CN210119567U - Laser radar scanning device and vehicle with same - Google Patents
Laser radar scanning device and vehicle with same Download PDFInfo
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- CN210119567U CN210119567U CN201822043043.4U CN201822043043U CN210119567U CN 210119567 U CN210119567 U CN 210119567U CN 201822043043 U CN201822043043 U CN 201822043043U CN 210119567 U CN210119567 U CN 210119567U
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Abstract
The utility model belongs to the technical field of laser radar, specifically provide a laser radar scanning device and have device's vehicle. The utility model discloses aim at solving the current little problem of two-dimentional MEMS mirror scanning angle that shakes, the utility model discloses a laser radar scanning device includes laser emitter, first one-dimensional mirror and the second one-dimensional mirror that shakes, laser emitter transmission laser beam to first one-dimensional mirror that shakes, first one-dimensional mirror that shakes can reflect the laser beam, thereby change the light path direction of laser beam, accomplish the scanning in the first direction, the second one-dimensional mirror that shakes can reflect the laser beam after being changed the light path direction by first one-dimensional mirror that shakes, thereby change the light path direction of laser beam once more, accomplish the scanning in the second direction, and then accomplish the plane scanning. The utility model discloses a two independent one-dimensional mirror reflection laser beams that shake has solved the current problem that laser radar scanning device that uses two-dimentional MEMS mirror that shakes scan angle is little.
Description
Technical Field
The utility model belongs to the technical field of laser radar, specifically provide a laser radar scanning device and have device's vehicle.
Background
Conventional lidar is mostly multi-line scanning lidar, but the resolution is low, so more and more manufacturers start to manufacture high-precision lidar. Two-dimensional Micro electro mechanical System scanning galvanometer (hereinafter referred to as two-dimensional MEMS scanning galvanometer) gradually replaces multi-line scanning laser radar to become the mainstream due to the advantages of high frequency, small volume, simple control, low price and the like.
However, the problem of small scanning angle of the two-dimensional MEMS scanning galvanometer still limits the development of the two-dimensional MEMS scanning galvanometer on the laser radar. At present, a plurality of two-dimensional MEMS scanning systems are commonly adopted in an MEMS galvanometer scanning system on the market, and then field of view splicing is carried out, so that the effect of increasing the scanning angle is achieved, but the cost is increased, and errors caused by field of view splicing are introduced.
Accordingly, there is a need in the art for a new lidar scanning device that solves the problem of small scanning angle of the existing two-dimensional MEMS galvanometer.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned problem among the prior art, for the little problem of the two-dimentional MEMS galvanometer scanning angle who solves current promptly, the utility model provides a laser radar scanning device, include:
a laser transmitter for transmitting a laser beam;
the first one-dimensional galvanometer can reflect the laser beam so as to change the light path direction of the laser beam and complete scanning in a first direction;
and the second one-dimensional galvanometer can reflect the laser beam of which the light path direction is changed by the first one-dimensional galvanometer, so that the light path direction of the laser beam is changed again, and the scanning in the second direction is finished.
In the preferred technical scheme of the laser radar scanning device, the first one-dimensional galvanometer is an MEMS one-dimensional galvanometer.
In a preferred embodiment of the above laser radar scanning device, the second one-dimensional galvanometer is a Galvo one-dimensional galvanometer.
In a preferred technical solution of the above laser radar scanning device, the first direction is a vertical direction; and/or the second direction is a horizontal direction.
In a preferred technical solution of the above laser radar scanning device, a positional relationship between the laser transmitter and the first one-dimensional galvanometer is set so that a cross-sectional area of a laser beam transmitted by the laser transmitter is smaller than an area of a reflecting mirror surface of the first one-dimensional galvanometer.
In a preferred embodiment of the above laser radar scanning device, a position relationship between the first one-dimensional galvanometer and the second one-dimensional galvanometer is set to enable a length of the laser beam reflected by the first one-dimensional galvanometer in the first direction to be smaller than a length of the mirror surface of the second one-dimensional galvanometer in the first direction.
In a preferred technical solution of the above laser radar scanning device, the laser transmitter is a single line laser diode.
