CN210119568U - Laser radar scanning device and vehicle with same - Google Patents
Laser radar scanning device and vehicle with same Download PDFInfo
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- CN210119568U CN210119568U CN201822044005.0U CN201822044005U CN210119568U CN 210119568 U CN210119568 U CN 210119568U CN 201822044005 U CN201822044005 U CN 201822044005U CN 210119568 U CN210119568 U CN 210119568U
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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, one-dimensional mirror and the rotary reflection mechanism that shakes, laser emitter transmission laser beam to one-dimensional mirror that shakes, one-dimensional mirror that shakes can the reflection laser beam, thereby change the light path direction of laser beam, accomplish the scanning on the first direction, rotary reflection mechanism can reflect the laser beam after being changed the light path direction by one-dimensional mirror that shakes, thereby change the light path direction of laser beam once more, accomplish the scanning in the second side, and then accomplish the plane scanning. Because one-dimensional mirror scanning range that shakes is big than the two-dimensional mirror that shakes, consequently, the utility model discloses a one-dimensional mirror that shakes and rotatory reflecting mechanism's combination application has solved the current problem that laser radar scanning device that uses two-dimensional MEMS mirror that shakes scans the 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 galvanometer still limits the development of the two-dimensional MEMS galvanometer in the laser radar. At present, a plurality of MEMS scanning systems are commonly adopted in the MEMS galvanometer scanning system on the market, and then the field of view is spliced, so that the scanning angle is increased, 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 MEMS two-dimensional galvanometer.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems in the prior art, that is, to solve the problem that the scanning angle of the existing MEMS two-dimensional galvanometer is small, the utility model provides a laser radar scanning device, which comprises a laser transmitter, wherein the laser transmitter is used for transmitting a laser beam;
the 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 rotary reflecting mechanism can reflect the laser beam of which the optical path direction is changed by the one-dimensional galvanometer, so that the optical 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 one-dimensional galvanometer is an MEMS one-dimensional galvanometer.
In the preferred technical scheme of the laser radar scanning device, the rotary reflection mechanism comprises a motor, a polygon mirror and a detection part, the motor is connected with the polygon mirror and can drive the polygon mirror to rotate along the axis of the polygon mirror, and the detection part is arranged on the polygon mirror and can realize real-time feedback of the rotation angle.
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 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 one-dimensional galvanometer.
In a preferred embodiment of the above laser radar scanning device, a positional relationship between the one-dimensional galvanometer and the rotary reflecting mechanism is set so that a scanning length of the laser beam reflected by the one-dimensional galvanometer in the first direction is smaller than a length of the reflecting mirror surface of the rotary reflecting mechanism 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 a preferred 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 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 laser radar scanning device include laser emitter, one-dimensional mirror and the rotatory reflection mechanism that shakes among the technical scheme, laser emitter transmission laser beam to one-dimensional mirror that shakes, one-dimensional mirror that shakes can the laser beam of reflecting, thereby change the light path direction of laser beam, accomplish the scanning on the first direction, rotatory reflection mechanism can reflect the laser beam after being changed the light path direction by one-dimensional mirror that shakes, thereby change the light path direction of laser beam once more, accomplish the scanning in the second side, and then accomplish the plane 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 that sets up, makes the utility model discloses a laser radar scanning device can shake the form reflection laser beam that mirror and rotatory reflecting mechanism combined through one-dimensional to accomplish the scanning on the plane, replaced a plurality of two-dimensional mirror that shake and carried out the mode of visual field concatenation after the scanning, solved the current problem that laser radar scanning device that uses two-dimensional MEMS to shake the mirror scan angle 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 structural diagram (a) of a laser radar scanning apparatus according to the present invention;
fig. 2 is a schematic structural diagram (ii) of the laser radar scanning apparatus of the present invention;
fig. 3 is a top view of the laser radar scanning device of the present invention.
