CN211653129U - Two-dimensional scanning device and laser radar device with same - Google Patents
Two-dimensional scanning device and laser radar device with same Download PDFInfo
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- CN211653129U CN211653129U CN201790001361.5U CN201790001361U CN211653129U CN 211653129 U CN211653129 U CN 211653129U CN 201790001361 U CN201790001361 U CN 201790001361U CN 211653129 U CN211653129 U CN 211653129U
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A two-dimensional scanning device and a lidar device having the same, the two-dimensional scanning device comprising a mirror (1) and a scanning drive system (2) and an axis (3), wherein: the reflector (1) is used for reflecting the emitted laser beam (4), a normal line of the reflector (1) and the axis (3) form a fixed included angle alpha, and an incident included angle theta is formed between the normal line of the reflector (1) and the incident emitted laser beam (4); the emitted laser beam (4) reaches the reflecting mirror surface of the reflecting mirror (1) in a fixed direction, the scanning driving system (2) drives the reflecting mirror (1) to rotate around the axis (3) for 360 degrees through a scanning axis, so that the reflecting direction of the emitted laser beam (4) is periodically changed along with the rotation, an annular laser scanning track is formed, and the two-dimensional scanning of a target is realized.
Description
Technical Field
The invention relates to the technical field of laser radar scanning, in particular to a two-dimensional scanning device and a laser radar device with the same.
Background
At present, the main modes for realizing laser scanning include raster scanning, acousto-optic scanning, electro-optic scanning and optical machine scanning, the optical machine scanning is the most main scanning mode adopted by the current laser radar products, and the typical laser radar optical machine scanning modes include galvanometer scanning, rotating mirror scanning and wedge mirror scanning, namely, the laser emitting direction is continuously and periodically changed by utilizing the swinging or rotating of an optical scanning element, so that the aim of laser radar scanning is fulfilled.
The galvanometer scanning realizes laser radar scanning through mechanical swinging of the galvanometer to form an approximate linear track perpendicular to the motion direction of the platform, and due to non-uniform swinging of the galvanometer, scanning laser point cloud shows that two sides below are sparse and dense, which is not beneficial to practical operation and application; the rotating mirror scanning realizes laser radar scanning through uniform rotation of the cylindrical lens to form an approximate linear track perpendicular to the motion direction of the platform, airborne equipment generally adopts three or four cylindrical lenses in order to ensure the point cloud obtaining efficiency of the laser radar, the cylindrical lens rotates for a circle to obtain 3-4 scanning lines, and the main defects of the technology are that: when the laser beam rotates from one mirror surface to another mirror surface, the laser beam emitted to the edge of the mirror surface can not effectively detect the target, so that the effective utilization rate of the emitted laser beam is reduced; the galvanometer scanning and the rotating mirror scanning are both one-dimensional scanning, and shadow can be generated due to the shielding of a target; the scanning field of view that the wedge mirror scanned is little, scanning mechanism is heavy, is unfavorable for laser radar equipment's lightweight and miniaturization.
Disclosure of Invention
The invention aims to provide a two-dimensional scanning device of a laser radar, which realizes two-dimensional scanning of a target through one-dimensional rotation of a scanning mechanism.
Furthermore, the device can be used for more effectively detecting the target and improving the effective utilization rate of the emitted laser beam.
The invention discloses a two-dimensional scanning device, which comprises a reflecting mirror, a scanning driving system and an axis, wherein:
the reflecting mirror is used for reflecting and emitting laser beams, a normal line of the reflecting mirror and the axis form a fixed included angle alpha, and an incident included angle theta exists between the normal line of the reflecting mirror and the incident and emitted laser beams;
the emitted laser beams reach the reflecting mirror surface of the reflecting mirror in a fixed direction, the scanning driving system drives the reflecting mirror to rotate for 360 degrees around the axis through the scanning shaft, the reflecting direction of the emitted laser beams is periodically changed along with the reflecting direction of the emitted laser beams, an annular laser scanning track is formed, and two-dimensional scanning of a target is achieved.
0°＜α＜45°，0°＜θ＜45°。
The ring shape includes a circular or elliptical shape.
