CN113933813A - Hybrid solid-state laser radar and scanning method thereof - Google Patents
Hybrid solid-state laser radar and scanning method thereof Download PDFInfo
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a mixed solid laser radar and a scanning method thereof, wherein the laser radar comprises: n groups of laser transmitters and laser receivers; the first polyhedral prism is provided with N reflecting surfaces, the N reflecting surfaces have the same or different inclination angle differences, and the total inclination angle difference is M1 degrees; the second polyhedral prism has the same structure as the first polyhedral prism, the total inclination angle difference is M2 degrees, and the second polyhedral prism is arranged above the first polyhedral prism in a mirror symmetry manner; and the motor control module is used for controlling the first polyhedral prism and the second polyhedral prism to implement different rotation modes. The laser emitted by each laser emitter is reflected twice by the combination of the two rotating mirrors in different rotating modes and different inclination reflecting surfaces, N two-dimensional scanning lights with 360/N degrees of horizontal field of view and 2 × M1 degrees of vertical field of view are formed after one period, and three-dimensional scanning lights with 360 degrees of horizontal field of view and 2 degrees of vertical field of view (M1 degrees + M2 degrees) are formed in one period after the combination.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a hybrid solid-state laser radar and a scanning method thereof.
Background
Laser radars in the prior art mainly include three major categories, namely mechanical vehicle-mounted laser radars, hybrid solid-state vehicle-mounted laser radars and all-solid-state vehicle-mounted laser radars.
The first type of mechanical vehicle-mounted laser radar has the advantages of mature technology, excellent detection performance, high resolution and 360-degree view field, but because the resolution in the vertical direction is in direct proportion to the number of the laser transmitters and the receivers, each transmitter and each receiver must be precisely aligned, assembled and calibrated in a mass production process, the workload is high, the product yield is low, and the cost is high.
The second type of mixed solid-state vehicle-mounted laser radar controls the laser beam direction to complete scanning by rotating the mirror or the polyhedral prism, and the main technology adopts the micro MEMS scanning mirror to control the laser beam direction to complete scanning.
In the third category, there are two types of all-solid-state lidar, one is an Optical Phased Array (OPA) scheme, and the technology of the optical phased array is adopted to control the laser beam without any moving parts; and the second is floodlight (Flash) imaging LiDAR, light beam steering is not needed, the whole scene can be illuminated by flashing once, and reflected light rays are detected by a two-dimensional array image sensor similar to a digital camera. The all-solid-state laser radar has no moving part inside, can be produced into chips, can greatly reduce the cost in mass production, but has immature technology and short distance measurement, can only scan one direction, and realizes that a plurality of spliced angles of view of 360 degrees are needed.
The invention discloses a laser radar and a laser radar control method, and a patent CN107703510A discloses a laser radar and a laser radar control method, wherein a vertical vibrating mirror and a rotary polygon mirror are adopted to cooperate to complete three-dimensional scanning, one emitter is adopted to realize vertical direction scanning through the vibrating mirror, and a plurality of emitters are replaced to reduce the cost and the complexity of the structure, but as unmanned driving requires 0.1 degree of horizontal resolution of the laser radar and 10 frames or more of refresh frequency, and the measurement distance is 200m, the time of scanning 0.1 degree in the horizontal direction is 27 microseconds according to the technical requirement, and the measurement time is at least 2 microseconds each time, only 13 times can be measured in the vertical direction, namely, the vertical resolution can only achieve 2.2 degrees, so the technical parameter requirement of the first-class multi-emitter/receiver laser radar can not be met, and the complete replacement can not be realized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a hybrid solid-state laser radar and a scanning method thereof, which aim to solve the problems of high cost, low resolution and the like.
A hybrid solid-state lidar according to an embodiment of a first aspect of the invention, comprising: n groups of laser transmitters and laser receivers are respectively used for transmitting and receiving detection laser, wherein N is more than or equal to 2; the first polyhedral prism is provided with N reflecting surfaces or refracting surfaces, the N reflecting surfaces or refracting surfaces correspond to the positions of the N groups of laser transmitters and laser receivers one by one and are used for reflecting or refracting detection laser transmitted by the laser transmitters to a second polyhedral prism and reflecting or refracting detection laser returned by the second polyhedral prism to the laser receivers, and the N reflecting surfaces or the N refracting surfaces have the same or different inclination angle differences, and the inclination angle differences sum to M1 degrees; the second polyhedral prism has the same structure as the first polyhedral prism, has a total inclination angle difference of M2 degrees, is arranged above the first polyhedral prism in a mirror symmetry manner, and is used for reflecting or refracting the detection laser reflected or refracted by the first polyhedral prism to a detected region and reflecting the detection laser reflected and returned by the detected region to the first polyhedral prism; and the motor control module is used for controlling the first polyhedral prism and the second polyhedral prism to implement different rotation modes.