List of reference numerals
11. A one-dimensional galvanometer; 12. a rotating reflective mechanism; 121. a polygon mirror; 122. a motor; 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 adjusted as needed by those skilled in the art to suit particular applications. Although the description has been made by taking the collimating part as a biconvex 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 with a collimating function, as long as the collimating part has a function of collimating a laser beam so that the emitted beam is corrected into 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 to 3. Wherein, fig. 1 is the utility model discloses a laser radar scanning device's structural schematic diagram (one), fig. 2 is the utility model discloses a laser radar scanning device's structural schematic diagram (two), fig. 3 is the utility model discloses a laser radar scanning device's top view.
As shown in fig. 1 to fig. 3, for solving the small problem of the scanning angle of the existing two-dimensional MEMS galvanometer, the utility model discloses a laser radar scanning device includes laser emitter 13, one-dimensional galvanometer 11 and rotary reflecting mechanism 12, wherein, laser emitter 13 can be single line laser diode, can also be laser collimator, gas laser etc., and one-dimensional galvanometer 11 is the MEMS one-dimensional galvanometer, can also be Galvo one-dimensional galvanometer etc..
The laser emitter 13 emits a laser beam 131 onto the reflecting mirror surface of the MEMS one-dimensional galvanometer 11, and the laser beam 131 changes the direction of the optical path by the vibration of the MEMS one-dimensional galvanometer 11, thereby completing the scanning in a first direction, which is preferably a vertical direction, and the cross-sectional area of the laser beam 131 is smaller than the area of the reflecting mirror surface of the one-dimensional galvanometer 11.
The rotating and reflecting mechanism 12 includes a polygon mirror 121, a motor 122, and a detecting member (not shown in the figure), the polygon mirror 121 is preferably a four-prism, and may also be a three-prism, a five-prism, a six-prism, etc., the motor 122 is connected to the polygon mirror 121 and drives the polygon mirror 121 to rotate along its axis, the detecting member is disposed on the polygon mirror 121 and can realize real-time feedback of its rotation angle, the detecting member is preferably an encoder, and may also be a hall sensor, or other type of sensor, such as an optical sensor, etc.
The reflecting mirror surface of the polygon mirror 121 can reflect the light beam 131 changed to be scanned in the vertical optical path direction by the MEMS one-dimensional galvanometer 11, change the optical path direction of the laser beam 131 again, and complete the scanning in the second direction, which is preferably the horizontal direction, and the length of the scanning in the vertical direction of the laser beam 131 reflected by the MEMS one-dimensional galvanometer 11 is smaller than the length of the reflecting mirror surface of the polygon mirror 121 in the vertical direction.
The setting mode has the advantages that: the laser radar scanning device of the utility model completes the scanning on a plane by the laser beam 131 reflected by the combination of the one-dimensional galvanometer 11 and the rotary reflecting mechanism 12, replaces the traditional mode of splicing the view field after scanning a plurality of two-dimensional galvanometers, solves the problem of small scanning angle of the existing laser radar using the two-dimensional MEMS galvanometer, and also avoids the mutual interference caused by different vibration or rotation directions by independently separating the one-dimensional galvanometer 11 and the rotary reflecting mechanism 12; 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 11 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 polygon mirror 121 rotates to come repeated reflection laser beam 131, realizes the ascending scanning of horizontal direction, and scanning angle can be confirmed according to polygon mirror 121's arris number, easily designer design scanning angle. In addition, the center of the polygon mirror 121 is stable, the resistance to rotation is low, and each prism surface of the polygon mirror 121 can be used as a mirror surface, so that the scanning frequency is equal to the number of the prisms of the polygon mirror 121 per rotation, and thus, compared with the conventional mechanical laser radar scanning mode, the scanning frequency is greatly improved; the polygon mirror 121 production technology is stable, and the price is also very low, consequently can reduce the utility model discloses a manufacturing cost promotes product market competition. Further, traditional two-dimensional MEMS scans the mirror that shakes and is difficult to introduce closed-loop control, the