CN115754986A - Laser radar optical scanning system, laser radar and aircraft - Google Patents
Laser radar optical scanning system, laser radar and aircraft Download PDFInfo
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- CN115754986A CN115754986A CN202211481169.4A CN202211481169A CN115754986A CN 115754986 A CN115754986 A CN 115754986A CN 202211481169 A CN202211481169 A CN 202211481169A CN 115754986 A CN115754986 A CN 115754986A
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Abstract
The invention provides a laser radar optical scanning system, a laser radar and an aircraft, comprising: the device comprises a laser emitting device, a laser receiving device, a wedge prism and a driving device; the driving device is used for driving the wedge-shaped prism to rotate along the rotating shaft at a high speed; the laser emitting device is used for emitting parallel laser beams to the wedge-shaped prism in a direction parallel to the rotating shaft, and the parallel laser beams scan the detection area through refraction of the wedge-shaped prism; the laser receiving device is used for receiving echo signals reflected by the target in the detection area and determining a laser point cloud image of the detection area according to the echo signals. Need not transmission, compact structure can effectively reduce laser radar optical scanning system's volume and weight, adopts perspective optical system, and the one-way continuous steady rotation of rotation axis is followed to wedge prism in the scanning process, has improved laser radar system's scanning efficiency and control simply, can realize the saturated coverage formula scanning to the ground feature through the circular cone scanning orbit of wedge prism scanning.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar optical scanning system, a laser radar and an aircraft.
Background
The laser radar is a radar system taking laser as a detection light source, has the characteristics of high precision, strong penetrability, high flexibility and the like, and adopts the working principle that the detection laser is emitted to a target, and the information such as the distance, the spatial position, the shape, the speed and the like of the target is obtained by comparing the signal reflected by the target with the time and the intensity information of the emitted signal. The laser scanning radar generally changes the direction of laser through a scanning system, two-dimensional or three-dimensional scanning is realized, a scanning mirror and a driving transpose are mutually independent, the integral structure of the scanning transpose is complex, the size and the weight are large, various arrangement errors exist easily, the measurement error of a laser radar system is caused, and the application of the laser radar technology in the fields of unmanned aerial vehicle surveying and mapping, unmanned systems, unmanned aerial vehicles obstacle avoidance, navigation and the like is not facilitated.
Disclosure of Invention
In view of this, the present invention provides a laser radar optical scanning system, a laser radar and an aircraft, which have compact structures, can reduce the volume and weight of the laser radar system, and can acquire the side information of a ground object while improving the scanning efficiency.
In a first aspect, an embodiment of the present invention provides a laser radar optical scanning system, where the laser radar optical scanning system includes: the device comprises a laser emitting device, a laser receiving device, a wedge-shaped prism and a driving device; the driving device is used for driving the wedge prism to rotate along the rotating shaft at a high speed; the laser emitting device is used for emitting parallel laser beams to the wedge-shaped prism in a direction parallel to the rotating shaft, and the parallel laser beams scan the detection area through refraction of the wedge-shaped prism; the laser receiving device is used for receiving echo signals reflected by the target in the detection area and determining a laser point cloud image of the detection area according to the echo signals.
In an alternative embodiment of the application, the wedge prism is arranged inside the drive means.
In an alternative embodiment of the present application, the wedge prism is inclined near the laser emitting device in the laser radar optical scanning system; or the inclined plane of the wedge prism is far away from the laser emitting device in the laser radar optical scanning system.
In an alternative embodiment of the present application, if the lidar optical scanning system employs conical scanning, multiple wedge prisms are driven by the same hollow motor shaft; if the laser radar optical scanning system adopts three-dimensional scanning, various three-dimensional scanning tracks are determined by respectively controlling the rotating speed and the rotating direction of the wedge prisms.
In an alternative embodiment of the present application, a laser emitting apparatus includes: a laser, a collimator; the laser is used for emitting laser; the collimator is used for shaping laser emitted by the laser to obtain parallel laser beams.