The hybrid solid-state lidar according to the first embodiment of the invention has at least the following beneficial effects: the laser emitted by each laser emitter is reflected twice by the combination of the two rotating mirrors in different rotating modes and different inclination reflecting surfaces, N two-dimensional scanning lights with 360/N degrees of horizontal field of view and 2 × M1 degrees of vertical field of view are formed after one period, and three-dimensional scanning lights with 360 degrees of horizontal field of view and 2 degrees of vertical field of view (M1 degrees + M2 degrees) are formed in one period after the combination. The whole machine is provided with only two horizontal rotating prisms, the structure is simple, the horizontal rotating mirrors are divided into N reflecting surfaces with different inclination angles and are combined in different rotating modes to form two-dimensional scanning light in N directions, N MEMS galvanometers are replaced, and the cost is greatly reduced.
According to some embodiments of the first aspect of the present invention, the motor control module comprises a first motor control module and a second motor control module for controlling continuous rotation and intermittent rotation of the first and second polygonal prisms, respectively.
According to some embodiments of the first aspect of the present invention, the N groups of laser transmitters and laser receivers are arranged circumferentially equally spaced around the first polygonal prism.
According to some embodiments of the first aspect of the present invention, the exit direction of the laser emitter is provided with a collimating lens.
According to some embodiments of the first aspect of the present invention, the laser receiver is provided with a focusing lens in an incident direction.
According to some embodiments of the first aspect of the present invention, the laser receiver is provided with a focusing lens in an incident direction, and the focusing lens and the collimating lens are the same lens.
According to some embodiments of the first aspect of the present invention, a first mirror is provided between the laser emitter and the corresponding reflective surface of the first polygonal prism, the first mirror being obliquely arranged for vertically reflecting the horizontally emitted detection laser light to the first polygonal prism.
According to a second aspect of the present invention, a scanning method for a hybrid solid state lidar is applied to the hybrid solid state lidar, and includes the following steps:
n laser transmitters transmit detection laser;
controlling the second polyhedral prism to correspondingly rotate for 360/N degrees and stay once the first polyhedral prism rotates for one circle, and implementing alternate intermittent rotation;
the first polyhedral prism reflects or refracts the detection laser emitted by the laser emitter to form N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2M 1 degrees, and the two-dimensional scanning lights are sent to the second polyhedral prism;
the second polyhedral prism reflects or refracts the detection laser sent by the first polyhedral prism, and when the second polyhedral prism rotates for a circle, three-dimensional scanning light with a horizontal view field of 360 degrees and a vertical view field of 2 degrees (M1 degrees + M2 degrees) is formed;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
According to a third aspect of the present invention, a scanning method for a hybrid solid state lidar is applied to the hybrid solid state lidar, and includes the following steps:
n laser transmitters transmit detection laser;
after the first polyhedral prism and the second polyhedral prism are controlled to synchronously rotate for one rotation, the first polyhedral prism continues to rotate at the original speed, the second polyhedral prism finishes speed reduction within 360 DEG/N and accelerates to return to the original rotating speed, the second polyhedral prism and the first polyhedral prism form dislocation of 360 DEG/N and then continue to rotate at the same speed, and the first polyhedral prism and the second polyhedral prism are reset after N rotations are circulated;
the detection laser emitted by the laser emitter is reflected or refracted to the second polyhedral prism through the first polyhedral prism and then reflected or refracted again to form two-dimensional scanning light with N different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
A scanning method for a hybrid solid-state lidar according to an embodiment of a fourth aspect of the present invention is applied to the hybrid solid-state lidar, and includes the following steps:
n laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, and refracting or reflecting the detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for reflecting or refracting again to form N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic optical diagram of a system according to an embodiment of the first aspect of the present invention;
FIG. 2 is a top view of a lidar embodying the first aspect of the present invention;
FIG. 3 is a front view of a lidar embodying the first aspect of the present invention;
FIG. 4 is a front view of a lidar constructed in accordance with an embodiment of the fourth aspect of the present invention;
fig. 5 is a front view of another embodiment of the lidar of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 3, a hybrid solid-state lidar according to an embodiment of a first aspect of the present invention includes:
