CN213182011U - Laser radar's transmitting unit, receiving element and laser radar - Google Patents
Laser radar's transmitting unit, receiving element and laser radar Download PDFInfo
- Publication number
- CN213182011U CN213182011U CN202020651631.0U CN202020651631U CN213182011U CN 213182011 U CN213182011 U CN 213182011U CN 202020651631 U CN202020651631 U CN 202020651631U CN 213182011 U CN213182011 U CN 213182011U
- Authority
- CN
- China
- Prior art keywords
- laser
- mirror
- galvanometer
- dimensional
- dimensional galvanometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model provides a can be used to laser radar's transmitting element, include: an array of lasers, each laser being individually drivable to emit a laser beam; the one-dimensional galvanometer is arranged at the downstream of the optical path of the laser, is provided with a first reflecting surface and a first rotating shaft along a first direction, can rotate around the first rotating shaft, and reflects the laser beam incident on the one-dimensional galvanometer; the multi-surface rotating mirror is arranged on the downstream of the optical path of the one-dimensional vibrating mirror and is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, wherein the first direction is perpendicular to the second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect the laser beams incident on the multi-surface rotating mirror to the outside of the laser radar for detecting the target object. The invention also provides a receiving unit for the laser radar and the laser radar.
Description
Technical Field
The utility model relates to a laser detection technology field roughly especially relates to a laser radar's transmitting unit, receiving unit and laser radar who contains one-dimensional mirror, multiaspect commentaries on classics mirror that shakes.
Background
The laser radar system comprises a laser transmitting system and a detecting and receiving system, wherein the transmitted laser is reflected after encountering a target and is received by the detecting system, the distance between the target and the radar can be measured by measuring the round-trip time of the laser (a flight time method), and after the whole target area is scanned and detected, three-dimensional imaging can be finally realized. Laser radar is a range finding sensor commonly used, has advantages such as detection range is far away, resolution ratio is high, anti active interference ability reinforce, small, the quality is light, and the wide application is in fields such as intelligent robot, unmanned aerial vehicle, unmanned driving.
Scanning modes of laser radar systems generally include oscillatory (pendulum) scanning, rotary polygon mirror scanning, nutating scanning, and fiber scanning. The scanning mode of the laser radar determines the field angle and the resolution of the laser radar to a great extent, and the reasonable scanning structure ensures that the whole laser radar system has stable structure and can obtain larger field range and higher angular resolution.
The statements in this background section merely represent techniques known to the public and are not, of course, representative of the prior art.
SUMMERY OF THE UTILITY MODEL
In view of at least one defect of the prior art, the utility model provides a contain laser radar's of one-dimensional mirror that shakes, multiaspect revolving mirror transmitting unit, receiving element and laser radar.
The utility model provides a can be used to laser radar's transmitting element, include:
an array of lasers, each laser being individually drivable to emit a laser beam;
the one-dimensional galvanometer is arranged at the downstream of the optical path of the laser, is provided with a first reflecting surface and a first rotating shaft along a first direction, can rotate around the first rotating shaft, and reflects the laser beam incident on the one-dimensional galvanometer;
the multi-surface rotating mirror is arranged on the downstream of the optical path of the one-dimensional vibrating mirror and is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, wherein the first direction is perpendicular to the second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect the laser beams incident on the multi-surface rotating mirror to the outside of the laser radar for detecting the target object.
According to the utility model discloses an aspect, the transmitting element still includes fast axle compression lens and convergent lens, sets gradually the laser instrument with between the one-dimensional mirror that shakes, wherein fast axle compression lens configures into and can receives and compresses the laser beam that the laser instrument sent is along the divergence angle of fast axle direction, convergent lens configures into and can assemble the laser beam after the compression, wherein the one-dimensional mirror that shakes sets up convergent lens's focus position department.
According to an aspect of the utility model, the transmitting element is still including being located the laser with one-dimensional shake mirror between fast axle compression lens and being located one-dimensional shake mirror with lens that assembles between the polygon rotating mirror, wherein fast axle compression lens configure into can receive and compress the laser beam that the laser instrument sent is along the divergence angle of fast axle direction, lens that assembles configure into can assemble the warp the laser beam that one-dimensional shakes the mirror reflection is arrived on the polygon rotating mirror.
According to an aspect of the present invention, wherein the one-dimensional galvanometer includes a galvanometer mechanical resonator mirror or a MEMS resonator mirror.
According to an aspect of the present invention, wherein the one-dimensional galvanometer operates at a resonant frequency thereof, a ratio of the resonant frequency to a rotational frequency of the polygon mirror is an integer greater than 1.
According to the utility model discloses an aspect, the transmitting element still includes laser instrument drive circuit, laser instrument drive circuit configures to and acquires current real-time vertical angle and horizontal angle respectively through the position feedback of the mirror that shakes and multiaspect revolving mirror to whether the decision triggers the laser instrument and gives out light.
The utility model also provides a receiving unit for laser radar, which comprises a detector array, a one-dimensional galvanometer and a multi-surface rotating mirror,
wherein the detector array comprises a plurality of detectors, and each detector can receive the echo of the laser radar and convert the echo into an electric signal;
the multi-surface rotating mirror is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect the echoes incident on the multi-surface rotating mirror to the one-dimensional vibrating mirror;
the one-dimensional galvanometer is arranged on a light path between the detector array and the multi-surface rotating mirror and is provided with a first reflecting surface and a first rotating shaft along a first direction, the one-dimensional galvanometer can rotate around the first rotating shaft and reflects an incident echo to the one-dimensional galvanometer to the detector array, and the first direction is perpendicular to a second direction.
According to the utility model discloses an aspect, the receiving element is still including assembling lens, assembling lens sets up detector array with between the one-dimensional mirror that shakes or the one-dimensional mirror that shakes with between the multiaspect revolving mirror.
According to an aspect of the present invention, wherein the one-dimensional galvanometer includes a galvanometer mechanical resonator mirror or a MEMS resonator mirror.
According to an aspect of the present invention, wherein the one-dimensional galvanometer operates at a resonant frequency thereof, a ratio of the resonant frequency to a rotational frequency of the polygon mirror is an integer greater than 1.