In an optimal technical solution of the above laser radar scanning device, the laser radar scanning device further includes a collimating part, and the collimating part is disposed between the laser transmitter and the first one-dimensional galvanometer, and is configured to collimate a laser beam emitted by the laser transmitter.
In a preferred embodiment of the above laser radar scanning device, the collimating section is a lenticular lens.
The utility model also provides a vehicle, the vehicle includes any one of above-mentioned preferred technical scheme laser radar scanning device.
The technical scheme of the utility model, among the technical scheme, laser radar scanning device includes laser emitter, first one-dimensional mirror and the second one-dimensional mirror that shakes, laser emitter transmission laser beam to first one-dimensional mirror that shakes, first one-dimensional mirror that shakes can the reflection laser beam, thereby change the light path direction of laser beam, accomplish the scanning in the first direction, the second one-dimensional mirror that shakes can reflect the laser beam after being changed the light path direction by first one-dimensional mirror that shakes, thereby change the light path direction of laser beam once more, accomplish the scanning in the second direction, and then accomplish the planar scanning.
Because one-dimensional mirror scanning range that shakes is a lot of than the two-dimensional mirror that shakes, consequently, through the above-mentioned mode of setting up, makes the utility model discloses a scanning on laser radar scanning device can shake mirror reflection laser beam and accomplish a plane through two independent one-dimensional, should set up the mode and has replaced the mode that carries out the visual field concatenation after a plurality of two-dimensional mirror scans, has solved the current problem that laser radar scanning device that uses two-dimensional MEMS to shake the mirror scans that the angle is little.
Drawings
The laser radar scanning device and the vehicle having the same of the present invention are described below with reference to the accompanying drawings, in which:
fig. 1 is a schematic three-dimensional structure diagram of the laser radar scanning device of the present invention;
fig. 2 is a top view of the laser radar scanning device of the present invention.
List of reference numerals
11. A first one-dimensional galvanometer; 111. a first mirror surface; 12. a second one-dimensional galvanometer; 121. a second mirror surface; 13. a laser transmitter; 131. a laser beam; 14. a collimating part.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention. And can be modified as needed by those skilled in the art to suit particular applications. For example, although the description has been made by taking the collimating part as a lenticular lens as an example, it is obvious that the present invention can adopt other various forms of components or systems, such as a plano-convex lens, or a combined optical lens system having a collimating function, as long as the collimating part has a function of collimating a laser beam so that the emitted beam is corrected to be parallel light.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate directions or positional relationships based on those shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific 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.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 invention can be understood by those skilled in the art according to specific situations.
The laser radar scanning device of the present invention is described with reference to fig. 1 and 2. Wherein, fig. 1 is the utility model discloses a laser radar scanning device's three-dimensional structure schematic diagram, fig. 2 is the utility model discloses a laser radar scanning device's top view.
As shown in fig. 1 and fig. 2, in order to solve the problem of small scanning angle of the existing two-dimensional MEMS galvanometer, the laser radar scanning device of the present invention includes a laser transmitter 13, a first one-dimensional galvanometer 11 and a second one-dimensional galvanometer 12, wherein the laser transmitter 13 can be a single line laser diode, can also be a laser collimator, a gas laser, etc., the first one-dimensional galvanometer 11 is a MEMS one-dimensional galvanometer, can also be a Galvo one-dimensional galvanometer, etc., correspondingly, the second one-dimensional galvanometer 12 is a Galvo one-dimensional galvanometer, can also be a MEMS one-dimensional galvanometer, etc.;
the laser emitter 13 emits a laser beam 131 onto the first reflecting mirror 111 of the MEMS one-dimensional galvanometer, and the laser beam 131 changes the direction of the optical path by the vibration of the MEMS one-dimensional galvanometer, thereby completing the scanning in the first direction. Wherein the first direction is preferably a vertical direction and the cross-sectional area of the laser beam 131 is smaller than the area of the first mirror face 111;
the second reflecting surface 121 of the Galvo one-dimensional galvanometer can reflect the beam 131 changed by the MEMS one-dimensional galvanometer to scan along the vertical optical path direction, and change the optical path direction of the beam 131 again to complete scanning in the second direction. Wherein, the second direction is preferably a horizontal direction, and the length of the laser beam 131 reflected by the MEMS one-dimensional galvanometer in the vertical direction is smaller than the length of the second mirror surface 121 in the vertical direction;