n groups of laser transmitters 100 and laser receivers 500, which are respectively used for transmitting and receiving detection laser, where N is greater than or equal to 2, N is preferably 10 in this embodiment, and the laser receivers 500 are APD or SIPM sensors;
the first polygonal prism 200 is provided with N reflecting surfaces, N reflecting surfaces of the first polygonal prism 200 are in one-to-one correspondence with the positions of the N groups of laser emitters 100 and laser receivers 500, and are used for reflecting the detection laser emitted by the laser emitters 100 to the second polygonal prism 300 and reflecting the detection laser returned by the second polygonal prism 300 to the laser receivers 500, and N reflecting surfaces of the N reflecting surfaces have the same or different inclination angle differences, and the total inclination angle difference is M1 °, namely the difference between included angles between adjacent reflecting surfaces and a horizontal plane, so that compared with N reflecting surfaces of the N reflecting surfaces without inclination angle differences, the resolution of the prism in a vertical view field can be improved by N times;
a second polygonal prism 300 having the same structure as the first polygonal prism 200, having a total inclination angle difference of M2 ° and being mirror-symmetrically disposed above the first polygonal prism 200, and configured to reflect the detection laser light reflected by the first polygonal prism 200 to the detected region and reflect the detection laser light reflected and returned by the detected region to the first polygonal prism 200;
and a motor control module for controlling the first polyhedral prism 100 and the second polyhedral prism 200 to implement different rotation modes.
It can be seen that, in the present embodiment, the laser emitted by each laser emitter is reflected twice by the combination of the two rotating mirrors in different rotating manners and different inclination reflecting surfaces, after one period, N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2 × M1 ° are formed, and after the two-dimensional scanning lights are combined, three-dimensional scanning lights with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 ° + M2 °) are formed in one period. The whole machine is provided with only two horizontal rotating prisms, the structure is simple, the horizontal rotating mirrors are divided into N reflecting surfaces with different inclination angles and are combined in different rotating modes to form two-dimensional scanning light in N directions, N MEMS galvanometers are replaced, and the cost is greatly reduced.
Further, the inclination angle difference may not necessarily be increased or decreased by a fixed angle difference, and a combination of different intervals of the scanning locus may be formed by setting different angle differences.
In some embodiments of the first aspect of the present invention, the motor control module includes a first motor control module 401 and a second motor control module 402 for controlling the continuous rotation and the intermittent rotation of the first polygonal prism 200 and the second polygonal prism 300, respectively, and since the second polygonal prism 300 is symmetrically arranged with respect to the mirror image of the first polygonal prism 200, one may be selected to be the continuous rotation and the other to be the intermittent rotation.
Further, in some embodiments of the first aspect of the present invention, the first motor control module 401 and the second motor control module 402 are both provided with code discs and code readers 403 for reading scales of the code discs to achieve the collection of the rotation angle, so as to accurately control the rotation of the first polyhedral prism 200 and the second polyhedral prism 300.
Preferably, in some embodiments of the first aspect of the present invention, N groups of the laser transmitters 100 and the laser receivers 500 are disposed on the periphery of the first polygonal prism 200 in a manner of equally dividing the circumference, and are assembled together in the housing 600 of the laser radar, as shown in fig. 2 and 3, N single-transmitting and single-receiving modes divide the horizontal direction into N two-dimensional scanning lights by reflection or refraction of N surfaces of the polygonal prism a and the polygonal prism B, the N laser transmitters 100 transmit synchronously to improve the resolution, and the single-transmitting and single-receiving mode ensures a simple structure, easy assembly, fewer components, and simple assembly, thereby greatly reducing the cost.
Further, in some embodiments of the first aspect of the present invention, the collimating lens 710 is disposed in the emitting direction of the laser emitter 100, so that the laser beam can be corrected by constraint, and divergence can be reduced.
In some embodiments of the first aspect of the present invention, a first reflector 800 is disposed between the laser emitter 100 and the corresponding reflective surface of the first polygonal prism 200, and the first reflector is obliquely disposed to horizontally reflect the vertically emitted detection laser to the first polygonal prism 200, and this 90-degree light path turning design can save the occupied space of the product, so that the structure is more compact.