In an alternative embodiment of the present application, the laser emitting apparatus further includes: a mirror; the reflector is used for adjusting the direction of the parallel laser beam so that the parallel laser beam enters in a direction parallel to the rotating shaft of the wedge prism.
In an alternative embodiment of the present application, the lidar optical scanning system further comprises: a receiving lens; the receiving lens and the wedge prism are matched with each other.
In an alternative embodiment of the present application, the driving device comprises: a housing, a drive motor, a hollow shaft; the shell comprises a large-end shell and a small-end shell; the hollow shaft includes at least two openings rotationally fixed within the housing, the openings extending through a central passage of the hollow shaft along an axis; the stator of the driving motor is fixed on the hollow shaft, the stator is in contact with the outer surface of the hollow shaft, and the rotor of the driving motor is in contact with the inner surface of the shell.
In an alternative embodiment of the present application, the driving device further comprises: the device comprises a prism pressing ring, a balancing weight, a bearing piece and an encoder component; the prism pressing ring is used for fixing the wedge-shaped prism inside the hollow shaft so that the wedge-shaped prism and the hollow shaft synchronously rotate; the balancing weight is used for adjusting the dynamic balance performance of the driving device; the bearing piece is used for controlling the hollow shaft to rotate stably; the encoder component comprises a grating and a sensor, the grating is fixed on the end face of the hollow shaft, the sensor is fixed on the end face of the shell, and the encoder component is used for indicating the rotating angle of the wedge prism.
In a second aspect, an embodiment of the present invention further provides a laser radar, where the laser radar includes the above laser radar optical scanning system.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a laser radar optical scanning system, a laser radar and an aircraft, wherein a laser transmitting device, a laser receiving device, a wedge prism and a driving device are added on the laser radar optical scanning system, the driving device drives the wedge prism to rotate along a rotating shaft, and the laser transmitting device transmits parallel laser beams to the wedge prism in a direction parallel to the rotating shaft, so that laser can complete scanning of a detection area through refraction of the wedge prism; the laser receiving device is used for receiving the laser echo signal reflected by the target and obtaining a laser point cloud image of the detection area according to the echo signal. The driving device directly drives the wedge-shaped prism, a transmission device is not needed, the structure is compact, the size and the weight of the laser radar optical scanning system can be effectively reduced, the perspective optical system is adopted, the wedge-shaped prism rotates along the rotating shaft in a unidirectional and continuous mode, the scanning efficiency of the laser radar system is improved, the control is simple, and the cone scanning track scanned through the wedge-shaped prism can realize the saturated coverage type scanning of the ground objects.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a 45 ° mirror scan provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a quadrangular prism scanning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a four-sided tower mirror scan according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a laser radar optical scanning system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the scanning principle of a wedge prism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of incident laser refracted by a wedge prism according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating incident laser light refracted by a wedge prism after the wedge prism rotates one circle according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an airborne lidar optical scanning system according to an embodiment of the present invention;
FIG. 9 is an exploded view of a driving device of an optical scanning system for an airborne lidar according to an embodiment of the present invention;
fig. 10 is a schematic view of a counterweight structure on a hollow shaft according to an embodiment of the present invention;
fig. 11 is a schematic view of a prism pressing ring according to an embodiment of the present invention;
fig. 12 is a schematic view of a counterweight block according to an embodiment of the present invention;
fig. 13 is a schematic diagram illustrating an influence of a weight on an optical path of a system according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 15 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
Icon: 1-a laser emitting device; 11-a laser; 12-a collimator; 13-a first mirror; 14-a second mirror; 2-a wedge prism; 3-a laser receiving device; 31-a receiving lens; 32-a photo-detection device; 4-a drive device; 41-a housing; 42-a drive motor; 43-a hollow shaft; 44-prism clamping ring; 45-weight block; 46-a first bearing member; 47-a second bearing; 48-an encoder member; 431-a counterweight structure; 441-a first side; 451-second side.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
At present, the scanning modes adopted by an airborne laser radar optical scanning system mainly comprise 45-degree mirror scanning, quadrangular mirror scanning and four-side tower mirror scanning.