The utility model also provides a laser radar, include:
the emitting unit as described above, configured to emit a detection laser beam for detecting the target object;
a receiving unit as described above, configured to receive the echoes and convert into electrical signals; and
a point cloud generating unit coupled with the transmitting unit and the receiving unit and configured to calculate a distance of a target object according to a flight time of the detection laser beam and generate a point cloud.
The utility model also provides a laser radar, include:
an array of lasers, each laser being individually drivable to emit a laser beam;
the detector array comprises a plurality of detectors, and each detector can receive the echo of the laser radar and convert the echo into an electric signal;
the one-dimensional galvanometer is arranged at the downstream of the optical path of the laser, is provided with a first reflecting surface and a first rotating shaft along a first direction, can rotate around the first rotating shaft, and reflects the laser beam incident on the one-dimensional galvanometer;
a spectroscope disposed between the laser and the one-dimensional galvanometer to allow a portion of a laser beam emitted by the laser to pass through and be incident on the one-dimensional galvanometer;
the multi-surface rotating mirror is arranged at the downstream of the optical path of the one-dimensional vibrating mirror and is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, wherein the first direction is vertical to the second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect laser beams incident on the multi-surface rotating mirror to the outside of the laser radar for detecting a target object; the second reflecting surface can reflect an echo to the one-dimensional galvanometer, and the echo is reflected by the one-dimensional galvanometer, passes through the spectroscope and enters the detector array.
According to the utility model discloses an aspect, laser radar still includes fast axle compression lens and convergent lens, wherein fast axle compression lens sets up the laser instrument with between the spectroscope, configure into and receive and compress the laser beam that the laser instrument sent is along the divergence angle of fast axle direction, convergent lens sets up one-dimensional mirror that shakes with between the multiaspect revolving mirror, configure into and to assemble the laser beam after the warp compression, and will by the echo of multiaspect revolving mirror reflection assembles on the one-dimensional mirror that shakes, wherein one-dimensional mirror that shakes sets up convergent lens's focus position department.
According to an aspect of the present invention, the laser radar further includes a fast axis compression lens located between the laser and the spectroscope and a converging lens located between the spectroscope and the one-dimensional galvanometer, wherein the fast axis compression lens is configured to receive and compress a divergence angle of a laser beam emitted by the laser along a fast axis direction.
The utility model also provides an use the laser radar as above to survey the method.
The utility model discloses a preferred embodiment provides laser radar transmitting element, receiving element based on one-dimensional mirror that shakes and multiaspect revolving mirror to and coaxial laser radar send-receiver system, through the selection to the swing frequency of one-dimensional mirror that shakes and the rotational frequency of multiaspect revolving mirror, improved laser radar system's angular resolution, extended the angle of view of vertical direction and horizontal direction, and effectively prevented the field distortion.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure. In the drawings:
fig. 1 schematically shows a transmitting unit of a lidar according to a preferred embodiment of the invention;
fig. 2 schematically shows a transmitting unit of a lidar according to another preferred embodiment of the present invention;
fig. 3 schematically shows a transmitting unit of a lidar according to another preferred embodiment of the present invention;
fig. 4 schematically shows a transmitting unit of a lidar according to another preferred embodiment of the present invention;
FIG. 5 illustrates a laser control method that may be used for the firing cells
Fig. 6 schematically shows a receiving unit of a lidar according to a preferred embodiment of the invention;
fig. 7 schematically shows a receiving unit of a lidar according to another preferred embodiment of the present invention;
fig. 8 schematically illustrates a lidar of a preferred embodiment of the present invention;
fig. 9 schematically illustrates a lidar of another preferred embodiment of the present invention;
fig. 10A schematically illustrates a point cloud result diagram according to a preferred embodiment of the present invention;
fig. 10B schematically illustrates a point cloud result diagram according to another preferred embodiment of the present invention;
fig. 10C schematically illustrates a point cloud result diagram according to another preferred embodiment of the present invention;
fig. 11A schematically illustrates a point cloud result diagram according to another preferred embodiment of the present invention;
fig. 11B schematically shows a point cloud result diagram according to another preferred embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present invention, it should be noted that unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
As shown in fig. 1, according to a preferred embodiment of the present invention, the present invention provides a transmitting unit 10 for a laser radar, which includes an array of lasers 11, a one-dimensional galvanometer 12, and a multi-faceted rotating mirror 13. Wherein each laser 11 can be driven individually to emit a laser beam. The one-dimensional mirror 12 may be, for example, a galvanometer mechanical resonator mirror or a MEMS mirror, is disposed downstream of the optical path of the laser 11, and has a first reflecting surface 121 and a first rotating shaft 122, and the one-dimensional mirror 12 is rotatable about the first rotating shaft 122 and reflects the laser beam incident thereon. In fig. 1, the first rotation axis 122 is a direction perpendicular to the paper. When the one-dimensional galvanometer 12 rotates to different positions around the first rotating shaft 122, the laser beams incident thereon can be reflected to different outgoing directions. Therefore, for the same laser 11, by the rotary scanning of the one-dimensional galvanometer 12, the outgoing laser beams in multiple directions are realized, that is, the encryption of the laser beams is realized. The polygon mirror 13 is disposed downstream of the one-dimensional galvanometer 12, and has a plurality of second reflecting surfaces 131 and a second rotating shaft 132, wherein the direction of the first rotating shaft 122 is perpendicular to the direction of the second rotating shaft 132, the polygon mirror 13 can rotate around the second rotating shaft 132, and the second reflecting surfaces 131 can reflect the laser beams incident thereon to the outside of the laser radar for detecting the target object. As schematically shown in fig. 1, the polygon mirror 13 is a four-sided mirror, four sides of which can be used as the second reflecting surfaces 131, the second rotating shaft 132 is along the vertical direction in the figure, and when the polygon mirror 13 rotates around the second rotating shaft 132, the plurality of second reflecting surfaces 131 are sequentially rotated to a position facing the one-dimensional oscillating mirror 12, so that the laser beam from the one-dimensional oscillating mirror 12 can be secondarily reflected to the outside of the laser radar for detecting the target object. In addition, as is readily understood by those skilled in the art, three-sided mirrors, five-sided mirrors, and more polygonal mirrors may be used in addition to four-sided mirrors. In addition, preferably, the rotating mirror is a regular polygon rotating mirror.