the setting mode has the advantages that: the utility model discloses an use two one-dimentional mirrors that shake to replace and carry out the mode of visual field concatenation after traditional a plurality of two-dimentional mirrors that shake scan, solved the current problem that laser radar that uses two-dimentional MEMS mirrors that shake scans the angle is little, independent detached two mirrors that shake have still avoided because the condition of different vibration directions and mutual interference. The utility model discloses a laser radar scanning device has replaced the mode of traditional multi-line laser pipe array through the mode that single line laser diode and MEMS one-dimensional galvanometer combined together, has realized the continuous scanning in vertical side. The traditional laser radar transmitting end is mostly an array formed by dozens of laser diodes, the arrangement density and the angle of the array determine the resolution ratio of the system in the vertical direction, but the arrangement density is limited by space and cost and cannot be very high, so the utility model also effectively improves the resolution ratio of the laser radar scanning device in the vertical direction; in the horizontal direction, the utility model discloses a mode that Galvo scanned galvanometer has replaced MEMS galvanometer scanning, has improved scanning angle by a wide margin, has enlarged laser radar's angle of vision to Galvo's production technology is more mature, and the price is only about one tenth of MEMS galvanometer, under the prerequisite that satisfies the resolution ratio, has reduced the manufacturing cost of product, has promoted product competitiveness; the traditional two-dimensional MEMS scanning galvanometer is difficult to introduce closed-loop control, and the laser radar scanning device is easy to introduce closed-loop control by introducing two one-dimensional galvanometers; the cross-sectional area of the laser beam 131 is made smaller than the area of the first reflecting mirror surface 111, and the length of the laser beam 131 reflected by the MEMS one-dimensional oscillating mirror in the vertical direction is made smaller than the length of the second reflecting mirror surface 121 in the vertical direction, so that the light beam does not irradiate the outside of the first reflecting mirror surface 111 and the second reflecting mirror surface 121, thereby avoiding the waste of light energy and reducing energy loss.
The laser radar scanning device of the present invention is described in detail below with further reference to fig. 2.
In a possible embodiment, as shown in fig. 2, a collimating part 14 is further disposed between the laser emitter 13 and the first one-dimensional galvanometer 11, and the collimating part 14 is preferably a biconvex lens, but the collimating part 14 may also be a plano-convex lens, or other combined optical lens system with a collimating function.
The setting mode has the advantages that: the collimating part 14 can collimate the laser beam 131 into a more nearly parallel beam, and the theoretical position is closer to the actual position after the beam is emitted, so that the scanning of the laser radar scanning device is more accurate.
In particular, the one-dimensional scanning galvanometer can realize real-time control and feedback of the deflection angle, so as to accurately calculate the scanning point of the laser beam 131 under different deflection angles.
The utility model discloses a laser radar scanning device whole work flow does: the laser emitter 13 generates a laser beam 131, which is collimated into parallel rays by the lenticular lens; the scanning in the vertical direction is completed after passing through the MEMS one-dimensional galvanometer, and the angle of the optical scanning is determined according to the vibration angle of the MEMS one-dimensional galvanometer, so that the included angle of 0-90 degrees can be met according to the design requirement; the laser beam 131 is reflected and then reaches the Galvo one-dimensional galvanometer to complete scanning in the horizontal direction, and the optical scanning angle depends on the maximum vibration angle of the Galvo one-dimensional scanning galvanometer and can be determined according to design requirements.
In summary, the laser radar scanning device of the present invention uses two independent one-dimensional galvanometers, so that the scanning angle is wider, the scanning is easier to be controlled by a closed loop, and the independent arrangement also avoids the mutual interference caused by different vibration directions; the single-line laser diode is combined with the one-dimensional galvanometer, so that the resolution in the vertical direction is improved; the MEMS one-dimensional galvanometer and the Galvo one-dimensional galvanometer are flexibly selected and matched for use, so that the requirement is met, the scanning angle is improved, the field angle of the laser radar is enlarged, the production cost is reduced, and the product competitiveness is improved; by controlling the cross-sectional area of the laser beam 131 and the length in the vertical direction after the first reflection, waste of light energy is avoided; by adding the collimating part 14, the light rays are more parallel, and the theoretical position of the light rays after the light rays are emitted is closer to the actual position, so that the scanning precision is higher.