Referring to a schematic diagram of a 45 ° mirror scan as shown in fig. 1, fig. 1 illustrates a 45 ° mirror scan pattern. The 45 DEG mirror scanning optical system includes: laser emission module, driving motor, photoelectric encoder and 45 mirrors. When the laser scanning device works, the motor drives the 45-degree mirror to rotate around the axis at a high speed, and parallel light beams emitted by the laser emitting module are reflected by the 45-degree mirror reflecting surface to complete scanning of a detection area. The 45-degree mirror scanning imaging is uniform, the structure is simple, the stability is high, and the system is widely applied to a three-dimensional laser scanning system, but for an airborne laser scanning system mainly detecting ground object targets, the actual field of view scanned by the 45-degree mirror is far smaller than the designed field of view;
referring to fig. 2, a schematic diagram of a quadrangular prism scanning is shown, and fig. 2 shows a quadrangular prism scanning mode. The quadrangular prism scanning optical system includes: laser emission module, driving motor, photoelectric encoder and quadrangular prism. During operation, the motor drive prism lens is rotatory along the axis at a high speed, the prism lens scanning in-process, the laser beam perpendicular to prism lens pivot direction of laser emission module transmission, in specific angle interval, emergent laser points to system's inner part after the prism lens reflection, the laser beam that the energy is higher produces a large amount of stray light and directly gets into even among the receiving optical module, cause destruction to some photoelectric components and parts among the laser radar system, therefore, laser emission module launches laser according to the prism lens rotation angle interval nature that photoelectric encoder provided, emergent laser scans the detection area after the prism lens reflection, scanning efficiency and point cloud density are all lower.
Referring to fig. 3, a schematic diagram of a four-sided heliostat scan is shown, and fig. 3 illustrates a four-sided heliostat scan. The four-sided tower mirror scanning optical system includes: laser emission module, driving motor, photoelectric encoder and four sides tower mirror. When the laser tower mirror is in work, the motor drives the four-side tower mirror to rotate at a high speed along the rotating shaft, the laser emission module emits parallel laser beams along the direction parallel to the rotating shaft, the four reflecting surfaces of the tower mirror sequentially and alternately reflect laser, emergent laser points to a ground detection and selection area, the optical efficiency is high, the included angle between the emergent laser and incident laser is a fixed value and is large, and the emission system can continuously emit light. However, the tower mirror has large volume, complex structure, multiple types of system errors, large calibration difficulty, and large volume and weight of the scanning system.
In conclusion, the scanning mirror and the motor module of the current airborne laser radar optical scanning system are relatively separated, the scanning system is large in size and weight, and transmission errors are easily introduced.
Based on the above, the laser radar optical scanning system, the laser radar and the aircraft provided by the embodiment of the invention can be applied to laser radar scanning imaging, and particularly provides an airborne laser radar optical scanning system. By adopting the wedge-shaped prism, the hollow motor shaft and the frameless direct current motor, the wedge-shaped prism is arranged in the motor driving device, so that the size and the weight of the optical scanning system are effectively reduced, the laser radar system can be carried on a smaller unmanned aerial vehicle platform to complete detection, the working cost is reduced, and the safety of the working process is improved. Meanwhile, the conical scanning track formed by the wedge-shaped prism can realize saturated coverage type scanning of ground objects, and is high in scanning efficiency and large in field angle.
For the understanding of the present embodiment, a laser radar optical scanning system disclosed in the embodiment of the present invention will be described in detail first.
The first embodiment is as follows:
an embodiment of the present invention provides an image processing, referring to a schematic structural diagram of a laser radar optical scanning system shown in fig. 4, where the laser radar optical scanning system includes: the laser emitting device, the laser receiving device, the wedge prism and the driving device.
