CN215116776U - Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof - Google Patents
Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof Download PDFInfo
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- CN215116776U CN215116776U CN202120410061.0U CN202120410061U CN215116776U CN 215116776 U CN215116776 U CN 215116776U CN 202120410061 U CN202120410061 U CN 202120410061U CN 215116776 U CN215116776 U CN 215116776U
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Abstract
The utility model discloses a laser scanning device and laser radar, unmanned aerial vehicle or intelligent car thereof. The laser scanning device includes: the scanning mirror assembly rotates around a rotating shaft, the scanning mirror assembly is provided with four scanning mirror surfaces, the included angle of each scanning mirror surface relative to the rotating shaft is not completely the same, and the section lines of the adjacent scanning mirror surfaces in the four scanning mirror surfaces are vertical to each other on the section plane vertical to the rotating shaft; a linear laser light source for emitting a linear laser signal through a first scanning mirror among the four scanning mirrors; the laser receiving units receive the echo signals of the linear laser signals through a second scanning mirror surface of the four scanning mirror surfaces, so that a transmitting light path and a receiving light path are isolated from each other, and the related interference of the linear laser signals and the echo signals is avoided; the plane of the linear laser signal emitted by the linear laser light source is parallel to or the same plane with the plane formed by the echo signals received by the plurality of laser receiving units.
Description
Technical Field
The utility model relates to a three-dimensional laser scanning field especially relates to a laser scanning device and laser radar, unmanned aerial vehicle or intelligent car thereof.
Background
The laser scanning device is a core optical machine structure of the laser radar device, and meanwhile, the laser scanning device can also be used in other occasions needing laser scanning.
In industrial applications, a scanning device with a simple and efficient structure is urgently needed in the industry. Meanwhile, the number of parts can be reduced, and cost reduction is an urgent problem to be solved.
Particularly, the scanning mode which is suitable for a larger vertical field angle, is convenient for obtaining more scanning lines by using less light sources, has higher resolution, high precision and low power consumption, can be adapted to various practical scenes which are convenient for landing, meets the industrial requirements and is also a problem which is paid attention to by technicians in the field.
Disclosure of Invention
The technical problem solved by the utility model is to provide a realization mode of laser scanning device's core ray apparatus structure.
Furthermore, a laser scanning mode with less light sources and high resolution is provided.
Furthermore, a laser scanning mode with more optimized light path performance and higher precision is provided.
Furthermore, a scanning mode suitable for a larger vertical field angle is provided.
Furthermore, a scanning mode with low power consumption is provided.
The utility model discloses a laser scanning device, this laser scanning device includes:
the scanning mirror assembly rotates around a rotating shaft, the scanning mirror assembly is provided with four scanning mirror surfaces, the included angle of each scanning mirror surface relative to the rotating shaft is not completely the same, and the section lines of the adjacent scanning mirror surfaces in the four scanning mirror surfaces are vertical to each other on the section plane vertical to the rotating shaft;
a linear laser light source for emitting a linear laser signal through a first scanning mirror among the four scanning mirrors;
the laser receiving units receive the echo signals of the linear laser signals through a second scanning mirror surface of the four scanning mirror surfaces, so that a transmitting light path and a receiving light path are isolated from each other, and the related interference of the linear laser signals and the echo signals is avoided;
the plane of the linear laser signal emitted by the linear laser light source is parallel to or the same plane with the plane formed by the echo signals received by the plurality of laser receiving units.
The first scanning mirror and the second scanning mirror are adjacent scanning mirrors.
The extending direction of the projection of the linear laser signal on a reference surface is parallel to the rotating shaft, the reference surface is positioned between the rotating shaft and the linear laser light source, and the reference surface is parallel to the rotating shaft.
The laser scanning device includes:
the laser scanning device comprises a plurality of linear laser light sources, wherein each linear laser light source is correspondingly provided with a plurality of laser receiving units, the number of the laser receiving units corresponding to different linear laser light sources is the same or different, and the plurality of linear laser light sources are arranged on the same side or different sides of the view field of the laser scanning device.
The plurality of linear laser light sources emit linear laser signals at different times.
The plurality of linear laser light sources are arranged along the extending direction of the rotating shaft, or the plurality of linear laser light sources are arranged along the vertical direction of the extending direction of the rotating shaft.