As shown in fig. 1, the transmitting unit 10 may further include a fast axis compression lens 14 and a converging lens 15, which are sequentially disposed between the laser 11 and the one-dimensional galvanometer 12, wherein the fast axis compression lens 14 is configured to receive and compress a divergence angle of the laser beam emitted from the laser 11 along the fast axis direction. When the laser 11 employs a VCSEL, the divergence angle of the laser beam emitted from the laser along the fast axis is relatively large, and thus the divergence angle of the laser beam along the fast axis direction can be compressed by the fast axis compression lens 14 to be closer to a parallel beam. The converging lens 15 is configured to converge the compressed laser beam, and the one-dimensional galvanometer 12 is disposed at a focal position of the converging lens 15, so that the laser beam converged by the converging lens 15 is focused on the one-dimensional galvanometer 12.
Fig. 2 shows a transmitting unit 20 that can be used in a lidar according to a preferred embodiment of the present invention. The following focuses on the differences between the transmitting unit 20 of the embodiment of fig. 2 and the transmitting unit 10 of the embodiment of fig. 1. As shown in fig. 2, the fast axis compression lens 14 is disposed between the laser 11 and the one-dimensional galvanometer 12, and the condensing lens 15 is disposed between the one-dimensional galvanometer 12 and the polygon mirror 13. The laser 11 is driven to emit a laser beam, the fast axis compression lens 14 compresses a divergence angle of the laser beam emitted by the laser 11 along a fast axis direction, the one-dimensional galvanometer 12 is disposed downstream of an optical path of the fast axis compression lens 14 and has a first reflection surface 121 and a first rotation axis 122, the one-dimensional galvanometer 12 is rotatable around the first rotation axis 122 and reflects the laser beam incident thereon, the laser beam reflected by the one-dimensional galvanometer 12 is received by the converging lens 15 and converged onto the polygon mirror 13, the polygon mirror has a plurality of second reflection surfaces 131 and a second rotation axis 132, wherein the direction of the first rotation axis 122 is perpendicular to the direction of the second rotation axis 132, the polygon mirror 13 is rotatable around the second rotation axis 132, and the second reflection surfaces 131 can reflect the laser beam incident thereon to the outside of the laser radar for detecting a target object. In the embodiment of fig. 1 and 2, the one-dimensional galvanometer 12 may be a galvanometer mechanical resonator or a MEMS resonator.
When used in a lidar, the galvanometer 12 may provide a scanning field of view in the vertical direction of the lidar and the polygon mirror 13 may provide a scanning field of view in the horizontal direction of the lidar.
As can be seen from the two preferred embodiments, when the one-dimensional galvanometer 12 is located between the laser 11 and the converging lens 15 (the transmitting unit 20 shown in fig. 2), the swing of the one-dimensional galvanometer 12 needs to be larger than the vertical field angle of the laser radar system to provide a wider field range, and the one-dimensional galvanometer is converged by the converging lens 15 to form an outgoing beam. When the one-dimensional galvanometer 12 is located behind the converging lens 15 (the transmitting unit 10 shown in fig. 1), the swing of the one-dimensional galvanometer 12 is equal to the vertical field angle of the laser radar system, but in this case, the light beam incident on the one-dimensional galvanometer 12 is already divergent, and the one-dimensional galvanometer 12 needs to have a larger aperture. When the aperture of the one-dimensional galvanometer is larger, the one-dimensional galvanometer can reliably work at a lower speed and with smaller swing amplitude, and the deficiency of the field of view and the number of lines in the vertical direction of the system can be made up by the arrangement of a plurality of transceiving pairs.
Fig. 3 and 4 show the case when the emitting unit emits a laser beam using a laser array (an array of a plurality of lasers 11). According to a preferred embodiment of the present invention, the transmitting unit 30 of the laser radar is shown in fig. 3, each laser of the plurality of lasers 11 can be driven individually to emit a laser beam, and the light path traveling direction of the emitted light beam is the same as the light path traveling direction of the laser beam emitted by the single laser 11, which is not described herein again. It is particularly desirable to provide that the one-dimensional galvanometer 12 may be positioned at the focal point of the converging lens 15 so that the entire beam can be scanned using a galvanometer of relatively small diameter.
If a larger number of lasers 11 are used, and a certain angular resolution and field of view in the vertical direction are ensured, the requirement for the swing of the one-dimensional galvanometer 12 and the scanning frequency is reduced, so that a plurality of one-dimensional galvanometers 12 may be disposed between the lasers 11 and the converging lens 15, as shown in fig. 4.
As can be seen from the above two preferred embodiments, the field angle of the multiline lidar system in the vertical direction is mainly determined by the array of the plurality of lasers 11 and various parameters of the condenser lens 15, and the galvanometer 12 performs a micro-sweep around the laser line beam within the field angle range in the vertical direction to encrypt the angular resolution in the vertical direction.
According to the vertical field angle and the angular resolution required by the actual detection requirement of the laser radar system and the line number of the laser radar, the frequency ratio N between the fast axis (one-dimensional galvanometer scanning) and the slow axis (multi-surface rotating mirror scanning) can be calculated, wherein N is a positive integer. In order to avoid the point cloud fluctuation caused by the frequency change of the one-dimensional galvanometer due to the influence of temperature or environment, the rotation frequency of the multi-surface rotating mirror and the swing frequency of the one-dimensional galvanometer need to be locked in real time (namely, a constant ratio is kept) at the light-emitting moment. In the fast axis direction, a phase-locked loop is utilized to ensure that the one-dimensional galvanometer works at a resonant frequency, the real-time frequency of the swing of the one-dimensional galvanometer is a master frequency and is recorded as fr, the rotating frequency followed by the multi-surface rotating mirror is a slave frequency, and the slave frequency is adjusted to be fr/N in real time according to the change of the master frequency, so that the angular resolution of the laser radar system is kept unchanged as much as possible. When the real-time frequency of the one-dimensional galvanometer swing is changed too much, the whole field of view can be zoomed by changing the frequency ratio N, and the angular resolution of the system is still kept unchanged as much as possible.
Fig. 5 shows a laser control method 100 that can be used in the above-described transmitting unit 10 or 20, comprising:
in step S101, the one-dimensional galvanometer 12 is ensured to operate at a resonant frequency, which is fr in real time, in the fast axis direction by using a phase-locked loop.