It should be noted that the above-mentioned embodiments are only used for illustrating the principle of the present invention, and are not intended to limit the protection scope of the present invention, and those skilled in the art can adjust the above-mentioned structure without deviating from the principle of the present invention, so that the present invention can be applied to more specific application scenarios.
For example, in an alternative embodiment, the first direction may also be a horizontal direction, and correspondingly the second direction may be a vertical direction, as long as the first direction and the second direction do not coincide, which do not depart from the principles of the present invention, and thus all will fall within the scope of the present invention.
For example, in another alternative embodiment, the one-dimensional scanning galvanometer may be replaced by a combination of a rotatable mirror surface and a motor with a crank rocker, as long as the mirror surface can be made to swing to reflect the laser beam 131, and any structure similar to the one-dimensional galvanometer or its variant form does not deviate from the principle of the present invention, and thus all will fall within the protection scope of the present invention.
Furthermore, the utility model also provides a vehicle, this vehicle have the laser radar scanning device in any one of the above-mentioned embodiments.
So far, the technical solution of the present invention has been described with reference to the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, a person skilled in the art can make equivalent changes or substitutions to the related technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.
Claims (10)
1. A lidar scanning apparatus, comprising:
a laser transmitter for transmitting a laser beam;
the first one-dimensional galvanometer can reflect the laser beam so as to change the light path direction of the laser beam and complete scanning in a first direction;
and the second one-dimensional galvanometer can reflect the laser beam of which the light path direction is changed by the first one-dimensional galvanometer, so that the light path direction of the laser beam is changed again, and the scanning in the second direction is finished.
2. The lidar scanning device of claim 1, wherein the first galvanometer is a MEMS galvanometer.
3. The lidar scanning device of claim 1, wherein the second galvanometer is a Galvo galvanometer.
4. The lidar scanning device of claim 1, wherein the first direction is a vertical direction; and/or the second direction is a horizontal direction.
5. The lidar scanning apparatus of claim 1, wherein the positional relationship between the laser transmitter and the first galvanometer is configured such that a cross-sectional area of the laser beam emitted from the laser transmitter is smaller than an area of the first mirror surface of the first galvanometer.
6. The lidar scanning device according to claim 1, wherein a positional relationship between the first galvanometer and the second galvanometer is set so that a length of the laser beam reflected by the first galvanometer in the first direction is smaller than a length of the second reflecting surface of the second galvanometer in the first direction.
7. The lidar scanning device of claim 1, wherein the laser transmitter is a single line laser diode.
8. The lidar scanning device of any of claims 1 to 7, further comprising a collimating portion disposed between the laser transmitter and the first galvanometer mirror for collimating a laser beam emitted by the laser transmitter.
9. Lidar scanning device according to claim 8, wherein the collimating part is a lenticular lens.
10. A vehicle, characterized in that it comprises a lidar scanning device according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822043043.4U CN210119567U (en) | 2018-12-06 | 2018-12-06 | Laser radar scanning device and vehicle with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822043043.4U CN210119567U (en) | 2018-12-06 | 2018-12-06 | Laser radar scanning device and vehicle with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210119567U true CN210119567U (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822043043.4U Active CN210119567U (en) | 2018-12-06 | 2018-12-06 | Laser radar scanning device and vehicle with same |
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| Country | Link |
|---|---|
| CN (1) | CN210119567U (en) |
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- 2018-12-06 CN CN201822043043.4U patent/CN210119567U/en active Active
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| TR01 | Transfer of patent right |
Effective date of registration: 20200828 Address after: Susong Road West and Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Weilai (Anhui) Holding Co., Ltd Address before: 30 Floor of Yihe Building, No. 1 Kangle Plaza, Central, Hong Kong, China Patentee before: NIO NEXTEV Ltd. |
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| TR01 | Transfer of patent right |