The driving device is used for driving the wedge-shaped prism to rotate along the rotating shaft at a high speed; the laser emitting device is used for emitting parallel laser beams to the wedge-shaped prism in a direction parallel to the rotating shaft, and the parallel laser beams scan the detection area through refraction of the wedge-shaped prism; the laser receiving device is used for receiving echo signals reflected by the targets in the detection area and determining a laser point cloud image of the detection area according to the echo signals.
In this embodiment, a laser emitting device, a laser receiving device, a wedge prism and a driving device may be added to the laser radar optical scanning system, the driving device drives the wedge prism to rotate along the rotation axis, and the laser emitting device emits parallel laser beams to the wedge prism in a direction parallel to the rotation axis, so that the laser can scan the detection area through refraction of the wedge prism; the wedge prism is used for changing the laser pointing direction to realize two-dimensional scanning of the detection area; the laser receiving device is used for receiving the laser echo signal reflected by the target and obtaining a laser point cloud image of the detection area according to the echo signal. The wedge prism is directly driven by the driving device, so that the scanning efficiency of the airborne laser radar can be effectively improved, the size and the weight of the airborne laser radar are reduced, and the information on the side surface of the ground object target can be detected.
The embodiment of the invention provides a laser radar optical scanning system, which does not need a transmission device, has a compact structure, can effectively reduce the volume and the weight of the laser radar optical scanning system, adopts a perspective optical system, ensures that a wedge-shaped prism rotates along a rotating shaft in a unidirectional continuous and stable manner in the scanning process, improves the scanning efficiency of the laser radar system, is simple to control, and can realize saturated coverage type scanning on ground objects through a conical scanning track scanned by the wedge-shaped prism.
Example two:
the present embodiment provides another lidar optical scanning system, which is implemented on the basis of the above-described embodiments.
Specifically, the number of the wedge prisms may be single, two, or more, and the wedge prisms are disposed inside the driving device. The wedge prism is close to the laser emitting device on the inclined plane in the laser radar optical scanning system; or the inclined plane of the wedge prism is far away from the laser emitting device in the laser radar optical scanning system.
If the laser radar optical scanning system adopts cone scanning, a plurality of wedge prisms are driven by the same hollow motor shaft; if the laser radar optical scanning system adopts three-dimensional scanning, various three-dimensional scanning tracks are determined by respectively controlling the rotating speed and the rotating direction of the wedge prisms.
When the cone scanning mode is adopted, a plurality of wedge prisms can be driven by the same hollow motor shaft. If three-dimensional scanning is to be formed, the number of hollow motor shafts, driving motors and photoelectric encoders can be correspondingly increased, and various three-dimensional scanning tracks can be obtained by respectively controlling the rotating speed and the rotating direction of the wedge-shaped prisms.
Referring to FIG. 5, a schematic diagram of the scanning principle of the wedge prism is shown, wherein the unit direction vector of the incident light is
The unit normal vector of the refractive interface is
The unit direction vector of the refracted ray is
The refractive index of the medium in which the incident light is located is n, and the refractive index of the medium in which the refracted light is located is n', then:
referring to fig. 6, a schematic diagram of incident laser refracted by a wedge prism is shown, taking the number of the wedge prisms as one, and taking the inclined plane of the wedge prism away from the laser emitting device as an example, in the scanning process of the wedge prism, the unit normal vector N of the refraction interface is constantly changed along with the rotation angle of the wedge prism, and the direction of the emergent laser is changed accordingly to realize two-dimensional scanning. The direction vector A of the refracted light can be obtained through the rotation angle of the wedge-shaped prism provided by the photoelectric encoder.
Referring to fig. 7, a schematic diagram of incident laser light refracted by the wedge prism after the wedge prism rotates for one circle is shown, and in the process of one circle rotation of the wedge prism, the emergent laser light forms a complete cone shape and all points to the detection area. Therefore, the laser emitting device can continuously emit laser pulses in the scanning process, the wedge prism rotates around the rotating shaft along the same direction, the scanning efficiency is high, and the service life of the optical scanning system is long.