The laser scanning track is obtained by the equipment space coordinate of laser point cloud obtained by detecting a target by each laser beam;
and the equipment space coordinate of the laser point cloud is obtained by calculating the inclination angle of the reflecting mirror surface, the rotating angle of the reflecting mirror and the pulse laser ranging.
The scanning field of view of the device is related to the included angle alpha and the incident angle theta.
The device is carried on a flying platform, and bidirectional scanning measurement of the front side and the back side of a target is realized.
The reflector can share a transmitting and receiving light path.
The axis is a rotation axis of the scan shaft.
The invention also discloses a laser radar device which comprises the laser scanning device.
Drawings
Fig. 1 is a schematic structural diagram of a two-dimensional scanning apparatus of a laser radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a scanning device acquiring a laser point cloud of a target side according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the present invention will be further described in detail with reference to the accompanying drawings, and fig. 1 is a schematic structural diagram of a two-dimensional scanning apparatus provided in the embodiment of the present invention, which can be disposed in a laser radar apparatus and can also be used in other occasions where a scanning apparatus is needed. The two-dimensional scanning device mainly comprises a reflecting mirror 1, a scanning driving system 2 and an axis 3, wherein:
the laser emission device comprises a reflection mirror 1, a transmission laser beam 4, a reflection mirror 1, a reflection mirror and a reflection mirror, wherein the reflection mirror 1 is used for reflecting the transmission laser beam 4, a normal line of the reflection mirror 1 and an axis 3 form a fixed included angle alpha (alpha is more than 0 degree and less than 45 degrees), and an incident included angle theta (theta is more than 0 degree and less than 45 degrees) exists between the normal line of the reflection mirror 1 and the transmission laser beam 4; in a specific implementation, the reflecting mirror 1 can share a transmitting and receiving optical path, that is, the transmitted laser beam 4 is reflected and then irradiates on a target in the environment, and the signal light generated by the target is also incident to the reflecting mirror 1, and is received by the laser receiving unit after being reflected, thereby completing one-time laser detection.
The emitted laser beam 4 reaches the reflecting mirror surface of the reflecting mirror 1 in a fixed direction, the scanning driving system 2 drives the reflecting mirror 1 to rotate 360 degrees around the axis 3 through a scanning shaft, the emitted laser beam 4 periodically changes the reflecting direction of the emitted laser along with the rotation of the reflecting mirror 1, an annular laser scanning track is formed on a target, and the two-dimensional scanning of the target is realized. The annular shape may comprise a circular or elliptical shape. The axis is a rotation axis of the scan shaft.
Fig. 2 is a schematic diagram of a device according to an embodiment of the present invention, and referring to fig. 2: the axis 3 of the two-dimensional scanning device and the normal line of the reflecting mirror surface keep a fixed included angle alpha, when in an initial state, the normal line of the reflecting mirror surface and the emitted laser beam S1 form an included angle theta, and the emitted laser beam S1 is imaged at the position D1 after being reflected by the reflecting mirror surface BC; when the mirror is rotated 180 ° about the axis 3, the emitted laser beam S2 is reflected by the mirror surface B 'C' and imaged at position D2, thereby constituting the lidar scanning field of view D1D 2. The spatial orientation of the emitted laser beams S1, S2 is the same. That is, when the scanning driving system 2 drives the mirror to rotate 360 ° around the axis, the emitted laser beam periodically changes the emitting direction after being reflected by the mirror surface, and forms an annular laser scanning track under the target device.
In a specific implementation, the scanning field of view of the apparatus is related to the included angle α and the incident included angle θ, and the scanning field angle FOV of the apparatus is expressed as:
FOV＝α+θ (1)
as can be seen, the scanning visual field of the device is enlarged along with the increase of alpha and theta, the angle between 0 degrees and theta is less than 45 degrees, theoretically, the maximum angle of alpha and theta can be nearly 90 degrees, the angle alpha and theta can not receive laser echo due to a large reflection angle, the angle alpha and theta are both less than 45 degrees in implementation, and the maximum scanning visual field is less than 90 degrees.