In step S102, the rotational speed of the polygon mirror 13 is adjusted in the slow axis direction and set to fr/N.
In step S103, the positions or states of the one-dimensional galvanometer 12 and the polygon mirror 13 (i.e., corresponding to the vertical angle and the horizontal angle, respectively) are acquired by position feedback, respectively.
In step S104, the laser is triggered to emit light.
In order to reduce the distortion during the large field of view scanning, each laser pulse should be vertically incident on the galvanometer and the polygon mirror at the initial moment of sending, according to the utility model discloses a preferred embodiment, as the transmitting unit 10, 20, 30 and 40 of the lidar shown in fig. 1, fig. 2, fig. 3 and fig. 4, still include laser drive circuit, this laser drive circuit is configured to obtain current real-time vertical angle and horizontal angle respectively through the position feedback of one-dimensional galvanometer and polygon mirror to decide whether to trigger the laser and give out light. The light-emitting device can emit light at vertical angles and horizontal angles, and can be set according to requirements. For example, if only the obstacle information in a certain horizontal angle range [ α 1, α 2] is focused, the laser light emission may be started when the laser is rotated to the angle α 1, and the light emission may be stopped when the laser is rotated to the angle α 2.
According to the preferred embodiment of the present invention, the vertical field of view of the lidar system can reach several tens of degrees (depending on the length of the transmitting end laser array, the focal length of the converging lens, and the swing of the one-dimensional galvanometer), and the horizontal field of view can be from several degrees to more than 100 degrees (depending on the number of facets of the polygon mirror).
As shown in fig. 6, according to a preferred embodiment of the present invention, the present invention further provides a receiving unit 50 for a laser radar, which includes a detector array 51, a one-dimensional galvanometer 12, and a multi-faceted rotating mirror 13. The detector array 51 includes a plurality of detectors, each of which can receive an echo of the lidar and convert the echo into an electrical signal, the polygon mirror 13 has a plurality of second reflecting surfaces 131 and a second rotating shaft 132, the polygon mirror 13 can rotate around the second rotating shaft 132, the second reflecting surfaces 131 can reflect the echo incident thereon to the one-dimensional galvanometer 12, the one-dimensional galvanometer 12 is disposed on an optical path between the detector array 51 and the polygon mirror 13 and has a first reflecting surface 121 and a first rotating shaft 122, the one-dimensional galvanometer 12 can rotate around the first rotating shaft 122 and reflect the echo incident thereon to the detector array 51, wherein the direction of the first rotating shaft 122 is perpendicular to the direction of the second rotating shaft 132.
The receiving unit 50 further includes a condensing lens 15, and the condensing lens 15 is disposed between the one-dimensional galvanometer 12 and the polygon mirror 13, or between the detector array 51 and the one-dimensional galvanometer 12 (as shown in fig. 7, a receiving unit 60 of a laser radar).
In the preferred embodiment of fig. 6, a beam splitter 16 is shown, suitable for use in a lidar coaxial transceiver system, the beam splitter 16 separating the transmitted beam from the radar echo using a semi-reflective and semi-transmissive optical surface. According to the preferred embodiment of the present invention, the one-dimensional galvanometer 12 includes a galvanometer mechanical resonator and a MEMS resonator, and the one-dimensional galvanometer 12 operates at a resonant frequency thereof, which is an integer greater than 1 with respect to the rotational frequency of the polygon mirror 13.
The laser control method 100 shown in fig. 5 is also applicable to the receiving units shown in fig. 6 and fig. 7, for example, it can also be ensured that the one-dimensional galvanometer 12 operates at a resonant frequency with a real-time frequency fr by using a phase-locked loop, the implementation rotation speed of the multi-surface rotating mirror 13 is adjusted in the slow axis direction and set to fr/N, the positions or states of the one-dimensional galvanometer 12 and the multi-surface rotating mirror 13 (i.e., corresponding to the vertical angle and the horizontal angle, respectively) are obtained by position feedback, and reading the output of the detector array 51 at an appropriate time is not described herein again.
According to the utility model discloses a preferred embodiment, the utility model discloses still provide a laser radar, include: one or more of the transmitting units 10, 20, 30 and 40 of the laser radar as described above, configured to transmit a detection laser beam for detecting a target object; one or more of the receiving units 50, 60 of the lidar described above configured to receive the echoes and convert them to electrical signals; and the point cloud generating unit is coupled with the transmitting unit and the receiving unit and is configured to calculate the distance of the target object according to the flight time of the detection laser beam and generate the point cloud.
As shown in fig. 8, according to a preferred embodiment of the present invention, the present invention further provides a laser radar 70, including: an array of lasers 11, each of which is individually driven to emit a laser beam, a detector array 51 including a plurality of detectors, each of which receives an echo of a laser radar and converts the echo into an electric signal, a galvanometer 12 disposed downstream of the lasers 11 in an optical path and having a first reflecting surface 121 and a first rotating shaft 122, the galvanometer 12 being rotatable about the first rotating shaft 122 and reflecting the laser beam incident thereon, a beam splitter 16 disposed between the lasers 11 and the galvanometer 12 to allow the laser beam emitted from the lasers 11 to pass through and be incident on the galvanometer 12, a polygon mirror 13 disposed downstream of the galvanometer 12 in the optical path and having a plurality of second reflecting surfaces 131 and a second rotating shaft 132, wherein the first rotating shaft 122 is oriented in a direction perpendicular to the second rotating shaft 132, the polygon mirror 13 is rotatable about the second rotating shaft 132, the second reflecting surfaces 131 reflect the laser beam incident thereon to the outside of the laser radar, the second reflecting surface 131 is used for detecting an object, and can also reflect an echo to the one-dimensional galvanometer 12, and the echo is reflected by the one-dimensional galvanometer 12, passes through the beam splitter 16, and is incident on the detector array 51.
In order to ensure the stability of the generated point cloud image, the scanning frequency of the reciprocating swing of the one-dimensional galvanometer 12 should match the radar frame frequency, for example, the radar frame frequency is 10 hz, when the forward scan and the retrace are combined into one frame (the forward scan and the retrace are horizontally staggered), the swing frequency of the one-dimensional galvanometer should be set to 10 hz, and if the forward scan is performed for one frame and the retrace is performed for the next frame, the swing frequency should be set to 5 hz.