In addition, in some embodiments of the first aspect of the present invention, the laser receiver 500 is provided with a focusing lens 720 in the incident direction, so as to facilitate clearer imaging.
Further, in some embodiments of the first aspect of the present invention, a second mirror 900 is disposed between the laser receiver 500 and the corresponding reflection surface of the first polygonal prism 200, and the second mirror 900 is obliquely disposed to vertically reflect the horizontally transmitted detection laser to the laser receiver 500, and in the same way, the 90-degree light path turning design can save the occupied space of the product, so that the structure is more compact. In addition, in order to avoid blocking the outgoing of the detection laser, the second reflecting mirror is provided with a through hole for the outgoing detection laser to pass through.
The present invention also includes a second aspect embodiment of the same inventive concept as the first aspect embodiment, that is, a scanning method of a hybrid solid state lidar, applied to the hybrid solid state lidar, including the following steps:
n laser transmitters transmit detection laser;
controlling the second polyhedral prism to correspondingly rotate for 360/N degrees and stay once the first polyhedral prism rotates for one circle, and implementing alternate intermittent rotation;
the first polyhedral prism reflects the detection laser emitted by the laser emitter to form N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2M 1 degrees, and the two-dimensional scanning lights are sent to the second polyhedral prism;
the second polyhedral prism reflects the detection laser sent by the first polyhedral prism, and when the second polyhedral prism rotates for a circle, three-dimensional scanning light with a horizontal view field of 360 degrees and a vertical view field of 2 degrees (M1 degrees + M2 degrees) is formed;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
The present invention also includes a third aspect embodiment of the same inventive concept as the first aspect embodiment, that is, a scanning method of a hybrid solid state lidar, applied to the hybrid solid state lidar, including the following steps:
n laser transmitters transmit detection laser;
after the first polyhedral prism and the second polyhedral prism are controlled to synchronously rotate for one rotation, the first polyhedral prism continues to rotate at the original speed, the second polyhedral prism finishes speed reduction within 360 DEG/N and accelerates to return to the original rotating speed, the second polyhedral prism and the first polyhedral prism form dislocation of 360 DEG/N and then continue to rotate at the same speed, and the first polyhedral prism and the second polyhedral prism are reset after N rotations are circulated;
the detection laser emitted by the laser emitter is reflected to the second polyhedral prism through the first polyhedral prism and is reflected again, and N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees are formed;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
Compared with the second polyhedron prism in the second aspect, which rotates intermittently and continuously, the second polyhedron prism rotates continuously to form N horizontal lines, each surface of the second polyhedron prism rotates one surface synchronously and deflects according to the inclination angle difference because of the different inclination angles, and the intermittent second polyhedron prism deflects N times because of the N angle differences, so that the vertical scanning field of view is enlarged.
As shown in fig. 4, in the fourth embodiment of the present invention, which is a catadioptric mode, the second polygonal prism uses a refractive prism instead of the reflective prism of the above embodiments, and only the positions of the laser receiver and the laser emitter need to be adjusted, and the collimating lens and the focusing lens are replaced by a two-in-one lens, so that the corresponding scan control method is consistent with the second embodiment of the third aspect, and the same effect can be achieved. The method specifically comprises the following steps:
n laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, and refracting detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for reflecting again to form two-dimensional scanning light with N different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
As shown in fig. 5, in another embodiment of the fourth aspect of the present invention, which is another catadioptric mode, the second polygonal prism uses a reflective prism instead of the refractive prism of the above embodiments, and only the positions of the laser receiver and the laser emitter need to be adjusted, and the collimating lens and the focusing lens are replaced by two-in-one lenses, so that the corresponding scanning control method is consistent with the second embodiment of the third aspect, and the same effect can be achieved. The method specifically comprises the following steps:
n laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, reflecting detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for refractions again, and forming N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A hybrid solid state lidar characterized by: comprises that
N groups of laser transmitters and laser receivers are respectively used for transmitting and receiving detection laser, wherein N is more than or equal to 2;
the first polyhedral prism is provided with N reflecting surfaces or refracting surfaces, the N reflecting surfaces or refracting surfaces correspond to the positions of the N groups of laser transmitters and laser receivers one by one and are used for reflecting or refracting detection laser transmitted by the laser transmitters to a second polyhedral prism and reflecting or refracting detection laser returned by the second polyhedral prism to the laser receivers, and the N reflecting surfaces or the N refracting surfaces have the same or different inclination angle differences, and the inclination angle differences sum to M1 degrees;
the second polyhedral prism has the same structure as the first polyhedral prism, has a total inclination angle difference of M2 degrees, is arranged above the first polyhedral prism in a mirror symmetry manner, and is used for reflecting or refracting the detection laser reflected or refracted by the first polyhedral prism to a detected region and reflecting or refracting the detection laser reflected and returned by the detected region to the first polyhedral prism;
and the motor control module is used for controlling the first polyhedral prism and the second polyhedral prism to implement different rotation modes.
