CN114397639A - Laser radar - Google Patents

Abstract

The application provides a laser radar, relate to radar technical field, including the casing that has the window and set up mounting bracket and the first motor in the casing, be provided with the laser instrument on the mounting bracket, the polygon mirror subassembly, second motor and receiving element, the probe beam of laser instrument outgoing is through carrying out two-dimensional scanning by the window outgoing behind the reflection of polygon mirror subassembly in order to carry out the target object, the echo beam by the reflection of target object is gone back and is incited receiving element behind the polygon mirror subassembly, laser instrument and receiving element all are located the income light side of polygon mirror subassembly. On the basis of adopting the polygon mirror assembly to realize two-dimensional scanning, the polygon mirror assembly is used as a scanning mirror, so that a detection light beam emitted by a laser to the polygon mirror assembly can be reflected by a plurality of side faces of the polygon mirror assembly in sequence every time the polygon mirror assembly rotates for a circle, and thus, a plurality of scanning frames can be generated.

Description

Laser radar

Technical Field

The application relates to the technical field of radars, in particular to a laser radar.

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 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 beam is firstly emitted to the target, then a signal reflected from the target is compared with an emitted signal, and after appropriate processing, the information of the target, such as distance, direction, height, speed, attitude, even shape and the like, can be obtained.

The existing laser radar adopts a vibrating mirror horizontal scanning scheme, only one-dimensional scanning can be realized through the rotation of the vibrating mirror, and meanwhile, the frame rate of the vibrating mirror horizontal scanning scheme is lower at the same rotating speed because the vibrating mirror rotates for a circle and only corresponds to one scanning frame.

Disclosure of Invention

An object of the present application is to provide a laser radar to overcome the above-mentioned deficiencies in the prior art, so as to solve the problem that the existing laser radar can only realize one-dimensional scanning and the scanning frame rate is low due to the adoption of galvanometer scanning.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

in one aspect of the embodiment of the application, a laser radar is provided, including the casing that has the window and set up mounting bracket and the first motor in the casing, be provided with the laser instrument on the mounting bracket, the polygon mirror subassembly, second motor and receiving element, first motor is connected so that laser radar carries out first dimension scanning with the mounting bracket drive, the second motor is connected so that laser radar carries out second dimension scanning with the polygon mirror subassembly drive, the probe beam of laser outgoing is through carrying out two-dimensional scanning by the window outgoing after the polygon mirror subassembly reflects in order to carry out the target object, the echo beam by the reflection of target object is gone back into receiving element behind the polygon mirror subassembly, laser instrument and receiving element all are located the income light side of polygon mirror subassembly.

Optionally, a first supporting member and a second supporting member forming a clamping cavity are further arranged in the housing, the mounting frame is located in the clamping cavity, and two opposite sides of the mounting frame are respectively rotatably connected with the first supporting member and the second supporting member so that the first motor drives the mounting frame to rotate relative to the housing.

Optionally, the first supporting piece is a first partition plate, the first partition plate divides the inner cavity of the shell into a first sub-cavity and a second sub-cavity, the first motor is located in the first sub-cavity, the mounting frame is located in the second sub-cavity, and the output shaft of the first motor penetrates through the first partition plate and is arranged in the second sub-cavity to drive the mounting frame to rotate.

Optionally, the laser radar further includes a first detection device, the mounting bracket is rotatably connected with the second support piece through a first rotating shaft, and the first detection device is arranged in the first rotating shaft and used for detecting the rotation angle of the mounting bracket relative to the housing.

Optionally, the laser and the receiving assembly are stacked in the axial direction of the output shaft of the second motor so that the transmission path of the probe beam between the laser and the polygon mirror assembly and the transmission path of the echo beam between the polygon mirror assembly and the receiving assembly coincide in the stacking direction.

Optionally, the laser radar includes a second partition plate, and the second partition plate is located between the laser and the receiving module to separate the light exit side of the laser from the light entrance side of the receiving module.

Optionally, the first motor is a slow-axis motor, and the second motor is a fast-axis motor, so that the probe beam is reflected by the polygon mirror assembly in sequence and then forms a plurality of scanning lines in parallel along the vertical direction in the target area.