In the laser radar system with the one-dimensional galvanometer coupled with the multi-surface rotating mirror, the reflection result of one reflecting surface of the multi-surface rotating mirror can be used as an independent radar frame, and the rotating frequency of the multi-surface rotating mirror is equal to the radar frame frequency; the reflection results of the plurality of reflection surfaces of the polygon mirror may be combined into one frame, and the rotation frequency of the polygon mirror may be the radar frame frequency.
The laser radar 70 further includes a fast axis compression lens 14 and a converging lens 15, the fast axis compression lens 14 is disposed between the laser 11 and the beam splitter 16, and is configured to receive and compress a divergence angle of a laser beam emitted by the laser 11 along a fast axis direction, the converging lens 15 is disposed between the one-dimensional galvanometer 12 and the multi-faceted galvanometer 13, and is configured to converge the compressed laser beam, and converge an echo reflected by the multi-faceted galvanometer 13 onto the one-dimensional galvanometer 12, and the one-dimensional galvanometer 12 is disposed at a focus position of the converging lens 15.
According to a preferred embodiment of the present invention, the present invention further provides a laser radar 80, as shown in fig. 9: the fast axis compression lens 14 is disposed between the laser 11 and the beam splitter 16, and the converging lens 15 is disposed between the beam splitter 16 and the one-dimensional galvanometer 12.
According to the preferred embodiment of the present invention, the present invention also provides a coaxial lidar system of the two-side transceiving type, in which two sets of parts are required except the polygon mirror 13, and are disposed on both sides of the polygon mirror 13.
Different point cloud pictures can be obtained by adopting a matching mode of different relative speeds or frequencies of a one-dimensional galvanometer (mainly responsible for scanning in the vertical direction) and a multi-surface rotating galvanometer (mainly responsible for scanning in the horizontal direction).
For example, as shown in fig. 10A, which is a schematic diagram of a point cloud result scanned by a single laser according to the present invention, one row in the point cloud diagram corresponds to one reflection surface of the polygon mirror, wherein the surfaces 1, 2, 3, and 4 correspond to the first surface, the second surface, the third surface, and the fourth surface of the polygon mirror, respectively. As can be seen from the point cloud result, the swing frequency of the one-dimensional galvanometer in the vertical direction of the preferred embodiment is higher, and the rotation frequency of the multi-surface rotating mirror in the horizontal direction is lower, so that the light-emitting interval in the vertical direction is increased, and the method is favorable for maintaining higher vertical resolution when the flight time is insufficient.
For another example, as shown in fig. 10B, the point cloud result diagram is another point cloud result diagram according to the present invention, in which a row of the point cloud diagram corresponds to a reflection surface of the polygon mirror, wherein the surfaces 1, 2, 3, and 4 correspond to the first surface, the second surface, the third surface, and the fourth surface of the polygon mirror, respectively. As can be seen from the point cloud result, the rotation frequency of the polygon mirror in the horizontal direction is higher, and the swing frequency of the one-dimensional galvanometer in the vertical direction is lower in the preferred embodiment.
As shown in fig. 10C, according to the utility model discloses a many laser instrument scanning's point cloud result sketch map, the mode that a plurality of lasers were swept on the horizontal direction was adopted to this embodiment, wherein includes four lasers in the laser array as the example, is laser 1, laser 2, laser 3 and laser 4 respectively, and face 1, face 2, face 3, face 4 correspond first face, second face, third face and the fourth face of multiaspect revolving mirror respectively. In fig. 10C, one row corresponds to one turning mirror reflection surface, so that the light emitting interval in the vertical direction is increased, which is beneficial to maintaining high vertical resolution when the flight time is insufficient. The other dimension (horizontal direction) is realized by several lasers which are arranged next to each other and swept, so that the horizontal resolution is improved, and the resonance frequency required by the galvanometer is favorably reduced. The preferred embodiment reduces the requirement for the rotational frequency of the polygon mirror, thereby also reducing the required resonant frequency of the one-dimensional galvanometer.
For example, as shown in fig. 11A, a schematic diagram of a point cloud result according to a preferred embodiment of the present invention is shown, in which a plurality of lasers emit light at the same time (in particular, light may be emitted at intervals) for one face of a polygon mirror. This embodiment adopts multi-thread laser radar, it is luminous simultaneously that there are a plurality of lasers in the same moment vertical direction, wherein face 1, face 2, face 3, face 4 corresponds the first face of multi-surface rotating mirror respectively, the second face, third face and fourth face, the laser array includes four lasers, be laser 1 respectively, laser 2, laser 3 and laser 4, the laser array should be when one-dimensional mirror that shakes at every turn swings to the same position, equidistance light-emitting on the vertical direction, the position of one-dimensional mirror that shakes can pass through angle sensor feedback. In the preferred embodiment, the number of light emission times of the one-dimensional galvanometer is conjugate with the number of mirror surfaces of the polygon mirror, and is an integral multiple of the number of mirror surfaces of the polygon mirror.
For example, as shown in fig. 11B, according to the point cloud result diagram of a preferred embodiment of the present invention, the laser arrays in the vertical direction periodically emit light in order, and this preferred embodiment reduces the problem of optical crosstalk that may exist when multiple lasers emit light simultaneously.
In the preferred embodiment of the present invention, the laser array includes a discrete edge-emitting laser combination array, a monolithic edge-emitting laser array, a VCSEL array, a solid-state laser array, and a single fiber laser. If high repetition frequency devices such as fiber lasers are used, a single laser can be used for scanning; if a semiconductor laser is used, when the dot frequency required by the system is too high, the repetition frequency of a single laser cannot meet the use requirement, a scanning mode of parallel arrangement of multiple lasers can be used, and the requirement on the swing frequency of a one-dimensional galvanometer can be reduced.
In the preferred embodiment of the present invention, the detector array includes a plurality of APD combined arrays, a whole APD array, a SiPM array, and a SPAD array. The beam splitter comprises a typical aperture mirror, a PBS polarizing beam splitter. The light spot drift in the vertical direction caused by the high-speed scanning of the galvanometer can be adjusted through the dynamic compensation of the receiving end.
