scanning measurement system which is formed by a Risley prism and a reflector and fully covers the 360-degree range, the coverage rate can be obviously increased in a short time, and the rapid scanning of the 360-degree range is realized. Of course, the present invention is not limited to this, and in other embodiments, the distribution state of the discrete points may be optimized by changing the rotation speed ratio between the Risley prisms 11 and the reflecting mirror 10, or by changing the number and the vertex angles of the Risley prisms 11, or by optimizing the position of the laser emitter, so as to obtain higher coverage.
Alternatively, the Laser emitter is a VCSEL (Vertical-Cavity Surface-Emitting Laser), or an edge-Emitting Laser, and the like, and the photodetector is a Surface PD (Photo-Diode) or SGC.
In some embodiments of the present invention, as shown in fig. 32, the scanning measurement system further includes a fixing device 50 for fixing the laser emitter and the photodetector, the fixing device 50 has a plurality of slots, and the slots are fixing positions of the laser emitter and the photodetector, so that a user can determine the number, the installation position, and the laser emitting direction of the photodetectors according to his/her needs.
In some embodiments of the invention, the TO package laser emitter and the photodetector are adopted, the package not only is physical safety protection, but also provides a more appropriate working environment for the chip, and after the package, the installation and the transportation are more convenient. That is, in some embodiments of the present invention, one package structure can perform light transmission, light signal reception, optical signal conversion into electrical signal, and electrical signal data processing. The packaging structure comprises a laser emitter, a photoelectric detector, a heat sink, a packaging shell, a mounting seat, a wire pin and the like.
Since the laser emitter generates heat during operation, if the package structure does not have a heat sink, the laser may generate excessive heat due to long-term operation, which may cause the chip to burn out.
The scanning measurement system in the embodiment of the invention also comprises an auxiliary circuit and a mainboard circuit, wherein the auxiliary circuit is used for converting optical signals into electric signals after the photoelectric detector receives light, amplifying the electric signals and transmitting the processed data to the mainboard circuit. The auxiliary circuit mainly has four modules: the device comprises a pulse generating module, a pulse time delay detection module, a transmitting drive circuit module and a receiving amplifying circuit module. The modules mainly process the electric signals transmitted by the modules and transmit the electric signals to the mainboard circuit through the data lines. The main board circuit is mainly embodied in a central processing module, which may be located below the device that fixes the transceiver module 20, and the central processing module obtains the object information of the space according to the received electrical signal. Furthermore, a control device for controlling the position or emission direction of the laser emitter can be integrated in the central processing module.
An embodiment of the present invention further provides a scanning measurement system, as shown in fig. 33, the system includes a thermal imaging scanning measurement system, and the system includes:
the scanning device 60, the scanning device 60 is the scanning device provided in any of the above embodiments, and the scanning device is configured to receive infrared light radiated by an object in a space and reflect the infrared light into a preset plane;
and the transceiver module 70, the transceiver module 70 is located in the preset plane XY, and the transceiver module 70 is configured to receive the infrared light and measure the infrared light to obtain the spatial heat radiation distribution according to the measurement result.
It should be noted that the electromagnetic wave can be radiated as long as the temperature of the object is higher than absolute zero (-273 ℃). The thermal imaging mainly adopts light in a thermal infrared band to detect thermal radiation emitted by an object, the thermal imaging converts the thermal radiation into gray values, the gray value difference of each object is utilized to image, the image is converted into a thermal image of a target object after being processed by a subsequent system, and the thermal image is displayed in gray level, so that the thermal detection of the surrounding environment is realized.
The scanning measurement system in the embodiment of the invention finishes the collection of the heat radiation of the surrounding environment through the rotation of the scanning device 60, and as the system is fixed with a series of transceiver modules 70 on a preset plane XY, the transceiver modules 70 comprise at least one infrared sensor, the heat radiation collected by the system is converted into an electric signal by the infrared sensor, and the electric signal is processed by a system mainboard circuit to generate thermal imaging and temperature values on a display, thereby realizing the thermal detection and imaging of the surrounding environment.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A scanning device, comprising:
the included angle between the normal of the reflecting surface of the reflecting mirror and the rotating shaft is an acute angle;
the first rotating mechanism controls the reflector to rotate 360 degrees around the rotating shaft, so that scanning light emitted in a preset plane is reflected by the reflector and then emitted 360 degrees around the rotating shaft, or measuring light rotating 360 degrees around the rotating shaft is reflected to the preset plane.
2. The scanning device of claim 1, further comprising:
at least one Risley prism located between the preset plane and the mirror;
and the second rotating mechanism controls the Risley prism to rotate 360 degrees around the rotating shaft, so that the scanning light emitted in a preset plane is refracted by the at least one Risley prism and reflected by the reflector and then emitted by rotating 360 degrees around the rotating shaft, or the measuring light rotating 360 degrees around the rotating shaft is reflected by the reflector and refracted by the at least one Risley prism into the preset plane.
3. The scanning device according to claim 2, wherein the first rotation mechanism comprises a first motor, and the second rotation mechanism comprises a second motor, the first motor being disposed on a side of the mirror facing away from the predetermined plane, the second motor being disposed on a side of the Risley prism.
4. A scanning device according to claim 2, wherein the scanning device comprises a Risley prism;
the inclined surface of the Risley prism faces away from the reflective surface of the mirror.
5. The scanning device of claim 2, wherein the scanning device comprises two Risley prisms;
the inclined surfaces of the two Risley prisms are disposed toward the reflective surface of the mirror.
6. The scanning device of claim 2, further comprising:
a lens comprising an adjustable lens with adjustable focal length or position, the lens being positioned between the at least one Risley prism and the predetermined plane to adjust the direction of the scanning light or the measuring light through the lens.
7. A scanning measurement system, comprising:
the receiving and transmitting module is positioned in a preset plane and used for transmitting scanning light;
the scanning device is the scanning device of any one of claims 1 to 6, and is configured to reflect the scanning light to a space, rotate the scanning light by 360 ° to scan the space by 360 °, receive the measuring light reflected by the object in the space, and reflect the measuring light to the preset plane;
the transceiver module is further configured to receive the measurement light and measure the measurement light to obtain object information of the space according to a measurement result, where the object information includes distribution information of objects and distance information of the objects.
8. The scanning measurement system of claim 7, wherein the scanning measurement system comprises a transceiver module, the transceiver module comprising a laser transmitter and a photodetector, the laser transmitter and the photodetector being disposed adjacent to each other;
or, the scanning measurement system comprises a plurality of transceiver modules, each transceiver module comprises a laser transmitter and a photoelectric detector, the laser transmitters and the photoelectric detectors are arranged in proximity, and the transceiver modules are arranged in a preset manner.
9. A scanning measurement system, comprising:
the scanning device is the scanning device as claimed in any one of claims 1 to 6, and is used for receiving infrared light radiated by an object in a space and reflecting the infrared light into a preset plane;
and the transceiver module is positioned in the preset plane and used for receiving the infrared light and measuring the infrared light so as to obtain the heat radiation distribution of the space according to a measurement result.
10. The scanning measurement system of claim 9 wherein the transceiver module includes at least one infrared sensor.
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