utility model discloses an introduce one-dimensional mirror 11 that shakes, still make laser radar scanning device introduce closed-loop control more easily. The cross-sectional area of the laser beam 131 is made smaller than the area of the reflecting mirror surface of the one-dimensional galvanometer 11, and the length of the laser beam 131 reflected by the MEMS one-dimensional galvanometer 11 in the vertical direction is made smaller than the length of the reflecting mirror surface of the rotary reflecting mechanism 12 in the vertical direction, so that the light beam does not irradiate the outside of the two reflecting mirror surfaces, 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 one-dimensional galvanometer 11, and the collimating part 14 is preferably a biconvex lens, but the collimating part 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 galvanometer 11 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 finished after passing through the MEMS one-dimensional galvanometer 11, and the angle of the optical scanning is determined according to the vibration angle of the MEMS one-dimensional galvanometer 11 and can meet the included angle of 0-90 degrees according to the design requirement; the laser beam 131 is reflected and reaches the rotating polygon mirror 121 to complete the horizontal scanning, and the optical scanning angle depends on the number of edges of the polygon mirror 121 and can be determined according to the design requirement.
To sum up, the laser radar scanning device of the present invention uses the combination of the one-dimensional galvanometer 11 and the rotating reflection mechanism 12, so that the scanning angle is wider, the scanning angle is easier to be controlled by a closed loop, and the independent arrangement also avoids the mutual interference caused by different vibration or rotation directions; the single-line laser diode is combined with the one-dimensional galvanometer 11, so that the resolution in the vertical direction is improved; the use of the polygon mirror 121 enables a designer to easily calculate a scanning angle; the rotational scanning frequency of the polygon mirror 121 is much higher than that of the conventional mechanical scanning; the use of polygon mirror 121 makes the cost of the lidar scanning device lower; by controlling the cross-sectional area of the laser beam 131 and the length thereof in the vertical direction after the first reflection, the 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 rotating reflection mechanism 12 can also be a motor 122 driving a rotatable plane mirror to rotate instead of the polygon mirror 121, and the same effect can be achieved, and the scanning angle can reach any angle within 180 degrees, as long as the laser beam 131 can be scanned and reflected in the second direction, which does not deviate from the principle of the present invention, and thus all will fall within the protection scope of the present invention.
For example, in another 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 principle of the present invention, and thus all will fall within the protection scope of the present invention.
For example, in another alternative embodiment, the one-dimensional galvanometer 11 may be replaced by a combination of a rotatable mirror surface and a motor with a crank rocker, as long as the reflected laser beam 131 can be swung, and any form imitating the structure of the one-dimensional galvanometer 11 or the deformation thereof 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 (9)
1. A lidar scanning apparatus, comprising:
a laser transmitter for transmitting a laser beam;
the 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;
the rotary reflecting mechanism can reflect the laser beam of which the optical path direction is changed by the one-dimensional galvanometer, so that the optical path direction of the laser beam is changed again, and the scanning in a second direction is finished;
the rotating reflection mechanism comprises a motor, a polygon mirror and a detection part, the motor is connected with the polygon mirror and can drive the polygon mirror to rotate along the axis of the polygon mirror, and the detection part is arranged on the polygon mirror and can realize real-time feedback of the rotation angle.
2. The lidar scanning device of claim 1, wherein the one-dimensional galvanometer is a MEMS one-dimensional galvanometer.
3. The lidar scanning device of claim 1, wherein the first direction is a vertical direction; and/or the second direction is a horizontal direction.
4. The lidar scanning apparatus according to claim 1, wherein a positional relationship between the laser transmitter and the one-dimensional galvanometer is set so that a cross-sectional area of a laser beam emitted from the laser transmitter is smaller than an area of a reflecting mirror surface of the one-dimensional galvanometer.