The utility model also provides a method of using above-mentioned laser radar to survey.
The utility model discloses a preferred embodiment provides laser radar transmitting element, receiving element based on one-dimensional mirror that shakes and multiaspect revolving mirror to and coaxial laser radar send-receiver system, through the selection to the swing frequency of one-dimensional mirror that shakes and the rotational frequency of multiaspect revolving mirror, improved laser radar system's angular resolution, extended the angle of view of vertical direction and horizontal direction, and effectively prevented the field distortion. In addition, the polygon mirror for scanning in the horizontal direction only needs the rotating speed of a few hertz to a few dozens of hertz, and is very suitable for being used as a slow axis of scanning and realizing a large field of view, while the resonator mirror for scanning in the vertical direction can realize high scanning frequency when the caliber or the swing amplitude is small, and is suitable for being used as a fast axis of scanning.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. A transmitting unit usable with a lidar comprising:
an array of lasers, each laser being individually drivable to emit a laser beam;
the one-dimensional galvanometer is arranged at the downstream of the optical path of the laser, is provided with a first reflecting surface and a first rotating shaft along a first direction, can rotate around the first rotating shaft, and reflects the laser beam incident on the one-dimensional galvanometer;
the multi-surface rotating mirror is arranged on the downstream of the optical path of the one-dimensional vibrating mirror and is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, wherein the first direction is perpendicular to the second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect the laser beams incident on the multi-surface rotating mirror to the outside of the laser radar for detecting the target object.
2. The lidar transmitting unit according to claim 1, further comprising a fast axis compression lens and a converging lens, which are sequentially disposed between the laser and the one-dimensional galvanometer, wherein the fast axis compression lens is configured to receive and compress a divergence angle of the laser beam emitted from the laser along a fast axis direction, and the converging lens is configured to converge the compressed laser beam, and wherein the one-dimensional galvanometer is disposed at a focal position of the converging lens.
3. The lidar transmitting unit of claim 1, further comprising a fast axis compression lens located between the laser and the one-dimensional galvanometer, wherein the fast axis compression lens is configured to receive and compress a divergence angle of the laser beam emitted from the laser along a fast axis direction, and a converging lens located between the one-dimensional galvanometer and the polygon mirror, wherein the converging lens is configured to converge the laser beam reflected by the one-dimensional galvanometer onto the polygon mirror.
4. The lidar transmission unit according to any of claims 1 to 3, wherein the one-dimensional galvanometer comprises a galvanometer mechanical resonator mirror or a MEMS resonator mirror.
5. The lidar transmission unit according to claim 1 or 2, wherein the one-dimensional galvanometer operates at a resonant frequency thereof, and a ratio of the resonant frequency to a rotational frequency of the polygon mirror is an integer greater than 1.
6. The lidar transmission unit according to claim 1 or 2, further comprising a laser driving circuit configured to obtain a current real-time vertical angle and a current real-time horizontal angle through position feedback of the one-dimensional galvanometer and the multi-faceted galvanometer, respectively, so as to determine whether to trigger the laser to emit light.
7. A receiving unit for laser radar comprises a detector array, a one-dimensional galvanometer and a polygon mirror,
wherein the detector array comprises a plurality of detectors, and each detector can receive the echo of the laser radar and convert the echo into an electric signal;
the multi-surface rotating mirror is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect the echoes incident on the multi-surface rotating mirror to the one-dimensional vibrating mirror;
the one-dimensional galvanometer is arranged on a light path between the detector array and the multi-surface rotating mirror and is provided with a first reflecting surface and a first rotating shaft along a first direction, the one-dimensional galvanometer can rotate around the first rotating shaft and reflects an incident echo to the one-dimensional galvanometer to the detector array, and the first direction is perpendicular to a second direction.
8. The lidar receiving unit of claim 7, further comprising a condenser lens disposed between the detector array and the galvanometer or between the galvanometer and the polygon mirror.
9. The lidar receiving unit according to claim 7 or 8, wherein the one-dimensional galvanometer comprises a galvanometer mechanical resonator mirror or a MEMS resonator mirror.
10. The lidar receiving unit according to claim 7 or 8, wherein the one-dimensional galvanometer operates at a resonant frequency thereof, and a ratio of the resonant frequency to a rotational frequency of the polygon mirror is an integer greater than 1.
11. A lidar, comprising:
the emission unit of any of claims 1-6, configured to emit a detection laser beam for detecting a target object;
a receiving unit as claimed in any one of claims 7 to 10, configured to receive echoes and convert them to electrical signals; and
a point cloud generating unit coupled with the transmitting unit and the receiving unit and configured to calculate a distance of a target object according to a flight time of the detection laser beam and generate a point cloud.
12. A lidar, comprising:
an array of lasers, each laser being individually drivable to emit a laser beam;
the detector array comprises a plurality of detectors, and each detector can receive the echo of the laser radar and convert the echo into an electric signal;
the one-dimensional galvanometer is arranged at the downstream of the optical path of the laser, is provided with a first reflecting surface and a first rotating shaft along a first direction, can rotate around the first rotating shaft, and reflects the laser beam incident on the one-dimensional galvanometer;
a spectroscope disposed between the laser and the one-dimensional galvanometer to allow a portion of a laser beam emitted by the laser to pass through and be incident on the one-dimensional galvanometer;
the multi-surface rotating mirror is arranged at the downstream of the optical path of the one-dimensional vibrating mirror and is provided with a plurality of second reflecting surfaces and a second rotating shaft along a second direction, wherein the first direction is vertical to the second direction, the multi-surface rotating mirror can rotate around the second rotating shaft, and the second reflecting surfaces can reflect laser beams incident on the multi-surface rotating mirror to the outside of the laser radar for detecting a target object; the second reflecting surface can reflect an echo to the one-dimensional galvanometer, and the echo is reflected by the one-dimensional galvanometer, passes through the spectroscope and enters the detector array.
13. The lidar of claim 12, further comprising a fast axis compression lens and a converging lens, wherein the fast axis compression lens is disposed between the laser and the beam splitter and configured to receive and compress a divergence angle of the laser beam emitted from the laser along a fast axis direction, the converging lens is disposed between the one-dimensional galvanometer and the multi-faceted galvanometer and configured to converge the compressed laser beam and converge an echo reflected by the multi-faceted galvanometer onto the one-dimensional galvanometer, and wherein the one-dimensional galvanometer is disposed at a focal position of the converging lens.