The plurality of laser receiving units are sequentially arranged along the extension direction of the rotating shaft.
The same laser receiving unit can receive echo signals from different linear laser light sources.
According to the scanning mirror plane projected by the linear laser light source, a part of the plurality of laser receiving units is enabled.
In the direction parallel to the scanning axis, the receiving field of view generated by each laser receiving unit via the second scanning mirror is contained in the emitting field of view generated by the linear laser light source via the first scanning mirror.
Wherein (. beta.) isn1、βn2) The actual receiving view angle range, alpha, of the nth laser receiving unit corresponding to the same linear laser light source1、α2、α3、α4Is the respective included angle of four scanning mirror surfaces (theta)1、θ2) The range of the emitting angle of the linear laser signal actually emitted by the linear laser light source.
The linear laser light source comprises a laser and a beam shaping module, wherein the beam shaping module is an optical fiber or a micro lens or a diffraction element.
The utility model also discloses a laser radar, be provided with laser scanning device.
The utility model also discloses an intelligent vehicle or unmanned aerial vehicle, be provided with laser radar.
The utility model provides a realization mode of laser scanning device's core ray apparatus structure utilizes less linear laser light source, realizes the laser scanning based on the not identical scanning mirror subassembly of scanning mirror surface contained angle, has promoted resolution ratio. The transmitting light path and the receiving light path are isolated from each other, so that the related interference of linear laser signals and echo signals is avoided, and the accuracy of signal acquisition is improved. Additionally, the utility model discloses the applicable great perpendicular angle of vision still has lower consumption simultaneously.
Drawings
Fig. 1 is a schematic structural diagram of a laser scanning device according to the present invention.
Fig. 2 is a schematic structural view of a scanning mirror assembly according to the present invention.
Fig. 3A, 3B, and 3C are schematic views of scanning mirror surfaces of the scanning mirror assembly of the present invention.
Fig. 4 is a schematic top view of the laser scanning device according to the present invention.
Fig. 5A, 5C, and 5D are schematic structural diagrams of the laser scanning device according to the present invention.
Fig. 5B is an equivalent view of the linear laser light source 11 and the laser receiving unit 12.
Fig. 6 and 7 are schematic structural diagrams of the laser scanning device according to the present invention.
Fig. 8 is a schematic structural diagram of a laser according to the present invention.
Detailed Description
The following describes the implementation process of the technical solution of the present invention with reference to specific embodiments, which are not intended to limit the present invention.
The utility model discloses a laser scanning device, as shown in figure 1 be the utility model discloses a laser scanning device's schematic structure diagram. Fig. 2 is a schematic structural view of a scanning mirror assembly according to the present invention.
The laser scanning device 100 includes a linear laser light source 11, a plurality of laser receiving units 12, and a scanning mirror assembly 20.
The scan mirror assembly 20 rotates about a rotational axis O. The utility model discloses a laser source adopts the line shape, and this line shape laser source 11 sends line shape laser signal L and produces the transmission visual field through the rotation of this scanning mirror subassembly, and this line shape laser signal L has specific divergence angle. As shown in fig. 2, the scanning mirror assembly 20 has four scanning mirror planes I, II, III, IV, each having a normal F. And the included angles alpha of the four scanning mirror surfaces relative to the rotating shaft O are not identical.
As shown in fig. 3A-3C, the structure of the scanning mirror is schematically illustrated. As shown in fig. 3C, the scan mirror 23 is parallel to the scan axis O, and the angle α between the scan mirror 23 and the scan axis O is 0 degree. FIG. 3A shows scanning mirror 21 at an angle α relative to scanning axis O, which is negative when the normal to scanning mirror 21 is rotated clockwise as shown in FIG. 3C, FIG. 3B shows scanning mirror 22 at an angle α relative to scanning axis O, which is positive when the normal to scanning mirror 22 is rotated counterclockwise as shown in FIG. 3C. The specific degree of the included angle alpha can be set according to requirements.
The angle values of the included angles alpha of the four scanning mirror surfaces can be different, and the included angles alpha of two or three scanning mirror surfaces can be the same. The cross-sectional lines of adjacent scan mirror surfaces in the cross-sectional plane perpendicular to the axis of rotation are perpendicular to each other as shown in FIG. 4.