The wedge angle size and the glass material of wedge prism should be designed according to the field of view requirement, and the diameter should be designed according to laser radar range of finding distance, and when single wedge prism can't satisfy the requirement of big field of view, or need realize three-dimensional scanning, the scanning of convertible scanning orbit, can adopt a plurality of wedge prisms combination scanning. When a single wedge prism is adopted for scanning, the scanning track is approximately circular, the optical scanning system is simple in structure, the laser radar system is small in size and light in weight, and the laser radar system has a good application prospect in the field of high-precision unmanned aerial vehicle surveying and mapping.
Specifically, the laser emitting device includes: a laser, a collimator; the laser is used for emitting laser; the collimator is used for shaping laser emitted by the laser to obtain parallel laser beams.
The laser is used for emitting laser; the collimator is used for converting laser emitted by the laser into parallel beams so as to improve the long-distance detection capability of the laser radar. The laser can be any device for emitting laser, and can be selected from a fiber laser, a semiconductor laser and the like according to the wavelength or volume requirement.
Specifically, the laser emitting device further includes: a mirror; the reflector is used for adjusting the direction of the parallel laser beam so that the parallel laser beam enters in a direction parallel to the rotating shaft of the wedge prism. In order to make the scanning system compact, a plurality of mirrors may be used to change the direction of the parallel laser light emitted by the laser emitting device.
The laser emitting device does not comprise a collimator, and the laser beam is collimated by a focusing lens in the laser receiving device, but the laser beam radius is increased to a certain extent by the collimation mode, and the number of photoelectric components in the receiving device is increased.
Referring to fig. 8, a schematic structural diagram of an airborne lidar optical scanning system is shown, where the airborne lidar optical scanning system includes: the device comprises a laser emitting device 1, a laser 11, a collimator 12, a first reflecting mirror 13, a second reflecting mirror 14, a wedge prism 2, a laser receiving device 3, a receiving lens 31, a photoelectric detection device 32 and a driving device 4.
Wherein the first reflecting mirror 13 and the second reflecting mirror 14 are disposed at a predetermined angle to the rotation axis of the wedge prism and the laser emitting device so that the incident laser is collinear with the rotation axis of the wedge prism.
The device comprises a receiving lens 31, the receiving lens 31 is matched with the wedge prism 2, namely the receiving lens 31 is matched with the wedge prism 2 in size, and the receiving lens 31 is used for focusing laser reflected by a target on a photoelectric detection device 32, so that the detection capability of the laser radar on the target is improved. When the optical axis of the receiving lens is collinear with the rotating shaft of the wedge prism, a coaxial optical system can be formed, the detection precision is high, otherwise, a paraxial optical system can be formed, and the negative influence on a close-range strong reflection target can be improved to a certain extent.
The working process of the airborne lidar optical scanning system shown in fig. 8 is as follows: the collimator 12 shapes the beam reflected by the laser 11 into a parallel beam, which is reflected by the first mirror 13 and the second mirror 14 in sequence, and then refracted by the wedge prism 2 into the target detection area. Laser forms diffuse reflection in a target area, part of reflected laser returns to pass through the wedge-shaped prism 2 again for refraction, and is focused on the photoelectric detection device 32 by the receiving lens 31, the photoelectric detection device calculates the distance of the target according to the time difference between laser emission and laser reception, meanwhile, a photoelectric encoder in the driving device provides the rotating angle information of the wedge-shaped prism when light exits, and the spatial information of the target can be obtained by combining a scanning model of the wedge-shaped prism.
When incident laser is parallel to the wedge prism rotating shaft, a laser beam refracted by the wedge prism always forms a certain included angle with the system optical axis, and therefore when the wedge prism scanning is applied to ground surveying and mapping of the airborne laser radar system, detection light cannot be shielded by the top of a ground object target, and point cloud information of the side face of the target can be acquired.