In specific implementation, the two-dimensional laser scanning track is obtained by laser point cloud generated after each emitted laser beam detects a target, and the equipment space coordinate of the laser point cloud is obtained by calculating through the inclination angle of the reflector, the rotation angle of the reflector and the pulse laser ranging. For example, a computational model of the device space coordinates of the laser point cloud of the apparatus is as follows:
let the plane equation of the mirror surface be:
Am(x-xm)+Bm(y-ym)+Cm(z-zm)＝0 (2)
the normal vector of the mirror surface is represented as
Wherein A ism、BmAnd CmDetermined by the angle α of the mirror and the angle of rotation omega of the mirror, xm、ymAnd zmIs a three-dimensional coordinate value of the intersection point of the emitted laser beam and the reflecting mirror surface in the coordinate system of the device. The origin of the apparatus coordinate system is set at the intersection of the normal to the mirror and the axis 3.
For unit incident ray vector
Its reflection vector is expressed as:
the spatial coordinate calculation model of any one of the transmitted pulsed laser beams with respect to the apparatus coordinate system is expressed as:
where c represents the speed of light and t represents the time of flight of a single pulse laser.
Fig. 3 is a schematic diagram illustrating that a scanning device obtains a laser point cloud on a side surface of a target according to an embodiment of the present invention, where the scanning device is mounted on a flight platform to perform bidirectional scanning measurement on a front side surface and a back side surface of a protruding target, and refer to fig. 3:
when the laser radar carries out data acquisition, the emitted laser beam 4 scans on a forward target 7 and a backward target 6 in the flying direction 5 respectively along with the rotation of the reflector 1, and laser scanning tracks of the forward target and the backward target are obtained.
When the platform moves along the flight direction 5, the laser radar sequentially obtains a group of side scanning lines 9 of the forward target 7 and a group of side scanning lines 8 of the backward target 6; three-dimensional reconstruction of the side of the target can be realized through the side laser point clouds of the targets 6 and 7; meanwhile, the device can also avoid the influence of mutual shielding of targets on the quality of the laser point cloud data.
In summary, the scanning device provided in the embodiments of the present invention has the following advantages:
1) two-dimensional scanning of the target is achieved by one-dimensional rotation of the laser scanning device.
2) The target can be detected more effectively, and the effective utilization rate of the emitted laser beam is improved. The emitted laser beam can be reflected by 100% through the reflecting mirror surface, and laser scanning measurement is effectively realized;
3) on the flying platform, the front side and the back side of the raised target can be scanned and measured in two directions through one-dimensional rotation of the laser scanning device, and the influence of mutual shielding of the targets on scanning and measuring results is avoided.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Industrial applicability
Two-dimensional scanning of the target is achieved by one-dimensional rotation of the laser scanning device.
The target can be detected more effectively, and the effective utilization rate of the emitted laser beam is improved. The emitted laser beam can be reflected by 100% through the reflecting mirror surface, and laser scanning measurement is effectively realized;
on the flying platform, the front side and the back side of the raised target can be scanned and measured in two directions through one-dimensional rotation of the laser scanning device, and the influence of mutual shielding of the targets on scanning and measuring results is avoided.
Claims (8)
1. A two dimensional scanning apparatus, said apparatus comprising a mirror and a scan drive system and an axis, wherein:
the reflecting mirror is used for reflecting and emitting laser beams, a normal line of the reflecting mirror and the axis form a fixed included angle alpha, and an incident included angle theta exists between the normal line of the reflecting mirror and the incident and emitted laser beams;
the laser scanning system comprises a reflector, a scanning driving system, a scanning shaft, a reflecting mirror, a laser scanning track and a scanning driving system, wherein the reflector is used for reflecting laser beams, the reflecting mirror is used for reflecting the laser beams, the emitted laser beams reach the reflector surface of the reflector in a fixed direction, the scanning driving system drives the reflector to rotate 360 degrees around the axis through the scanning shaft, the reflecting direction of the emitted laser beams is periodically changed along with the reflected laser beams, an annular laser scanning track is formed, and two-.
2. A two-dimensional scanning device according to claim 1, characterized in that 0 ° < α < 45 °, 0 ° < θ < 45 °.
3. A two-dimensional scanning device according to claim 1,
the laser scanning track is obtained by the equipment space coordinate of laser point cloud obtained by detecting a target by each laser beam;
and the equipment space coordinate of the laser point cloud is obtained by calculating the inclination angle of the reflecting mirror surface, the rotating angle of the reflecting mirror and the pulse laser ranging.
4. A two-dimensional scanning device according to claim 1,
the scanning field of view of the device is related to the included angle alpha and the incident angle theta.
5. A two-dimensional scanning device according to claim 1,
the device is carried on a flying platform, and bidirectional scanning measurement of the front side and the back side of a target is realized.
6. A two-dimensional scanning device according to claim 1,
the reflector can share a transmitting and receiving light path.
7. A two-dimensional scanning device according to claim 1,
the axis is a rotation axis of the scan shaft.
8. A lidar apparatus, comprising:
a laser scanning device according to any one of claims 1 to 7.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936663.3A CN106353745A (en) | 2016-11-01 | 2016-11-01 | Two-dimensional scanning device of laser radar |
| CN2016109366633 | 2016-11-01 | ||
| PCT/CN2017/000657 WO2018082200A1 (en) | 2016-11-01 | 2017-10-31 | Two-dimensional scanning device and laser radar device with two-dimensional scanning device |
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| CN211653129U true CN211653129U (en) | 2020-10-09 |
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| CN201610936663.3A Pending CN106353745A (en) | 2016-11-01 | 2016-11-01 | Two-dimensional scanning device of laser radar |
| CN201790001361.5U Active CN211653129U (en) | 2016-11-01 | 2017-10-31 | Two-dimensional scanning device and laser radar device with same |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113124719A (en) * | 2021-04-24 | 2021-07-16 | 西安工业大学 | Laser ranging scanning type precision target and testing method thereof |
| CN114525729A (en) * | 2021-12-17 | 2022-05-24 | 东南大学 | Auxiliary mark belt laying vehicle for large-span bridge form laser scanning |
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| CN106353745A (en) * | 2016-11-01 | 2017-01-25 | 北京北科天绘科技有限公司 | Two-dimensional scanning device of laser radar |
| CN108692656B (en) * | 2017-04-07 | 2020-07-17 | 中国人民解放军信息工程大学 | Laser scanning data acquisition method and device |
| CN107153200A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
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| JP5266739B2 (en) * | 2007-02-28 | 2013-08-21 | 株式会社デンソーウェーブ | Laser radar equipment |
| CN204044360U (en) * | 2014-07-29 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of scanning type laser distance measuring equipment with light splitting piece |
| CN204347249U (en) * | 2015-01-30 | 2015-05-20 | 济宁科力光电产业有限责任公司 | The safe laser scanning device of inspected object direction and distance |
| CN105093235B (en) * | 2015-08-18 | 2018-10-09 | 北京控制工程研究所 | A kind of synchronous scanning intersection measurement fusion of imaging system |
| CN205103397U (en) * | 2015-09-23 | 2016-03-23 | 上海物景智能科技有限公司 | Laser rangefinder radar |
| CN105785343A (en) * | 2016-04-29 | 2016-07-20 | 中国科学院电子学研究所 | Spacial multi-beam laser emitter, multichannel receiving apparatus and detection apparatus |
| CN106353745A (en) * | 2016-11-01 | 2017-01-25 | 北京北科天绘科技有限公司 | Two-dimensional scanning device of laser radar |
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2016
- 2016-11-01 CN CN201610936663.3A patent/CN106353745A/en active Pending
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- 2017-10-31 WO PCT/CN2017/000657 patent/WO2018082200A1/en active Application Filing
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113124719A (en) * | 2021-04-24 | 2021-07-16 | 西安工业大学 | Laser ranging scanning type precision target and testing method thereof |
| CN113124719B (en) * | 2021-04-24 | 2023-12-01 | 西安工业大学 | Laser ranging scanning type precision target and testing method thereof |
| CN114525729A (en) * | 2021-12-17 | 2022-05-24 | 东南大学 | Auxiliary mark belt laying vehicle for large-span bridge form laser scanning |
| CN114525729B (en) * | 2021-12-17 | 2022-11-04 | 东南大学 | Auxiliary mark belt laying vehicle for large-span bridge form laser scanning |
| US11827000B2 (en) | 2021-12-17 | 2023-11-28 | Southeast University | Auxiliary marking tape laying vehicle for laser scanning of the morphology of long-span bridge |
Also Published As
| Publication number | Publication date |
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| CN106353745A (en) | 2017-01-25 |
| WO2018082200A1 (en) | 2018-05-11 |
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