Fig. 4 is a top view of the laser scanning device according to the present invention. The plurality of laser receiving units 12 receive echo signals R of the line laser signals L emitted from the same line laser light source 11. That is, the linear laser light source 11 emits a linear laser signal to the environment through the rotation of the scanning mirror assembly 20, and the linear laser signal is reflected by the scanning mirror assembly 20 and received by the plurality of laser receiving units 12 after being blocked by an obstacle.
The line laser signal L includes the line laser signal L1 projected onto the first scan mirror of the scan mirror assembly 20 and the line laser signal L2 reflected off the first scan mirror of the scan mirror assembly 20.
The echo signals R include the echo signal R2 projected onto the second scanning mirror of the scanning mirror assembly 20 and the echo signal R1 reflected by the second scanning mirror of the scanning mirror assembly 20 to the laser receiving unit 12. The first scanning mirror and the second scanning mirror are adjacent scanning mirrors. As the scan mirror assembly 20 rotates, the scan mirrors I, II, III, IV may be sequentially first scan mirrors or may be sequentially second scan mirrors. The plane of the linear laser signal L1 emitted by the linear laser light source is parallel to or the same plane with the plane formed by the echo signals R1 received by the plurality of laser receiving units.
With the rotation of the scanning mirror assembly 20, the linear laser signal L2 is always parallel to the echo signal R2, forming a parallel optical path.
A coordinate system is established with the rotation axis O as the Z-axis, and the Y-axis direction is the main optical axis direction of the laser scanning apparatus 100. The reference plane E is located between the rotation axis O and the line-shaped laser light source 11, and is parallel to the rotation axis. The extending direction D of the projection of the linear laser signal on the reference plane E is in the same plane as the rotation axis O, or the extending direction D is parallel to the rotation axis O, so that the extending direction of the echo signal is also parallel to the rotation axis O. The plurality of laser receiving units are also arranged in sequence along the extension direction of the rotating shaft. So that the receiving field of view of the laser receiving unit corresponds to the emitting field of view of the line-shaped laser light source.
In addition, because the included angle of each scanning mirror surface is different, the reflection directions of the linear laser signals L2 generated by the linear laser light sources corresponding to each scanning mirror surface are different, the emission view fields are different in position in the Z-axis direction and move in a reciprocating manner, the number of scanning lines can be doubled correspondingly by using the same linear laser light source, and the resolution ratio is improved. If the included angles of the four scanning mirror surfaces are different, namely four included angles exist, the number of the generated scanning lines can be four times that of the included angles of the four scanning mirror surfaces, and if three included angles exist, the number of the generated scanning lines is three times that of the included angles of the four scanning mirror surfaces, and so on.
Because the position of the transmitting view field is changed in the rotation process of the scanning mirror assembly, requirements are put forward on the arrangement mode of the plurality of laser receiving units, the plurality of laser receiving units can receive echo signals, and the transmitting view field is matched with the receiving view field.
In the first embodiment, all laser receiving units corresponding to the same line-shaped laser light source can receive the echo signal of the line-shaped laser light source when corresponding to each scanning mirror surface, that is, in the direction parallel to the scanning axis O (Z direction), the receiving field of view generated by each laser receiving unit through the second scanning mirror surface is included in the transmitting field of view generated by the line-shaped laser light source through the first scanning mirror surface.
Referring to fig. 5A, in the present embodiment, each line-shaped laser light source 11 corresponds to three laser receiving units 12, and each of the laser receiving units 12 has a receiving field of view and an actual receiving field of view. The field of view corresponding to the section from the laser receiving unit 12 to the scanning mirror is the actual receiving field of view, and the field of view of the section from the echo signal R2 irradiated to the scanning mirror is the receiving field of view.
Specifically, as shown in fig. 4, the line laser light source 11 emits a line laser signal through the scanning mirror I, and the laser receiving unit 12 receives an echo signal through the scanning mirror IV.
As the scanning mirror assembly 20 rotates, the signals at the transmitting end and the receiving end are always reflected by two adjacent scanning mirrors, respectively. The field of view range of the line-shaped laser signal L2 in the xy plane is between L2' and L2 ″. The echo signal R2 is always parallel to the line-shaped laser signal L2, and the field of view in the xy plane ranges between R2' and R2 ″.