The angle between the incident laser and the rotating shaft of the wedge prism can be changed according to the detection requirement, so that the included angle between the emergent laser and the optical axis of the system is changed.
The optical scanning system further comprises a driving device, the wedge prism being mounted inside the driving device and being directly driven by the driving device. Referring to fig. 9, an exploded view of a driving device in an optical scanning system of an airborne lidar, the driving device includes: a housing 41, a drive motor 42, a hollow shaft 43, a prism pressing ring 44, a balancing weight 45, a bearing member (including a first bearing member 46 and a second bearing member 47) and an encoder member 48;
the shell comprises a large-end shell and a small-end shell; the hollow shaft includes at least two openings rotationally fixed within the housing, the openings extending through a central passage of the hollow shaft along an axis; the stator of the driving motor is fixed on the hollow shaft, the stator is contacted with the outer surface of the hollow shaft, and the rotor of the driving motor is contacted with the inner surface of the shell; the prism pressing ring is used for fixing the wedge-shaped prism inside the hollow shaft so that the wedge-shaped prism and the hollow shaft synchronously rotate; the balancing weight is used for adjusting the dynamic balance performance of the driving device; the bearing part is used for controlling the hollow shaft to rotate stably; the encoder component comprises a grating and a sensor, the grating is fixed on the end face of the hollow shaft, the sensor is fixed on the end face of the shell, and the encoder component is used for indicating the rotating angle of the wedge prism.
The housing 41 is used for fixing elements such as a driving motor, in order to reduce the shielding of the scanning system structure to the light path, the wedge prism is fixed at one end of the inner side of the hollow shaft 43 close to the outer part of the laser radar system through the prism pressing ring 44, and the motor stator rotates with the hollow shaft and the wedge prism synchronously.
Due to the non-centrosymmetric structure of the wedge prism, the problem of dynamic unbalance occurs when the wedge prism rotates around the rotating shaft at high speed, and the balance weights are required to be added on at least two planes in the driving device to adjust the dynamic balance of the system. In this embodiment, the hollow shaft 43 and the prism pressing ring 44 are selected to be designed with counterweight structures.
The counterweight structure 431 on the hollow shaft 43 can be seen in a schematic view of one of the counterweight structures on the hollow shaft shown in fig. 10. In order to reduce the shielding of the prism pressing ring 44 to the light path as much as possible, the wall thickness of the prism pressing ring is generally thin, the post-processing difficulty is large due to the direct design of the counterweight structure, the mode of fixing the independent counterweight block on the pressing ring is adopted in the embodiment, and the dynamic balance counterweight block 45 with a specific structure is provided according to the characteristics of the light path of the system.
The structure of the prism pressing ring 44 and the weight block 45 can be seen in a schematic diagram of a prism pressing ring shown in fig. 11 and a schematic diagram of a weight block shown in fig. 12, and the two structural members are matched through the first surface 441 and the second surface 451.
Referring to a schematic diagram of an influence of a counterweight on an optical path of a system shown in fig. 13, the counterweight structure provided in this embodiment does not block the optical path while effectively adjusting dynamic balance, and reduces the influence of a dynamic balance design on a ranging range and accuracy of the system.
Example three:
the embodiment provides a laser radar, and the laser radar optical scanning system is realized on the basis of the embodiment. Referring to fig. 14, a schematic diagram of a lidar including the optical scanning system of the lidar is shown.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the laser radar described above may refer to the corresponding process in the embodiment of the optical scanning system of the laser radar, and is not described herein again.
Example four:
the embodiment provides an aircraft, and the laser radar optical scanning system is realized on the basis of the embodiment. Reference is made to fig. 15, which shows a schematic structural view of an aircraft comprising the lidar previously described.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the above-described specific working process of the aircraft may refer to the corresponding process in the foregoing embodiment of the laser radar optical scanning system, and details are not described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
In all examples shown and described herein, any particular value should be construed as exemplary only and not as a limitation, and thus other examples of example embodiments may have different values.