14. The lidar of claim 12, further comprising a fast axis compression lens between the laser and the beam splitter and a converging lens between the beam splitter and the one-dimensional galvanometer, wherein the fast axis compression lens is configured to receive and compress a divergence angle of the laser beam emitted by the laser along the fast axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020651631.0U CN213182011U (en) | 2020-04-26 | 2020-04-26 | Laser radar's transmitting unit, receiving element and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020651631.0U CN213182011U (en) | 2020-04-26 | 2020-04-26 | Laser radar's transmitting unit, receiving element and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213182011U true CN213182011U (en) | 2021-05-11 |
Family
ID=75764262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020651631.0U Active CN213182011U (en) | 2020-04-26 | 2020-04-26 | Laser radar's transmitting unit, receiving element and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213182011U (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11555895B2 (en) | 2021-04-20 | 2023-01-17 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
| US11567213B2 (en) | 2021-02-18 | 2023-01-31 | Innovusion, Inc. | Dual shaft axial flux motor for optical scanners |
| US11569632B2 (en) | 2018-04-09 | 2023-01-31 | Innovusion, Inc. | Lidar systems and methods for exercising precise control of a fiber laser |
| US11579258B1 (en) | 2018-08-30 | 2023-02-14 | Innovusion, Inc. | Solid state pulse steering in lidar systems |
| US11579300B1 (en) | 2018-08-21 | 2023-02-14 | Innovusion, Inc. | Dual lens receive path for LiDAR system |
| US11604279B2 (en) | 2017-01-05 | 2023-03-14 | Innovusion, Inc. | MEMS beam steering and fisheye receiving lens for LiDAR system |
| US11609336B1 (en) | 2018-08-21 | 2023-03-21 | Innovusion, Inc. | Refraction compensation for use in LiDAR systems |
| US11614521B2 (en) | 2021-04-21 | 2023-03-28 | Innovusion, Inc. | LiDAR scanner with pivot prism and mirror |
| US11614526B1 (en) | 2018-08-24 | 2023-03-28 | Innovusion, Inc. | Virtual windows for LIDAR safety systems and methods |
| US11644543B2 (en) | 2018-11-14 | 2023-05-09 | Innovusion, Inc. | LiDAR systems and methods that use a multi-facet mirror |
| US11662440B2 (en) | 2021-05-21 | 2023-05-30 | Innovusion, Inc. | Movement profiles for smart scanning using galvonometer mirror inside LiDAR scanner |
| US11662439B2 (en) | 2021-04-22 | 2023-05-30 | Innovusion, Inc. | Compact LiDAR design with high resolution and ultra-wide field of view |
| US11675050B2 (en) | 2018-01-09 | 2023-06-13 | Innovusion, Inc. | LiDAR detection systems and methods |
| US11675053B2 (en) | 2018-06-15 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
| US11675055B2 (en) | 2019-01-10 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods with beam steering and wide angle signal detection |
| WO2023143078A1 (en) * | 2022-01-29 | 2023-08-03 | 华为技术有限公司 | Laser radar and terminal device |
| US11762065B2 (en) | 2019-02-11 | 2023-09-19 | Innovusion, Inc. | Multiple beam generation from a single source beam for use with a lidar system |
| US11768294B2 (en) | 2021-07-09 | 2023-09-26 | Innovusion, Inc. | Compact lidar systems for vehicle contour fitting |
| US11782132B2 (en) | 2016-12-31 | 2023-10-10 | Innovusion, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
| US11782138B2 (en) | 2018-02-21 | 2023-10-10 | Innovusion, Inc. | LiDAR detection systems and methods with high repetition rate to observe far objects |
| US11789128B2 (en) | 2021-03-01 | 2023-10-17 | Innovusion, Inc. | Fiber-based transmitter and receiver channels of light detection and ranging systems |
| US11796645B1 (en) | 2018-08-24 | 2023-10-24 | Innovusion, Inc. | Systems and methods for tuning filters for use in lidar systems |
| US11808888B2 (en) | 2018-02-23 | 2023-11-07 | Innovusion, Inc. | Multi-wavelength pulse steering in LiDAR systems |
| US11871130B2 (en) | 2022-03-25 | 2024-01-09 | Innovusion, Inc. | Compact perception device |
| US11921234B2 (en) | 2021-02-16 | 2024-03-05 | Innovusion, Inc. | Attaching a glass mirror to a rotating metal motor frame |
| US11927696B2 (en) | 2018-02-21 | 2024-03-12 | Innovusion, Inc. | LiDAR systems with fiber optic coupling |
| US11947047B2 (en) | 2017-01-05 | 2024-04-02 | Seyond, Inc. | Method and system for encoding and decoding LiDAR |
| US11953601B2 (en) | 2016-12-30 | 2024-04-09 | Seyond, Inc. | Multiwavelength lidar design |
| WO2024075599A1 (en) * | 2022-10-07 | 2024-04-11 | デクセリアルズ株式会社 | Light irradiation device, optical ranging device, and vehicle |
| US11965980B2 (en) | 2018-01-09 | 2024-04-23 | Innovusion, Inc. | Lidar detection systems and methods that use multi-plane mirrors |
-
2020
- 2020-04-26 CN CN202020651631.0U patent/CN213182011U/en active Active
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11953601B2 (en) | 2016-12-30 | 2024-04-09 | Seyond, Inc. | Multiwavelength lidar design |
| US11782131B2 (en) | 2016-12-31 | 2023-10-10 | Innovusion, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
| US11782132B2 (en) | 2016-12-31 | 2023-10-10 | Innovusion, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
| US11899134B2 (en) | 2016-12-31 | 2024-02-13 | Innovusion, Inc. | 2D scanning high precision lidar using combination of rotating concave mirror and beam steering devices |
| US11604279B2 (en) | 2017-01-05 | 2023-03-14 | Innovusion, Inc. | MEMS beam steering and fisheye receiving lens for LiDAR system |
| US11947047B2 (en) | 2017-01-05 | 2024-04-02 | Seyond, Inc. | Method and system for encoding and decoding LiDAR |