In the YZ plane, the laser receiving unit 12 has a section of actual receiving field, and the receiving fields are reflected by different scanning mirror surfaces and finally reflected to form the actual receiving field, that is, in the Z direction, the receiving fields of the laser receiving unit 12 corresponding to each scanning mirror surface are different but correspond to the same actual receiving field.
In order to complete the transmission and the corresponding reception successfully, the transmission field of view of the linear laser light source 11 and the reception field of view of the corresponding laser receiving unit correspond to the same field of view range in the surrounding environment, and generally, the reception field of view is included in the transmission field of view.
As shown in FIG. 4, scanning mirror I has an angle α with respect to axis of rotation O1. The scanning mirror IV has an angle alpha with respect to the rotation axis O4。
As shown in fig. 5B, the view field equivalent diagram of the line-shaped laser light source 11 and the laser receiving unit 12 is shown. The emission field of view of the linear laser light source 11 and the receiving field of view of the laser receiving unit 12 are for the same region in the detection environment of the lidar.
In a three-dimensional coordinate system having the rotation axis O as the z-axis, (θ)1、θ2) The emission angle range theta of the linear laser signal L1 of the linear laser light source 111Is the angle theta of the first side of the linear laser signal L1 relative to the Y axis2The angle of the second side of the line-shaped laser signal L1 with respect to the Y-axis.
(βn1、βn2) The actual receiving view field angle range of the nth laser receiving unit corresponding to the same linear laser light source. Beta is an1The angle of the first side edge of the actual receiving field angle of the nth laser receiving unit with respect to the Y axis is betan2The angle of the second side of the actual receiving view angle of the nth laser receiving unit relative to the Y axis. Alpha is alpha1、α2、α3、α4The included angles of the four scanning mirror surfaces I, II, III and IV relative to the rotation axis O are respectively. (theta)1+2α1,θ2+2α1) The angular range of the emission field of the linear laser light source 11 is the angular range of L2 in the Z direction in fig. 4.
The positions of the line-shaped laser light source 11 and the laser light receiving unit 12 simultaneously conform to the following formula.
When the first scanning mirror is scanning mirror I and the second scanning mirror is scanning mirror IV, the positions of the linear laser light source 11 and the laser receiving unit 12 conform to formula (1):
when the first scanning mirror is scanning mirror II and the second scanning mirror is scanning mirror I, the positions of the linear laser source 11 and the laser receiving unit 12 conform to formula (2):
when the first scanning mirror is the scanning mirror III and the second scanning mirror is the scanning mirror II, the positions of the linear laser light source 11 and the laser receiving unit 12 conform to the formula (3):
when the first scanning mirror is scanning mirror IV and the second scanning mirror is scanning mirror III, the positions of the linear laser light source 11 and the laser receiving unit 12 are in accordance with formula (4):
therefore, no matter how different scanning mirrors are adjusted to the receiving view field and the transmitting view field, the receiving view field of the laser receiving unit 12 corresponding to the same linear laser light source falls into the transmitting view field of the linear laser light source, and the transmitting and receiving are separately arranged on two sides of the scanning mirror assembly. In a preferred embodiment, the receiving fields of view of different laser receiving units 12 corresponding to the same line-shaped laser light source are sequentially adjacent, so that the total receiving field of view is as enlarged as possible.
The linear laser light source and the laser receiving unit of the embodiment are located on two sides of the scanning mirror assembly 20, so that the transmitting light path and the receiving light path are isolated from each other, the related interference of linear laser signals and echo signals is avoided, the performance of the light path is optimized, and the precision of signal acquisition is improved.
Particularly, a core framework which can still realize the two sides of the discrete scanning mirror assembly at the transmitting end and the receiving end on the premise that the included angle of each scanning mirror is different and the resolution is improved is established, and the system performance and the efficiency are improved by the same simple design.
Utilize the pointolite can't realize in prior art that each scanning mirror surface contained angle is different and the transmitting terminal utilizes different scanning mirror surfaces to carry out the scanning under the condition of receiving and dispatching with the receiving terminal, and the utility model discloses utilize the line source, realized that laser receiving element 12 still can realize the effective receipt of signal, realizes the scanning even each scanning mirror surface produces the adjustment to receiving, transmission visual field, and the light source is small in quantity simultaneously, low power dissipation.