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 addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A lidar optical scanning system, comprising: the device comprises a laser emitting device, a laser receiving device, a wedge prism and a driving device;
the driving device is used for driving the wedge prism to rotate along the rotating shaft at a high speed;
the laser emitting device is used for emitting parallel laser beams to the wedge-shaped prism in a direction parallel to the rotating shaft, and the parallel laser beams scan a detection area through refraction of the wedge-shaped prism;
the laser receiving device is used for receiving an echo signal reflected by a target in the detection area and determining a laser point cloud image of the detection area according to the echo signal.
2. The lidar optical scanning system of claim 1, wherein the wedge prism is disposed within the drive apparatus.
3. The lidar optical scanning system of claim 2, wherein the wedge prism is beveled proximate the laser emitting device in the lidar optical scanning system; or the inclined plane of the wedge-shaped prism is far away from the laser emitting device in the laser radar optical scanning system.
4. The lidar optical scanning system of claim 1, wherein if the lidar optical scanning system employs conical scanning, a plurality of the wedge prisms are driven by the same hollow motor shaft;
and if the laser radar optical scanning system adopts three-dimensional scanning, determining various three-dimensional scanning tracks by respectively controlling the rotating speed and the rotating direction of the wedge prisms.
5. The lidar optical scanning system of claim 1, wherein the laser emitting device comprises: a laser, a collimator;
the laser is used for emitting laser;
the collimator is used for shaping the laser emitted by the laser to obtain parallel laser beams.
6. The lidar optical scanning system of claim 5, wherein the laser emitting device further comprises: a mirror;
the reflector is used for adjusting the direction of the parallel laser beams so that the parallel laser beams are incident in a direction parallel to the rotating shaft of the wedge prism.
7. The lidar optical scanning system of claim 1, further comprising: a receiving lens; the receiving lens and the wedge prism are matched with each other.
8. The lidar optical scanning system of claim 1, wherein the drive device comprises: the device comprises a shell, a driving motor, a hollow shaft, a prism pressing ring, a balancing weight, a bearing piece and an encoder component;
the shell comprises a large-end shell and a small-end shell;
the hollow shaft includes at least two openings rotationally fixed within the housing, the openings extending through a central passage of the hollow shaft along an axis;
the stator of the driving motor is fixed on the hollow shaft, the stator is in contact with the outer surface of the hollow shaft, and the rotor of the driving motor is in contact with the inner surface of the shell;
the prism pressing ring is used for fixing the wedge-shaped prism inside the hollow shaft so that the wedge-shaped prism and the hollow shaft synchronously rotate;
the balancing weight is used for adjusting the dynamic balance performance of the driving device;
the bearing piece is used for controlling the hollow shaft to rotate stably;
the encoder component comprises a grating and a sensor, the grating is fixed on the end face of the hollow shaft, the sensor is fixed on the end face of the shell, and the encoder component is used for indicating the rotating angle of the wedge-shaped prism.
9. Lidar characterized in that it comprises a lidar optical scanning system according to any of claims 1 to 8.
10. An aircraft, characterized in that it comprises a lidar according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211481169.4A CN115754986A (en) | 2022-11-24 | 2022-11-24 | Laser radar optical scanning system, laser radar and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211481169.4A CN115754986A (en) | 2022-11-24 | 2022-11-24 | Laser radar optical scanning system, laser radar and aircraft |
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| Publication Number | Publication Date |
|---|---|
| CN115754986A true CN115754986A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211481169.4A Pending CN115754986A (en) | 2022-11-24 | 2022-11-24 | Laser radar optical scanning system, laser radar and aircraft |
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| Country | Link |
|---|---|
| CN (1) | CN115754986A (en) |
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- 2022-11-24 CN CN202211481169.4A patent/CN115754986A/en active Pending
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