5. The lidar scanning apparatus according to claim 1, wherein a positional relationship between the galvanometer and the rotary reflecting mechanism is set so that a length of the laser beam reflected by the galvanometer in the first direction is smaller than a length of the mirror surface of the rotary reflecting mechanism in the first direction.
6. The lidar scanning device of claim 1, wherein the laser transmitter is a single line laser diode.
7. The lidar scanning device according to any of claims 1 to 6, further comprising a collimating section disposed between the laser transmitter and the galvanometer mirror for collimating a laser beam emitted by the laser transmitter.
8. Lidar scanning device according to claim 7, wherein the collimating part is a lenticular lens.
9. A vehicle, characterized in that it comprises a lidar scanning device according to any of claims 1 to 8.
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| CN201822044005.0U CN210119568U (en) | 2018-12-06 | 2018-12-06 | Laser radar scanning device and vehicle with same |
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| CN201822044005.0U CN210119568U (en) | 2018-12-06 | 2018-12-06 | Laser radar scanning device and vehicle with same |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327310A (en) * | 2020-10-13 | 2021-02-05 | 浙江光珀智能科技有限公司 | Laser radar and two-dimensional scanning method of laser radar |
| CN113596298A (en) * | 2021-07-19 | 2021-11-02 | 大连海事大学 | Underwater laser synchronous field scanning imaging device and method |
| CN114063096A (en) * | 2022-01-17 | 2022-02-18 | 洛伦兹(宁波)科技有限公司 | Laser transmitting/receiving scanning device and laser radar system |
| WO2022110210A1 (en) * | 2020-11-30 | 2022-06-02 | 华为技术有限公司 | Laser radar and mobile platform |
| CN115166693A (en) * | 2022-08-02 | 2022-10-11 | 天津帆探科技有限公司 | Hybrid solid-state laser radar and laser radar scanning method |
| CN115291245A (en) * | 2022-09-28 | 2022-11-04 | 北醒（北京）光子科技有限公司 | Laser radar and car |
| WO2023184061A1 (en) * | 2022-03-28 | 2023-10-05 | 深圳市大疆创新科技有限公司 | Control method, detection device, movable platform, and computer readable storage medium |
| CN117008084A (en) * | 2022-04-29 | 2023-11-07 | 深圳市速腾聚创科技有限公司 | Optical-mechanical system |
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2018
- 2018-12-06 CN CN201822044005.0U patent/CN210119568U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327310A (en) * | 2020-10-13 | 2021-02-05 | 浙江光珀智能科技有限公司 | Laser radar and two-dimensional scanning method of laser radar |
| WO2022110210A1 (en) * | 2020-11-30 | 2022-06-02 | 华为技术有限公司 | Laser radar and mobile platform |
| CN113596298A (en) * | 2021-07-19 | 2021-11-02 | 大连海事大学 | Underwater laser synchronous field scanning imaging device and method |
| CN113596298B (en) * | 2021-07-19 | 2022-08-02 | 大连海事大学 | Underwater laser synchronous field scanning imaging device and method |
| CN114063096A (en) * | 2022-01-17 | 2022-02-18 | 洛伦兹(宁波)科技有限公司 | Laser transmitting/receiving scanning device and laser radar system |
| WO2023184061A1 (en) * | 2022-03-28 | 2023-10-05 | 深圳市大疆创新科技有限公司 | Control method, detection device, movable platform, and computer readable storage medium |
| CN117008084A (en) * | 2022-04-29 | 2023-11-07 | 深圳市速腾聚创科技有限公司 | Optical-mechanical system |
| CN115166693A (en) * | 2022-08-02 | 2022-10-11 | 天津帆探科技有限公司 | Hybrid solid-state laser radar and laser radar scanning method |
| CN115291245A (en) * | 2022-09-28 | 2022-11-04 | 北醒（北京）光子科技有限公司 | Laser radar and car |
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Effective date of registration: 20200903 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. |