Optionally, the first motor is a fast-axis motor, and the second motor is a slow-axis motor, so that the probe beam is reflected by the polygon mirror assembly in sequence and then forms a plurality of scanning lines in parallel in the transverse direction in the target area.

Optionally, the polygon mirror assembly includes a polygon mirror and a second rotating shaft, one end of the second rotating shaft is fixedly connected with an output shaft of the second motor, and the other end of the second rotating shaft penetrates through the polygon mirror and is fixedly connected with the polygon mirror.

Optionally, the laser radar further includes a second detection device, and the second detection device is disposed at the other end of the second rotating shaft and is used for detecting a rotation angle of the polygon prism relative to the mounting frame.

The beneficial effect of this application includes:

the application provides a laser radar, including the casing that has the window and set up mounting bracket and the first motor in the casing, be provided with the laser instrument on the mounting bracket, the polygon prism subassembly, second motor and receiving element, first motor is connected so that laser radar carries out first dimension scanning with the mounting bracket drive, the second motor is connected so that laser radar carries out the second dimension scanning with the polygon prism subassembly drive, the detecting beam of laser instrument outgoing carries out the two-dimensional scanning by the window outgoing after the reflection of polygon prism subassembly in order to carry out the target object, the echo light beam by the reflection of target object returns the incidence receiving element behind the polygon prism subassembly, laser instrument and receiving element all are located the income light side of polygon prism subassembly. On the basis of adopting the polygon mirror assembly to realize two-dimensional scanning, the polygon mirror assembly is used as a scanning mirror, so that a detection light beam emitted by a laser to the polygon mirror assembly can be reflected by a plurality of side faces of the polygon mirror assembly in sequence every time the polygon mirror assembly rotates for a circle, and thus, a plurality of scanning frames can be generated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a laser radar according to an embodiment of the present disclosure;

fig. 3 is a schematic top view of a lidar according to an embodiment of the present disclosure;

fig. 4 is a second schematic top view of a lidar according to an embodiment of the present disclosure;

fig. 5 is a schematic top view of a lidar according to another embodiment of the present disclosure;

fig. 6 is a schematic top view of a lidar according to yet another embodiment of the present disclosure;

fig. 7 is a schematic view of a scanning line of a lidar according to an embodiment of the present disclosure;

fig. 8 is a second schematic view of a scanning line of a lidar according to an embodiment of the present disclosure.

Icon: 100-a housing; 101-a first support; 102-a second support; 103-window; 104-a first subchamber; 105-a second subcavity; 110-a mounting frame; 111-scan lines; 120-a polygonal prism assembly; 121-a polygon mirror; 130-a receiving component; 131-a receiving lens; 132-a receiving circuit board; 141-first detection means; 142-a second detection device; 150-a first motor; 160-laser; 170-a mirror; 180-second separator.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. It should be noted that, in case of conflict, various features of the embodiments of the present application may be combined with each other, and the combined embodiments are still within the scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being 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 application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In one aspect of the embodiments of the present disclosure, there is provided a laser radar, as shown in fig. 1 and 2, including a housing 100, and a mounting bracket 110 and a first motor 150 disposed in the housing 100, wherein a laser 160, a polygon mirror assembly 120, a second motor, and a receiving assembly 130 are disposed on the mounting bracket 110, so that the mounting bracket 110, the laser 160, the polygon mirror assembly 120, the second motor, and the receiving assembly 130 form a module structure, and then are disposed in the housing 100 and driven by the first motor 150. Meanwhile, a window 103 is provided on the housing 100, and the position of the window 103 should correspond to the position of the laser radar outgoing beam, so as to facilitate smooth outgoing of the probe beam and smooth return of the echo beam.

Referring to fig. 1 and fig. 2, the laser 160 and the receiving assembly 130 are located on the same side of the polygon mirror assembly 120, in other words, the polygon mirror assembly 120 is located not only on the emitting optical axis of the laser 160, but also on the receiving optical axis of the receiving assembly 130, so that on one hand, after the laser 160 emits the probe beam to the polygon mirror assembly 120, the probe beam is reflected by the reflecting surface of the polygon mirror assembly 120 to the outside of the housing 100, and on the other hand, the echo beam reflected by the target object is reflected by the polygon mirror assembly 120 and can be received by the receiving assembly 130.