| US11965980B2 (en) | 2018-01-09 | 2024-04-23 | Innovusion, Inc. | Lidar detection systems and methods that use multi-plane mirrors |
| US11675050B2 (en) | 2018-01-09 | 2023-06-13 | Innovusion, Inc. | LiDAR detection systems and methods |
| US11927696B2 (en) | 2018-02-21 | 2024-03-12 | Innovusion, Inc. | LiDAR systems with fiber optic coupling |
| US11782138B2 (en) | 2018-02-21 | 2023-10-10 | Innovusion, Inc. | LiDAR detection systems and methods with high repetition rate to observe far objects |
| US11808888B2 (en) | 2018-02-23 | 2023-11-07 | Innovusion, Inc. | Multi-wavelength pulse steering in LiDAR systems |
| US11569632B2 (en) | 2018-04-09 | 2023-01-31 | Innovusion, Inc. | Lidar systems and methods for exercising precise control of a fiber laser |
| US11675053B2 (en) | 2018-06-15 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
| US11860313B2 (en) | 2018-06-15 | 2024-01-02 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
| US11579300B1 (en) | 2018-08-21 | 2023-02-14 | Innovusion, Inc. | Dual lens receive path for LiDAR system |
| US11609336B1 (en) | 2018-08-21 | 2023-03-21 | Innovusion, Inc. | Refraction compensation for use in LiDAR systems |
| US11940570B2 (en) | 2018-08-24 | 2024-03-26 | Seyond, Inc. | Virtual windows for LiDAR safety systems and methods |
| US11614526B1 (en) | 2018-08-24 | 2023-03-28 | Innovusion, Inc. | Virtual windows for LIDAR safety systems and methods |
| US11796645B1 (en) | 2018-08-24 | 2023-10-24 | Innovusion, Inc. | Systems and methods for tuning filters for use in lidar systems |
| US11914076B2 (en) | 2018-08-30 | 2024-02-27 | Innovusion, Inc. | Solid state pulse steering in LiDAR systems |
| US11579258B1 (en) | 2018-08-30 | 2023-02-14 | Innovusion, Inc. | Solid state pulse steering in lidar systems |
| US11644543B2 (en) | 2018-11-14 | 2023-05-09 | Innovusion, Inc. | LiDAR systems and methods that use a multi-facet mirror |
| US11686824B2 (en) | 2018-11-14 | 2023-06-27 | Innovusion, Inc. | LiDAR systems that use a multi-facet mirror |
| US11675055B2 (en) | 2019-01-10 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods with beam steering and wide angle signal detection |
| US11762065B2 (en) | 2019-02-11 | 2023-09-19 | Innovusion, Inc. | Multiple beam generation from a single source beam for use with a lidar system |
| US11921234B2 (en) | 2021-02-16 | 2024-03-05 | Innovusion, Inc. | Attaching a glass mirror to a rotating metal motor frame |
| US11567213B2 (en) | 2021-02-18 | 2023-01-31 | Innovusion, Inc. | Dual shaft axial flux motor for optical scanners |
| US11789128B2 (en) | 2021-03-01 | 2023-10-17 | Innovusion, Inc. | Fiber-based transmitter and receiver channels of light detection and ranging systems |
| US11555895B2 (en) | 2021-04-20 | 2023-01-17 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
| US11614521B2 (en) | 2021-04-21 | 2023-03-28 | Innovusion, Inc. | LiDAR scanner with pivot prism and mirror |
| US11662439B2 (en) | 2021-04-22 | 2023-05-30 | Innovusion, Inc. | Compact LiDAR design with high resolution and ultra-wide field of view |
| US11662440B2 (en) | 2021-05-21 | 2023-05-30 | Innovusion, Inc. | Movement profiles for smart scanning using galvonometer mirror inside LiDAR scanner |
| US11768294B2 (en) | 2021-07-09 | 2023-09-26 | Innovusion, Inc. | Compact lidar systems for vehicle contour fitting |
| WO2023143078A1 (en) * | 2022-01-29 | 2023-08-03 | 华为技术有限公司 | Laser radar and terminal device |
| US11871130B2 (en) | 2022-03-25 | 2024-01-09 | Innovusion, Inc. | Compact perception device |
| WO2024075599A1 (en) * | 2022-10-07 | 2024-04-11 | デクセリアルズ株式会社 | Light irradiation device, optical ranging device, and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213182011U (en) | Laser radar's transmitting unit, receiving element and laser radar | |
| CN113640812A (en) | Coaxial laser radar system based on one-dimensional galvanometer and multi-surface rotating mirror | |
| CN215641806U (en) | Laser radar | |
| US10571552B1 (en) | Scanner control for Lidar systems | |
| US20190265336A1 (en) | 2-dimensional steering system for lidar systems | |
| US10571574B1 (en) | Hybrid LADAR with co-planar scanning and imaging field-of-view | |
| JP5653715B2 (en) | Laser surveyor | |
| WO2020114229A1 (en) | Laser radar optical system and scanning method | |
| CN109254297B (en) | Optical path system of laser radar and laser radar | |
| WO2021197170A1 (en) | Lidar and method for detecting target object by using lidar | |
| CN110794382A (en) | Laser radar and detection method thereof | |
| CN113030909A (en) | Laser radar system based on micro-mirror array | |
| US20220413105A1 (en) | Lidar and lidar scanning method | |
| CN111308443A (en) | Laser radar | |
| CN113030911A (en) | Laser radar system | |
| CN111007484A (en) | Single line laser radar | |
| CN111505605A (en) | Wide-range scanning laser radar combining swing mirror and rotating mirror | |
| CN217543379U (en) | Laser radar | |
| CN110824458A (en) | Large-range scanning coaxial MEMS laser radar optical system | |
| CN113552580A (en) | Laser radar and method for detecting target object by using same | |
| WO2023035326A1 (en) | Hybrid solid-state lidar and scanning method therefor | |
| CN213934211U (en) | MEMS one-dimensional laser radar and digital camera surveying and mapping device | |
| WO2022110210A1 (en) | Laser radar and mobile platform | |
| US20210318439A1 (en) | Hybrid LADAR with Co-Planar Scanning and Imaging Field-of-View | |
| CN109870699A (en) | A kind of laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |