CN212008926U - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN212008926U CN212008926U CN202020176571.1U CN202020176571U CN212008926U CN 212008926 U CN212008926 U CN 212008926U CN 202020176571 U CN202020176571 U CN 202020176571U CN 212008926 U CN212008926 U CN 212008926U
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Abstract
The utility model discloses a laser radar, this laser radar includes: a laser emitting unit for emitting a laser beam; a galvanometer including a mirror that rotates in a first direction; the rotating prism comprises a top surface, a bottom surface and side surfaces positioned between the top surface and the bottom surface, and the included angle between at least one side surface and the rotating shaft is different from the included angle between the other side surface and the rotating shaft; the rotating prism rotates around a rotating shaft of the rotating prism in a second direction, and the first direction and the second direction are arranged in a crossed mode; the laser beam emitted by the laser emission unit forms an intermediate beam after being reflected by the reflector; the intermediate beam irradiates to the side surface of the rotating prism and is reflected by the side surface of the rotating prism to form a detection beam. The embodiment of the utility model provides a laser radar combines together mirror and rotating prism will shake, and usable simple structure realizes great scanning angle's two-dimensional scanning and surveys.
Description
Technical Field
The utility model relates to a laser detection technology field especially relates to a laser radar.
Background
With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, mobile robots and the like. The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target through laser beams, and the working principle of the radar system is that the detection laser beams are firstly emitted to the target, then signals reflected from the target are compared with the emitted signals, and after proper processing, the distance, direction, height, speed, attitude, even shape and other information of the target can be obtained.
Currently, the most common lidar systems include single line lidar optical systems and multiline lidar optical systems. The single line laser radar optical system includes an off-axis system and a coaxial system, and the currently adopted system is basically that laser emitted by a Laser Diode (LD) or a fiber laser is collimated and then emitted, and a receiving system of the system is placed beside the side or a certain method is adopted to enable the receiving system and an emitting system to be on the same optical axis, namely, the coaxial system. The transmitting and receiving optical system is driven by the rotation of the motor to scan the surrounding ring mirror; the drawback is that with single beam scanning, the scan area is too small. The multiline laser radar optical system utilizes a long-focus emitting collimation optical system of a large target surface to emit laser emitted by the same laser generator distributed according to a certain space position in a collimation manner, the surrounding environment is scanned through the rotation of a motor, and the long-focus large target surface receiving optical system focuses light returned by an irradiated object on a corresponding photoelectric sensor. The optical system can transmit and receive the light beams of the plurality of arrays back to scan a certain area of the surrounding environment mirror; the defects are that too many laser generators are needed, the number of receiving inductors is correspondingly large, and a processing circuit is complex.
SUMMERY OF THE UTILITY MODEL
The utility model provides a laser radar to utilize simpler structure to realize great scanning angle's two-dimensional scanning and survey.
An embodiment of the utility model provides a laser radar, this laser radar includes:
a laser emitting unit for emitting a laser beam;
a galvanometer including a mirror that rotates in a first direction;
the rotating prism comprises a top surface, a bottom surface and side surfaces positioned between the top surface and the bottom surface, and the included angle between at least one side surface and the rotating shaft of the rotating prism is different from the included angle between the other side surface and the rotating shaft of the rotating prism; the rotating prism rotates in a second direction about its axis of rotation; the first direction and the second direction are intersected;
the laser beam emitted by the laser emission unit forms an intermediate beam after being reflected by the reflector; the intermediate beam irradiates to the side surface of the rotating prism and is reflected by the side surface of the rotating prism to form a detection beam.
In one embodiment, the laser radar further comprises a rotating mechanism for driving the rotating prism to rotate;
the rotating shaft of the rotating prism is a hollow shaft, and the rotating mechanism is arranged in the hollow shaft.
In an embodiment, the lidar further comprises a first receiving unit;
the first receiving unit and the laser emitting unit are positioned on the same side of the rotating prism;
the same side of the rotating prism comprises an emitting area and a receiving area;
after the detection light beam irradiates to the target area, the detection light beam is reflected by an object in the target area to form an echo light beam; the echo light beam is received by the first receiving unit after sequentially passing through the receiving area of the rotating prism and the reflecting mirror.
In an embodiment, the lidar further comprises a second receiving unit;
the second receiving unit and the laser emitting unit are positioned on opposite sides of the rotating prism;
after the detection light beam irradiates to the target area, the detection light beam is reflected by an object in the target area to form an echo light beam; the echo light beam is directly received by the second receiving unit.
In one embodiment, the lidar further comprises a prism angle sensor;
the prism angle sensor is fixed on the top surface and/or the bottom surface of the rotating prism.
In one embodiment, the included angle between each side surface of the rotating prism and the rotating shaft of the rotating prism is different.
In one embodiment, the rotating prism includes N pairs of oppositely disposed side faces, N being a positive integer equal to or greater than 2;
the included angles between the two opposite side surfaces and the rotating shaft of the rotating prism are smaller than or larger than each other, and the included angles between the other two opposite side surfaces and the rotating shaft of the rotating prism are larger than each other.
In an embodiment, along a direction in which the top surface points to the bottom surface, the emission region includes at least two reflection surfaces arranged in sequence, and an included angle between at least two reflection surfaces and a rotation axis of the rotating prism is different.
In one embodiment, the galvanometer further comprises a bracket, a torsion beam, a mirror frame, a coil and a magnet;
the bracket is of a hollow structure;
along a second direction, the torsion beams are symmetrically and fixedly connected between the bracket and the reflector frame; the torsion beam is twisted to drive the reflection mirror frame to twist and reset;
the magnets are symmetrically fixed at two ends of the support along a first direction, and the coil is arranged at the edge of the reflector frame in a surrounding mode and penetrates through at least one torsion beam in the torsion beams.
In one embodiment, the galvanometer further comprises a rotation angle detection component; the reflecting mirror comprises a first mirror surface and a second mirror surface which are oppositely arranged, and the first mirror surface is used for reflecting the laser beam for detection;
the rotation angle detection assembly comprises a detection light source, a light source emitting plate, a light source fixing seat, a galvanometer angle sensor, a circuit board and a sensor fixing support;
the detection light source is used for emitting detection light beams to the second mirror surface, the detection light source is fixedly connected with the light source emitting plate through the light source fixing seat, and the light source emitting plate is fixedly connected with the bracket through the sensor fixing bracket; the light sensing surface of the galvanometer angle sensor faces the second mirror surface, the galvanometer angle sensor passes through the circuit board and the sensor fixing support, and the sensor fixing support is fixedly connected with the support.
The embodiment of the utility model provides a laser radar includes laser emission unit for launching laser beam; a galvanometer including a mirror that rotates in a first direction to effect scanning in the first direction; the rotating prism comprises a top surface, a bottom surface and side surfaces positioned between the top surface and the bottom surface, and the included angle between at least one side surface and the rotating shaft of the rotating prism is different from the included angle between the other side surface and the rotating shaft of the rotating prism; the rotating prism rotates around the rotating shaft thereof in a second direction to realize scanning in the second direction; wherein the first direction and the second direction are arranged crosswise; the laser beam emitted by the laser emission unit forms an intermediate beam after being reflected by the reflector; the intermediate beam irradiates to the side surface of the rotating prism and is reflected by the side surface of the rotating prism to form a detection beam; therefore, the galvanometer is combined with the rotating prism, and the two-dimensional scanning detection with a larger scanning angle can be realized by using a simple structure.
Drawings
Fig. 1 is a schematic perspective view of a laser radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a second cross-sectional view of the lidar shown in FIG. 1;
fig. 3 is a schematic perspective view of another laser radar according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second cross-sectional view of the lidar shown in FIG. 3;
fig. 5 is a schematic perspective view of a single-axis MEMS galvanometer in a laser radar according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a backside structure of the single axis MEMS galvanometer of FIG. 5;
FIG. 7 is a schematic diagram of a top view of the single axis MEMS galvanometer of FIG. 5;
fig. 8 is a schematic perspective view of a rotating prism in a laser radar according to an embodiment of the present invention;
FIG. 9 is a schematic top view of the rotating prism of FIG. 8;
fig. 10 is a schematic perspective view of another rotating prism in the laser radar according to the embodiment of the present invention;
fig. 11 is a schematic perspective view of another rotating prism in the laser radar according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the utility model provides a laser radar's improvement point lies in: the scanning of the laser beam in the second and first directions is realized by combining the galvanometer () and the rotating prism, and then the two-dimensional scanning with a larger angle is realized by using a simpler structure. Optionally, the galvanometer may be a single axis MEMS galvanometer
The laser radar provided by the embodiment of the present invention is exemplarily described below with reference to fig. 1 to 11.
The embodiment of the utility model provides a laser radar 10 includes: a laser emitting unit 110 for emitting a laser beam; a galvanometer 120 including a mirror 121 that rotates in a first direction; and a rotating prism 130 including a top surface 131, a bottom surface 132, and side surfaces 133 between the top surface 131 and the bottom surface 132, at least one side surface 133 having an angle with a rotation axis of the rotating prism 130 different from an angle of another side surface 133 with the rotation axis of the rotating prism 130; the rotary prism 130 rotates in the second direction about its rotation axis; the laser beam emitted by the laser emitting unit 110 is reflected by the reflecting mirror 121 to form an intermediate beam; the intermediate beam is irradiated to the side 133 of the rotating prism 130 and reflected by the side 133 of the rotating prism 130 to form a probe beam.
The laser beam emitted by the laser emitting unit 110 is projected onto the mirror 121 of the MEMS galvanometer 120, and the mirror 121 can rotate in a first direction, so that the laser beam can be projected onto different first direction angles to realize scanning in the first direction. The laser beam reflected by the MEMS mirror 120 can be incident on the rotating prism 130, and since the included angles between different side surfaces of the rotating prism 130 and the rotation axis thereof are different, the laser beam projected at the same angle can be further expanded to a multi-line laser beam to be projected to different first direction angles. For example, the rotating prisms 130 shown in fig. 1-4 are all hexahedral prisms, which can expand the laser beam into six laser beams in different directions, so that the angle of the whole laser radar 10 in the first direction view field is increased. By expanding the beam through the hexahedral prism, the number of the laser emitting units 110 in the laser emitting unit 10 can be reduced, which is advantageous for achieving miniaturization and low cost. Meanwhile, the rotating prism 130 rotates around its rotation axis, and the laser beam can be expanded to a different second direction, thereby realizing scanning in the second direction. Thus, the laser radar 10 in the embodiment of the present invention adopts the structure that the galvanometer 120 is combined with the rotating prism 130, i.e., the two-dimensional scanning with a larger angle can be realized by using a simpler structure.
In one embodiment, the first direction may be a vertical direction and the second direction may be a horizontal direction.
In other embodiments, the directions of the first direction and the second direction may also be set according to the detection requirement of the laser radar 10, which is not limited by the embodiment of the present invention.
In one embodiment, the laser radar 10 further includes a rotation mechanism (not shown) for driving the rotation prism 130 to rotate; the rotating shaft of the rotating prism 130 is a hollow shaft 1300, and the rotating mechanism is disposed in the hollow shaft 1300.
The rotary mechanism is arranged in the hollow shaft 1300 of the rotary prism 130, so that on one hand, the whole volume of the laser radar 10 can be reduced, and the miniaturization and integration design of the laser radar can be realized; on the other hand, the distance between the rotary prism 130 and its driving mechanism can be shortened, facilitating efficient driving.
In an embodiment, referring to fig. 1 and 10, the lidar 10 further includes a first receiving unit 140; the first receiving unit 140 is located on the same side of the rotating prism 130 as the laser emitting unit 110; the same side 133 of the rotating prism 130 includes an emitting area 301 and a receiving area 302; after the detection light beam irradiates to the target area, the detection light beam is reflected by an object in the target area to form an echo light beam; the echo beam is reflected by the mirror 121 and the receiving area of the rotating prism in this order, and then received by the first receiving unit 140.
In the case of the rotating prism 130 shown in fig. 10, the lower portion of the rotating prism 130 is used as a transmitting and reflecting portion, and the upper portion thereof is used as a receiving and reflecting portion, so that the laser beam is reflected to the MEMS galvanometer 120 and then received by the first receiving unit 140 (also referred to as a laser receiving unit), and thus the laser beam is transmitted and reflected by the same rotating prism 130, which can further improve the integration of the laser radar 10 and reduce the complexity thereof.
Meanwhile, taking the laser radar 10 shown in fig. 1 as an example, the laser emitting unit 110 and the first receiving unit 140 are disposed on the same side and are disposed vertically.
In other embodiments, the laser emitting unit 110 and the laser receiving unit may be disposed on different sides of the rotating prism 130, which is exemplarily described below with reference to fig. 3 and 4.
In an embodiment, referring to fig. 3, the lidar 10 further includes a second receiving unit 150; the second receiving unit 150 is located on the opposite side of the rotating prism 130 from the laser emitting unit 110; after the detection light beam irradiates to the target area, the detection light beam is reflected by an object in the target area to form an echo light beam; the echo beam is directly received by the second receiving unit 150.
Wherein, the laser emitting unit 110 and the second receiving unit 150 are respectively located at both sides of the rotating prism 130, and the laser beam reflected by the object in the scanning area (i.e. the target area) is directly received by the second receiving unit 150. Therefore, the laser receiving unit in the present embodiment needs to use an area array receiver, and the first receiving unit 140 in fig. 1 may use a line array receiver.
The echo beam in this embodiment does not pass through the rotating prism 130, thereby facilitating the simplification of the structure of the rotating prism 130 and reducing the difficulty of design and manufacture thereof.
In one embodiment, referring to fig. 1 or 3, the lidar 10 further includes a prism angle sensor 160; the prism angle sensor 160 is fixed to the top surface 131 and/or the bottom surface 132 of the rotating prism 130.
The prism angle sensor 160 rotates with the rotating prism 130 to measure the rotation angle of the rotating prism 130, thereby monitoring the second direction angle.
In one embodiment, referring to fig. 8 and 9, the angles between the side surfaces 133 of the rotating prism 130 and the rotation axis of the rotating prism 130 are different.
Therefore, the laser beams reflected to the side surfaces of the rotating prism 130 by the reflecting mirror can be expanded in different directions corresponding to the side surfaces, so that the scanning angle of the laser radar 10 in the first direction view field can be further increased; the scanning device is beneficial to realizing large-angle first-direction scanning by using a simpler structure.
In one embodiment, with continued reference to fig. 8 and 9, the rotating prism 130 includes N (e.g., N-2) pairs of oppositely disposed sides 133, N being a positive integer equal to or greater than 2; the included angles between one pair of opposite side surfaces 133 and the rotation axis of the rotating prism 130 are both smaller or both larger than the included angles between the other pair of opposite side surfaces 133 and the rotation axis of the rotating prism 130.
In the structure of the laser radar 10 shown in fig. 1 to 4, the rotating prisms 130 are all in a hexahedral prism structure, and in the structure of the laser radar 10 shown in fig. 8 to 11, the rotating prisms 130 are all in a tetrahedral prism structure. In other embodiments, how many facet prisms are specifically adopted for the rotating prism 130 can be determined according to the required number of laser lines and the scanning field of view, which is not limited by the embodiment of the present invention.
In this embodiment, the number of lines of the laser beam can be greatly expanded by setting the angles between the side surfaces 133 of the rotating prism 130 and the rotation axis thereof to be different from each other. On this basis, when the included angle between each side 133 of the rotating prism 130 and the rotation axis thereof is set, the inclination of two opposite sides may be set to be smaller or larger than the inclination of two adjacent sides, instead of an increasing or decreasing arrangement, so that the center of gravity of the rotating prism 130 is located on the rotation axis thereof, which is beneficial to increasing the rotational stability of the rotating prism 130, and thus the system stability of the laser radar 10 may be ensured.
In one embodiment, referring to fig. 11, the emission area 301 includes at least two reflective surfaces arranged in sequence along the direction from the top surface 131 to the bottom surface 132, illustratively, three reflective surfaces are shown in fig. 11, respectively denoted by 301a, 301b, and 301 c; the at least two reflecting surfaces have different angles with respect to the rotation axis of the rotating prism 130.
In this way, the same side 133 of the rotating prism 130 is divided into at least two regions in the emission region 301 along the vertical direction, and the at least two regions have different inclinations, so that the corresponding laser beams can be reflected at different angles, and the light distribution of density distribution is formed on the field of view in the first direction, so as to meet the detection use requirement of the actual scene.
In one embodiment, referring to fig. 5-7, the galvanometer 120 further includes a bracket 122, a torsion beam 123, a mirror frame 124, a coil 125, and a magnet 126; the support 122 is a hollow structure; along the second direction, the torsion beams 123 are symmetrically and fixedly connected between the bracket 122 and the reflector frame 124; torsion beam 123 twists to drive mirror frame 124 to twist and reset; the magnets 126 are symmetrically fixed to both ends of the frame 122 along a first direction, and the coil 125 is disposed around the edge of the mirror frame 124 and passes through at least one of the torsion beams 123.
The support 122 is a hollow structure, and the reflector frame 124 is fixed on the support 122 through the torsion beams 123 which are symmetrically distributed and are arranged on two sides along the second direction, for example, detachable structures such as screw fixation can be formed, and in the maintenance process, the structural components can be conveniently and quickly replaced.
The mirror frame 124 may be a surface structure, and the mirror 121 is fixed on the surface thereof; alternatively, the mirror frame 124 may have a hollow frame structure, and the outer periphery of the mirror 121 may be fixed to the mirror frame 124. Thus, the rotation of the mirror frame 124 can drive the mirror 121 fixed to it to rotate.
Wherein, two magnets (i.e. the magnets 126) are symmetrically distributed on the bracket 122 along the vertical direction. The coil 125 is fixed to the edge of the mirror frame 124. Specifically, after the coil 125 is powered on, the coil rotates in the first direction under the magnetic force of the magnetic field formed by the two magnets 126, so that the included angle of the reflecting mirror surface of the reflecting mirror 121 with respect to the vertical direction is in a state of periodic variation, and scanning in the first direction is further achieved.
In this embodiment, torsion beam 123 can be sharp girder construction, also can be special-shaped girder construction, also constitutes by combinations such as curve or broken line, can set up according to the actual demand of galvanometer 120 and laser radar 10, the embodiment of the utility model provides a not inject to this.
In other embodiments, the reflector 121 may also be fixed on the base of the bracket 122 by means of bearing connection; alternatively, the MEMS galvanometer 120 may also be a galvanometer with other structures known to those skilled in the art, and the embodiments of the present invention are not limited thereto.
In one embodiment, with continued reference to fig. 6-7, galvanometer 120 further includes a rotational angle detection assembly 128; the reflecting mirror 121 includes a first mirror 1211 and a second mirror 1212 disposed oppositely, the first mirror 1211 is used for reflecting the laser beam for detection; the rotation angle detection assembly 128 comprises a detection light source 281, a light source emitting plate 282, a light source fixing seat 283, a galvanometer angle sensor 284, a circuit board 285 and a sensor fixing bracket 286; the detection light source 281 is used for emitting a detection light beam to the second mirror 1212, the detection light source 281 is fixedly connected with the light source emitting plate 282 through a light source fixing seat 283, and the light source emitting plate 282 is fixedly connected with the bracket 122 through a sensor fixing bracket 286; the light sensing surface of the galvanometer angle sensor 284 faces the second mirror surface 1212, the galvanometer angle sensor 284 is fixedly connected with a sensor fixing support 286 through a circuit board 285, and the sensor fixing support 286 is fixedly connected with the support 122.
The rotation angle detecting assembly 128 is used to monitor the rotation angle of the mirror 121.
The light source emitting plate 282 is used to control the detection light source 281; after being reflected by the second mirror 1212, the detection light beam emitted by the detection light source 281 is received by the galvanometer angle sensor 284, and converts the optical signal into an electrical signal, and transmits the electrical signal to the circuit board 285, and the circuit board receives the electrical signal and analyzes the electrical signal to obtain the rotation angle information of the reflector 121.
In this case, if the mirror frame 124 is a planar structure, another mirror may be provided opposite to the mirror 121 to reflect the detection light beam emitted from the detection light source 281, and since the mirror rotates in synchronization with the mirror 121, the rotation angle information of the mirror 121 can be obtained using the rotation angle information of the mirror.
In other embodiments, lidar 10 may further include other structures or components known to those skilled in the art, and embodiments of the present invention are not described or limited herein.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations, and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A lidar, comprising:
a laser emitting unit for emitting a laser beam;
a galvanometer including a mirror that rotates in a first direction;
the rotating prism comprises a top surface, a bottom surface and side surfaces positioned between the top surface and the bottom surface, and the included angle between at least one side surface and the rotating shaft of the rotating prism is different from the included angle between the other side surface and the rotating shaft of the rotating prism; the rotating prism rotates in a second direction about its axis of rotation; the first direction and the second direction are intersected;
the laser beam emitted by the laser emission unit forms an intermediate beam after being reflected by the reflector; the intermediate beam irradiates to the side surface of the rotating prism and is reflected by the side surface of the rotating prism to form a detection beam.
2. The lidar of claim 1, further comprising a rotation mechanism for driving the rotating prism to rotate;
the rotating shaft of the rotating prism is a hollow shaft, and the rotating mechanism is arranged in the hollow shaft.
3. The lidar of claim 1, further comprising a first receiving unit;
the first receiving unit and the laser emitting unit are positioned on the same side of the rotating prism;
the same side of the rotating prism comprises an emitting area and a receiving area;
after the detection light beam irradiates to the target area, the detection light beam is reflected by an object in the target area to form an echo light beam; the echo light beam is received by the first receiving unit after sequentially passing through the receiving area of the rotating prism and the reflecting mirror.
4. The lidar of claim 1, further comprising a second receiving unit;
the second receiving unit and the laser emitting unit are positioned on opposite sides of the rotating prism;
after the detection light beam irradiates to the target area, the detection light beam is reflected by an object in the target area to form an echo light beam; the echo light beam is directly received by the second receiving unit.
5. The lidar of claim 1, further comprising a prism angle sensor;
the prism angle sensor is fixed on the top surface and/or the bottom surface of the rotating prism.
6. The lidar of claim 1, wherein each of the sides of the rotating prism has a different angle with respect to an axis of rotation of the rotating prism.
7. The lidar of claim 6, wherein the rotating prism comprises N pairs of oppositely disposed sides, N being a positive integer equal to or greater than 2;
the included angles between the two opposite side surfaces and the rotating shaft of the rotating prism are smaller than or larger than each other, and the included angles between the other two opposite side surfaces and the rotating shaft of the rotating prism are larger than each other.
8. The lidar of claim 3, wherein the transmitting region includes at least two reflecting surfaces arranged in sequence along a direction from the top surface to the bottom surface, and an included angle between the at least two reflecting surfaces and a rotation axis of the rotating prism is different.
9. The lidar of claim 1, wherein the galvanometer further comprises a bracket, a torsion beam, a mirror frame, a coil, and a magnet;
the bracket is of a hollow structure;
along a second direction, the torsion beams are symmetrically and fixedly connected between the bracket and the reflector frame; the torsion beam is twisted to drive the reflection mirror frame to twist and reset;
the magnets are symmetrically fixed at two ends of the support along a first direction, and the coil is arranged at the edge of the reflector frame in a surrounding mode and penetrates through at least one torsion beam in the torsion beams.
10. The lidar of claim 9, wherein the galvanometer further comprises a rotation angle detection assembly; the reflecting mirror comprises a first mirror surface and a second mirror surface which are oppositely arranged, and the first mirror surface is used for reflecting the laser beam for detection;
the rotation angle detection assembly comprises a detection light source, a light source emitting plate, a light source fixing seat, a galvanometer angle sensor, a circuit board and a sensor fixing support;
the detection light source is used for emitting detection light beams to the second mirror surface, the detection light source is fixedly connected with the light source emitting plate through the light source fixing seat, and the light source emitting plate is fixedly connected with the bracket through the sensor fixing bracket; the light sensing surface of the galvanometer angle sensor faces the second mirror surface, the galvanometer angle sensor passes through the circuit board and the sensor fixing support, and the sensor fixing support is fixedly connected with the support.
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| CN202020176571.1U CN212008926U (en) | 2020-02-17 | 2020-02-17 | Laser radar |
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| CN202020176571.1U CN212008926U (en) | 2020-02-17 | 2020-02-17 | Laser radar |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050102A (en) * | 2021-04-15 | 2021-06-29 | 深圳市镭神智能系统有限公司 | Laser radar system |
| CN113391291A (en) * | 2021-05-18 | 2021-09-14 | 宁波傲视智绘光电科技有限公司 | Laser radar rotary reflection device and laser radar |
| CN113391317A (en) * | 2021-04-15 | 2021-09-14 | 深圳市镭神智能系统有限公司 | Laser radar system |
| CN116068753A (en) * | 2023-04-06 | 2023-05-05 | 南通唐人电子科技有限公司 | Method and device for forming two-dimensional light path by matching vibrating mirror with rotating mirror to make one-dimensional incidence |
| WO2023077864A1 (en) * | 2021-11-05 | 2023-05-11 | 华为技术有限公司 | Variable field of view scanning system and method therefor |
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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2020
- 2020-02-17 CN CN202020176571.1U patent/CN212008926U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050102A (en) * | 2021-04-15 | 2021-06-29 | 深圳市镭神智能系统有限公司 | Laser radar system |
| CN113391317A (en) * | 2021-04-15 | 2021-09-14 | 深圳市镭神智能系统有限公司 | Laser radar system |
| CN113391291A (en) * | 2021-05-18 | 2021-09-14 | 宁波傲视智绘光电科技有限公司 | Laser radar rotary reflection device and laser radar |
| WO2023077864A1 (en) * | 2021-11-05 | 2023-05-11 | 华为技术有限公司 | Variable field of view scanning system and method therefor |
| CN116068753A (en) * | 2023-04-06 | 2023-05-05 | 南通唐人电子科技有限公司 | Method and device for forming two-dimensional light path by matching vibrating mirror with rotating mirror to make one-dimensional incidence |
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
| CN117347980B (en) * | 2023-12-04 | 2024-03-12 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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