2. The hybrid solid-state lidar of claim 1, wherein: the motor control module comprises a first motor control module and a second motor control module, and is used for controlling the continuous rotation and the intermittent rotation of the first polyhedral prism and the second polyhedral prism respectively.
3. The hybrid solid-state lidar of claim 1, wherein: the N groups of laser transmitters and laser receivers are arranged on the peripheral side of the first polyhedral prism in a circumferential equal-dividing mode.
4. The hybrid solid-state lidar of claim 1, wherein: and a collimating lens is arranged in the emergent direction of the laser emitter.
5. The hybrid solid-state lidar of claim 1, wherein: and a focusing lens is arranged in the incident direction of the laser receiver.
6. The hybrid solid-state lidar of claim 4, wherein: and a focusing lens is arranged in the incident direction of the laser receiver, and the focusing lens and the collimating lens are the same lens.
7. The hybrid solid-state lidar according to claim 1, 4 or 6, wherein: and a first reflector is arranged between the laser emitter and the corresponding reflecting surface of the first polyhedral prism, and the first reflector is obliquely arranged to vertically reflect the horizontally emitted detection laser to the first polyhedral prism.
8. A scanning method of a hybrid solid state lidar according to any one of claims 1 to 7, wherein: comprises the following steps
N laser transmitters transmit detection laser;
controlling the second polyhedral prism to correspondingly rotate for 360/N degrees and stay once the first polyhedral prism rotates for one circle, and implementing alternate intermittent rotation;
the first polyhedral prism reflects the detection laser emitted by the laser emitter to form N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2M 1 degrees, and the two-dimensional scanning lights are sent to the second polyhedral prism;
the second polyhedral prism reflects the detection laser sent by the first polyhedral prism, and when the second polyhedral prism rotates for a circle, three-dimensional scanning light with a horizontal view field of 360 degrees and a vertical view field of 2 degrees (M1 degrees + M2 degrees) is formed;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
9. A scanning method of a hybrid solid state lidar according to any one of claims 1 to 7, wherein: comprises the following steps
N laser transmitters transmit detection laser;
after the first polyhedral prism and the second polyhedral prism are controlled to synchronously rotate for one rotation, the first polyhedral prism continues to rotate at the original speed, the second polyhedral prism finishes speed reduction within 360 DEG/N and accelerates to return to the original rotating speed, the second polyhedral prism and the first polyhedral prism form dislocation of 360 DEG/N and then continue to rotate at the same speed, and the first polyhedral prism and the second polyhedral prism are reset after N rotations are circulated;
the detection laser emitted by the laser emitter is reflected to the second polyhedral prism through the first polyhedral prism and is reflected again, and N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees are formed;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
10. A scanning method of a hybrid solid state lidar according to any one of claims 1 to 7, wherein: comprises the following steps
N laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, and refracting or reflecting the detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for reflecting or refracting again to form N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
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| CN202111043073.5A CN113933813A (en) | 2021-09-07 | 2021-09-07 | Hybrid solid-state laser radar and scanning method thereof |
| PCT/CN2021/119883 WO2023035326A1 (en) | 2021-09-07 | 2021-09-23 | Hybrid solid-state lidar and scanning method therefor |
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| CN202111043073.5A CN113933813A (en) | 2021-09-07 | 2021-09-07 | Hybrid solid-state laser radar and scanning method thereof |
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| CN115144861A (en) * | 2022-09-05 | 2022-10-04 | 天津帆探科技有限公司 | Hybrid solid-state laser radar and scanning method |
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
| CN117347980B (en) * | 2023-12-04 | 2024-03-12 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023035326A1 (en) | 2023-03-16 |
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