As shown in fig. 1, be provided with laser 160 on mounting bracket 110, polygon mirror assembly 120, behind second motor and the receiving element 130, a modular structure can be constituteed, modular structure and first motor 150 drive are connected, thereby realize when first motor 150 drives, change the outgoing direction of detecting beam from first dimension, make lidar carry out first dimension scanning, and inside modular structure, the second motor is connected with polygon mirror assembly 120 drive, thereby realize when second motor drive, change the outgoing direction of detecting beam from the second dimension, make lidar carry out second dimension scanning, with this, realize lidar's two-dimensional scanning through the stack of first dimension scanning and second dimension scanning. It should be understood that, because the laser 160, the polygon mirror assembly 120, the second motor, the receiving assembly 130 and the mounting bracket 110 can form a modular structure, and meanwhile, the form of the modular structure integrally rotating is changed by the driving of the first motor 150, so that the scanning with a larger angle can be realized on the basis of realizing two-dimensional scanning, the scanning field of view can be greatly improved, for example, the scanning with 120 degrees, 180 degrees, 360 degrees and other large fields of view can be realized, and the detection range of the laser radar can be further improved.

For example, as shown in fig. 1 and fig. 2, the first dimension scanning is vertical scanning, and the second dimension scanning is horizontal scanning, and for convenience of description, the following description will be made by using a spatial rectangular coordinate system: with the top view direction shown in fig. 3 as the Z axis (vertical direction), the first motor 150 is in driving connection with the mounting frame 110, so that the module structure can rotate around the X axis (e.g. rotate along the direction of the rotation arrow at the first motor 150 in fig. 3) relative to the housing 100 under the driving of the first motor 150, in other words, the output shaft of the first motor 150 is collinear with the X axis; the second motor is drivingly connected to the polygon mirror 120, so that the polygon mirror 120 can rotate around the Z-axis (e.g. rotate along the direction of the rotating arrow at the polygon mirror 120 in fig. 3) relative to the housing 100 under the driving of the second motor, in other words, the output shaft of the second motor is collinear with the Z-axis, based on the fact that after the detection beam is emitted from the laser 160, the detection beam is reflected to the outside through the polygon mirror 120, so that when the module structure rotates around the X-axis, the emission direction of the detection beam is changed along the Z-axis, so as to implement the vertical scanning (first-dimensional scanning) of the detection beam, and when the polygon mirror 120 rotates around the Z-axis, the emission direction of the detection beam is changed along the X-axis, so as to implement the horizontal scanning (second-dimensional scanning) of the detection beam, and thus, the driving of the module structure and the polygon mirror 120 by superimposing the first motor 150 and the second motor respectively, two-dimensional scanning (i.e., vertical and lateral scanning) of the lidar may be achieved.

In actual detection, as shown in fig. 3, a probe beam is emitted from the laser 160, and is reflected by the polygon mirror assembly 120 and then emitted outward (solid line with arrow in fig. 3, the arrow indicates the transmission direction), so that a detection field is formed and two-dimensional scanning is performed; as shown in fig. 4, when the target is located in the detection field of view, a part of the probe beam (the dotted line with an arrow in fig. 4, the arrow indicates the transmission direction) is reflected by the target to form an echo beam, and then the echo beam returns to the polygon mirror assembly 120 and enters the receiving assembly 130, so that the software analysis can obtain the relevant information about the target.

In summary, in the present application, on the basis of the polygon mirror assembly 120 to implement two-dimensional scanning, the polygon mirror assembly 120 is used as a scanning mirror, so that each time the polygon mirror assembly 120 rotates for one circle, the detection light beams emitted from the laser 160 to the polygon mirror assembly 120 will be reflected by a plurality of side surfaces of the polygon mirror assembly 120 in sequence, so that a plurality of scanning frames can be generated, and compared with the existing method of scanning by using a vibrating mirror, the method has a higher frame rate.

Alternatively, as shown in fig. 1, the area of the reflection surface of the polygon mirror 121 in the polygon mirror assembly 120 may be determined according to the receiving area of the receiving assembly 130, for example: receiving element 130's receiving aperture is circular, and the diameter of circular receiving aperture is positively correlated with the area of any one plane of reflection of polygon mirror 121 in polygon mirror element 120 to this, compare in the current mode that adopts galvanometer scanning, this application adopts polygon mirror 121 can realize the heavy-calibre and receives, thereby improves laser radar's measurement accuracy.

In some embodiments, there may be one or more lasers 160 in the present application, and the present application does not limit the number of the lasers 160, for example, as shown in fig. 3, when two lasers 160 include two lasers, the two lasers 160 may share one receiving lens 131 of the receiving assembly 130, that is, echo beams formed by reflection of detection beams emitted by the two lasers 160 by an object may be incident on the same receiving lens 131, and then are correspondingly received by different receiving chips on the receiving circuit board 132.

It should be understood that the laser 160 and the receiving assembly 130 may be distributed in sequence along the transverse direction, or may be distributed in sequence along the vertical direction (Z-axis direction). Similarly, when the laser 160 includes a plurality of lasers, the plurality of lasers 160 may be sequentially distributed along the transverse direction (Y-axis direction), so that, in view of each laser 160 being capable of forming a two-dimensional detection field, the field width of the laser radar along the transverse direction can be increased by the superposition of the plurality of two-dimensional detection fields; the two-dimensional detection fields can be distributed along the vertical direction (Z-axis direction), so that the field width of the laser radar along the vertical direction can be increased through superposition of the two-dimensional detection fields.

Optionally, as shown in fig. 1 and 2, a first support 101 and a second support 102 are further disposed in the casing 100, and the first support 101 and the second support 102 are disposed opposite to each other, so that a clamping cavity is formed between the first support 101 and the second support 102, when the mounting frame 110 is disposed, the mounting frame 110 may be located in the clamping cavity, and opposite sides of the mounting frame 110 are rotatably connected to the first support 101 and the second support 102, respectively, so that when the first motor 150 drives the mounting frame 110 to rotate, stability and smoothness of rotation of the mounting frame 110 relative to the supports can be improved.

Alternatively, as shown in fig. 1, for the convenience of layout, the first support 101 may be a first partition plate, the inner cavity of the housing 100 is divided into a first sub-cavity 104 and a second sub-cavity 105 by the first partition plate, the first motor 150 is located in the first sub-cavity 104, and the mounting frame 110 (module structure) is located in the second sub-cavity 105, so as to improve the rationality of layout. The output shaft of the first motor 150 penetrates through the second sub-cavity 105 through the first partition plate to be in driving connection with the mounting frame 110, and the first motor 150 drives the mounting frame 110 to rotate.

In some embodiments, a bearing may be disposed on an inner wall of the through hole disposed on the first partition plate, and an inner ring of the bearing is sleeved on an outer circumference of an output shaft of the first motor 150, so that the output shaft of the first motor 150 can be supported by the first partition plate and the bearing, and smoothness of driving of the first motor 150 can be effectively improved.

Optionally, as shown in fig. 1, the laser radar further includes a first detection device 141, and when the mounting bracket 110 is rotatably connected to the second support 102, a first rotation axis may be disposed between the mounting bracket and the second support, so as to establish the rotatable connection, at this time, the first detection device 141 may be disposed on the first rotation axis, so that when the mounting bracket 110 is driven by the first motor 150, the rotation angle of the module structure relative to the housing 100 may be detected by the first detection device 141, so as to facilitate monitoring of the rotation state of the first dimension of the module structure.

Optionally, as shown in fig. 1 and fig. 2, the second motor is fixedly disposed on the mounting frame 110, one end of the second rotating shaft is fixedly connected to an output shaft of the second motor, and the other end of the second rotating shaft is penetrated through the polygon mirror 121 from the bottom surface of the polygon mirror 121 and is fixedly connected to the polygon mirror 121, so that the second motor can drive the polygon mirror 121 to rotate around the second rotating shaft relative to the mounting frame 110 through the second rotating shaft, and meanwhile, the side surface of the polygon mirror 121 can be fully utilized as a reflection surface by a mode that the second rotating shaft penetrates through the inside of the polygon mirror 121, thereby avoiding affecting the reflection of the side surface of the polygon mirror 121.

It should be understood that the polygon mirror 121 is formed by enclosing a top surface, a bottom surface and a plurality of side surfaces, wherein the plurality of side surfaces of the polygon mirror 121 can be used as reflecting surfaces to reflect the probe beam.

Optionally, the laser radar further includes a second detection device 142, and the second detection device 142 is disposed at the other end of the second rotating shaft, so that when the polygon mirror 121 is driven by the second motor, the rotation angle of the polygon mirror 121 relative to the mounting frame 110 can be detected through the second detection device 142, which is convenient for monitoring the rotation state of the second dimension of the polygon mirror 121.

In some embodiments, the first detection device 141 and the second detection device 142 may be photoelectric code discs.

In some embodiments, the second motor driving the polygon mirror 121 to rotate may be a brushless motor, so that the rotation of the polygon mirror 121 can be more stable by using the characteristics of low interference, low noise, smooth operation and long service life of the brushless motor during driving.

In some embodiments, as shown in fig. 3 to 4, the polygon mirror 121 may be a quadrangular prism, and the second rotation shaft passes through the quadrangular prism from the bottom surface of the quadrangular prism, in the actual detection: as shown in fig. 3, the laser 160 emits the probe beam to the four-prism, and the mount 110 and the four-prism are driven by the first motor 150 and the second motor, respectively, so that the emitting direction of the probe beam can be changed along the Z-axis when the mount 110 rotates about the X-axis, and the emitting direction of the probe beam can be changed along the X-axis when the four-prism rotates about the Z-axis, thereby forming two-dimensional scanning. When the four-prism rotates one circle, the detection beam emitted from the laser 160 sequentially passes through the four side surfaces of the four-prism, and 4 scanning frames are correspondingly generated, so that the scanning frame rate is higher. Since each frame generates 4 scanning frames per rotation of the quadrangular prism, each frame is rotated by 90 degrees with respect to the quadrangular prism, and the outgoing angle of the probe beam reflected by the quadrangular prism is rotated by 2 degrees per 1 degree based on the quadrangular prism, the optical scanning angle of each frame is 180 degrees, and when the actual scanning angle of the laser radar is set, the actual scanning angle can be smaller than that of each frame, in other words, a part of the angle can be intercepted or utilized as the actual scanning angle in the optical scanning angle of each frame, for example, if the actual scanning angle of the laser radar is 120 degrees, only 120 degrees out of 180 degrees need to be intercepted/utilized as the actual scanning angle in each frame.

In some embodiments, as shown in fig. 5, the polygon mirror 121 may also be a hexagonal prism, and the second rotation axis still passes through the hexagonal prism from the bottom surface of the hexagonal prism, in the actual detection: the laser 160 emits a probe beam to the hexagonal prism, and when the hexagonal prism rotates for one circle, the probe beam emitted by the laser 160 sequentially passes through six side surfaces of the hexagonal prism, and correspondingly generates 6 scanning frames, so that the scanning frame rate is higher. Since the six-sided prism can generate 6 scanning frames per rotation, each frame corresponds to 60 degrees of rotation of the six-sided prism, and the exit angle of the probe beam reflected by the six-sided prism is rotated by 2 degrees based on 1 degree of rotation of the six-sided prism, so the optical scanning angle of each frame is 120 degrees, when the actual scanning angle (horizontal scanning angle) of the laser radar is set, the actual scanning angle can be smaller than that of each frame, in other words, a part of the angle can be intercepted or utilized as the actual scanning angle in the optical scanning angle of each frame, for example, assuming that the actual scanning angle of the laser radar is 60 degrees, only 60 degrees out of 120 degrees need to be intercepted/utilized as the actual scanning angle in each frame.

In other embodiments, the polygon mirror 121 in the present application may be a triangular prism, a pentaprism, a heptaprism, or the like, and when the number of side surfaces of the polygon mirror 121 is increased, the corresponding scan frame rate is also higher. It should be understood that as the scanning frame rate is increased, the optical scanning angle of each frame is smaller, and the range where the actual scanning angle of the lidar can be intercepted/utilized is smaller, so that in the actual selection and setting, the actual scanning angle should be reasonably selected according to actual requirements, and the application does not specifically limit the optical scanning angle.

Alternatively, when the laser 160 and the receiving unit 130 are arranged, the laser 160 and the receiving unit 130 may be arranged in a stacked manner along the axial direction of the output shaft of the second motor, in other words, the emitting optical axis of the laser 160 and the receiving optical axis of the receiving assembly 130 can be parallel, in other words, the laser 160 and the receiving assembly 130 are coaxial along the axial direction of the second motor output shaft, such that a transmission path of the probe beam between the laser 160 and the polygon mirror assembly 120 (hereinafter, simply referred to as a transmission path for convenience of description) and a transmission path of the probe beam between the polygon mirror assembly 120 and the receiving assembly 130 (hereinafter, simply referred to as a receiving path for convenience of description) coincide in the stacking direction, and thus, it is possible to realize transmission and reception coaxially in the stacking direction, therefore, the reasonability of arrangement of all parts is effectively improved, and the overall size of the laser radar is convenient to reduce.

Optionally, as shown in fig. 1 and fig. 2, the laser radar further includes a second partition plate 180, and the second partition plate 180 is located between the laser 160 and the receiving module 130, so that the transmitting path and the receiving path can be isolated by the second partition plate 180, in other words, the light exit side of the laser 160 can be isolated from the light entrance side of the receiving module 130 by the second partition plate 180, interference caused by the fact that the detection light beam directly enters the receiving module 130 after being emitted by the laser 160 is avoided, and the scanning accuracy of the laser radar is further improved.

Optionally, as shown in fig. 7, the first motor 150 is a slow-axis motor, the second motor is a fast-axis motor, and at this time, the rotation speed of the second motor is greater than that of the first motor 150, so that when the first motor 150 and the second motor are used to implement two-dimensional scanning, the probe beam finally reflected by the polygon mirror 121 toward the target object region may form a plurality of vertically parallel scanning lines 111. It should be understood herein that the scan line 111 may be a horizontal line, which may be formed directly after scanning, without software algorithm modification, such as: when the driving period of the first motor 150 and the driving period of the second motor are alternately arranged along the time line, in the driving period of the second motor, the first motor 150 stops driving, the detection beam completes the scanning line 111 of one straight line segment, then enters the driving period of the first motor 150, the second motor stops driving, the first motor 150 drives the module structure to rotate, so that the detection beam moves along the vertical direction, then enters the driving period of the second motor, the first motor 150 stops driving, the detection beam after moving along the vertical direction completes the scanning line 111 of the other straight line segment, and the above circulation is repeated, so that a plurality of scanning lines 111 parallel along the vertical direction as shown in fig. 7 can be formed; the scan line 111 may be a horizontal line, or the horizontal line may be formed by scanning and then modifying through a software algorithm, for example: when the two-dimensional scanning is implemented, the first motor 150 and the second motor are driven simultaneously, at this time, the probe beam completes a straight line segment and has a scanning line 111 with a certain slope, and the horizontal scanning line 111 can be obtained through later-stage algorithm correction.

Optionally, as shown in fig. 8, the first motor 150 is a fast axis motor, the second motor is a slow axis motor, and at this time, the rotation speed of the first motor 150 is greater than that of the second motor, so that when the first motor 150 and the second motor are used to implement two-dimensional scanning, the probe beam finally reflected by the polygon mirror 121 toward the target area may form a plurality of laterally parallel scanning lines 111. It should be understood herein that the scan lines 111 may also be vertical lines, which may be formed directly after scanning, without software algorithm modification; the scan lines 111 may be vertical lines, or vertical lines may be formed by scanning and then correcting the vertical lines by a software algorithm.

In some embodiments, the rotation speed of the first motor 150 may be controlled to be constant, so as to uniformly distribute the plurality of scanning lines 111, or the rotation speed of the first motor 150 may be controlled to be variable, so as to densely distribute the plurality of scanning lines 111.

Optionally, as shown in fig. 1, the receiving assembly 130 includes a receiving lens 131 and a receiving circuit board 132 disposed on the light emitting side of the receiving lens 131, so that after the echo light beam enters the receiving lens 131, the receiving circuit board 132 can obtain the receiving information.

Optionally, as shown in fig. 6, the laser radar further includes a reflecting mirror 170 located between the polygon mirror assembly 120 and the receiving assembly 130, for example, the reflecting mirror 170 is located between the polygon mirror 121 and the receiving assembly 130, and the receiving path can be folded by using the reflecting mirror 170, so that the returned detection light beam is reflected by the polygon mirror 121, and then reflected by the reflecting mirror 170 to change the light path, and then enters the receiving assembly 130, so that the width (the transverse dimension in fig. 6) of the laser radar can be effectively reduced, and the adaptability of the laser radar to the installation environment is improved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a laser radar, its characterized in that, including the casing that has the window and set up in mounting bracket and first motor in the casing be provided with laser instrument, polygon prism subassembly, second motor and receiving element on the mounting bracket, first motor with the mounting bracket drive is connected so that laser radar carries out first dimension scanning, the second motor with polygon prism subassembly drive is connected so that laser radar carries out the second dimension scanning, the probe beam warp of laser instrument outgoing by after the polygon prism subassembly reflection by the window outgoing is in order to carry out the two-dimensional scanning to the target object, by the echo light beam of target object reflection returns incide behind the polygon prism subassembly receiving element, the laser instrument with receiving element all is located the income light side of polygon prism subassembly.

2. The lidar of claim 1, further comprising a first support member and a second support member defining a clamping chamber disposed within the housing, wherein the mounting bracket is disposed within the clamping chamber and wherein opposite sides of the mounting bracket are rotatably coupled to the first support member and the second support member, respectively, such that the mounting bracket is driven by the first motor to rotate relative to the housing.

3. The lidar of claim 2, wherein the first support member is a first partition plate, the first partition plate divides the inner cavity of the housing into a first sub-cavity and a second sub-cavity, the first motor is located in the first sub-cavity, the mounting bracket is located in the second sub-cavity, and an output shaft of the first motor penetrates through the second sub-cavity through the first partition plate to drive the mounting bracket to rotate.

4. The lidar of claim 2, further comprising a first detecting device, wherein the mounting bracket is rotatably connected to the second support member via a first rotating shaft, and the first detecting device is disposed on the first rotating shaft for detecting a rotation angle of the mounting bracket relative to the housing.

5. The lidar of any of claims 1 to 4, wherein the laser and the receiving module are stacked in a direction of an axis of the second motor output shaft such that a transmission path of the probe beam between the laser and the polygon mirror module and a transmission path of the echo beam between the polygon mirror module and the receiving module coincide in a stacking direction.

6. The lidar of claim 5, wherein the lidar includes a second spacer positioned between the laser and the receiving module to isolate an exit side of the laser from an entrance side of the receiving module.

7. The lidar of any of claims 1-4, wherein the first motor is a slow axis motor and the second motor is a fast axis motor, such that the probe beam is sequentially reflected by the polygon mirror assembly to form a plurality of vertically parallel scan lines in the target area.

8. The lidar of any of claims 1 to 4, wherein the first motor is a fast axis motor and the second motor is a slow axis motor, such that the probe beam is sequentially reflected by the polygon mirror assembly to form a plurality of laterally parallel scan lines in the target area.

9. The lidar of any one of claims 1 to 4, wherein the polygon mirror assembly comprises a polygon mirror and a second rotating shaft, one end of the second rotating shaft is fixedly connected with the output shaft of the second motor, and the other end of the second rotating shaft penetrates through the polygon mirror and is fixedly connected with the polygon mirror.

10. The lidar of claim 9, further comprising a second detecting device disposed at the other end of the second shaft for detecting a rotation angle of the polygon mirror with respect to the mounting bracket.

Images