Each laser receiving unit of the embodiment has no redundancy, can work under full load, has high component efficiency, reduces the number of components required to be arranged and reduces the cost.
The laser scanning device 100 may further include a plurality of linear laser light sources 11, each of which is correspondingly provided with a plurality of laser receiving units 12, and the number of the laser receiving units corresponding to different linear laser light sources may be the same or different.
As shown in fig. 5A, the laser scanning device 100 includes two line-shaped laser light sources 11, and three laser receiving units 12 are correspondingly disposed on each line-shaped laser light source. The plurality of linear laser light sources emit linear laser signals at different times. Each line-shaped laser light source 11 is correspondingly received by a laser receiving unit 12 which is explicitly specified in advance. As shown in fig. 5A, the first line-shaped laser light source 11 corresponds to the first three laser receiving units 12, and the second line-shaped laser light source 11 corresponds to the last three laser receiving units 12.
In the second embodiment, a plurality of laser receiving units 12 corresponding to the same line-shaped laser light source 11 can correspondingly receive echo signals corresponding to different scanning mirrors through quantity redundancy. That is, because the included angles α of the scanning mirror surfaces are different, the echo signals corresponding to the scanning mirror surfaces occupy different positions in the extending direction of the rotation axis O, and particularly, the scanning mirror surfaces corresponding to the transmitting end and the receiving end are different, the included angles α may be different, and the adjustment degrees of the optical paths of the linear laser signal L1 and the actual receiving field of view may be different, so that only a part of the laser receiving units arranged along the extending direction of the rotation axis O may be located within the coverage range of the current echo signal, and therefore, according to the scanning mirror surface currently projected by the linear laser light source, a part of the laser receiving units may be enabled, thereby improving the efficiency.
As shown in fig. 5C, taking a linear laser light source 11 as an example, in this example, the linear laser light source 11 corresponds to four laser receiving units 12, a portion covered by a dotted line corresponds to an echo signal generated by one scanning mirror, which covers three laser receiving units 12, and a portion covered by a solid line corresponds to an echo signal generated by another scanning mirror, which covers three laser receiving units 12. It can be seen that the same laser receiving unit can receive echo signals generated from the same line-shaped laser light source via different scanning mirrors, such as the second or third laser receiving unit of fig. 5C. Then, as the scanning mirror assembly 20 rotates, a part of the plurality of laser receiving units 12 is enabled according to the scanning mirror currently projected by the line-shaped laser light source 11, that is, when the echo signal is generated by the first scanning mirror, the first, second, and third laser receiving units are enabled, and when the echo signal is generated by the second scanning mirror, the second, third, and fourth laser receiving units are enabled.
The utility model discloses an in a set of receiving and dispatching unit, a linear laser light source corresponds a plurality of laser receiving unit's mode, has changed the mode that original laser emission unit corresponds a laser receiving unit to reduce linear laser light source's quantity, the cost is reduced utilizes less linear laser light source to realize laser scanning. The included angles of the scanning mirror surfaces are different, and the number of lower linear laser light sources can be utilized, so that the number of scanning lines which can be generated by the laser scanning device is increased, and the resolution is improved.
As shown in fig. 1, the line-shaped laser light source 11 and the corresponding laser receiving units 12 are disposed at two sides of the field of view of the laser scanning device, that is, at two sides of the scanning mirror assembly 20. By using the scanning mirror assembly 20 as an isolating device, the linear laser signal emitted by the linear laser light source 11 is not directly incident to the laser receiving unit 12, thereby realizing optical path isolation and improving the accuracy of data acquisition.
In the third embodiment, the same laser receiving unit 12 can receive echo signals from different line-shaped laser light sources 11. As shown in fig. 5D, five laser receiving units 12 correspond to two linear laser light sources 11, and one of the laser receiving units 12 can receive echo signals of different linear laser light sources 11 at different times.
The plurality of linear laser light sources 11 are disposed on the same side of the field of view of the laser scanning device as shown in fig. 5A, and the plurality of linear laser light sources 11 may also be disposed on different sides of the field of view of the laser scanning device as shown in fig. 6 and 7.
In fig. 6, a plurality of laser receiving units 12 corresponding to the same linear laser light source 11 are arranged together, and have a certain distance from the linear laser light source on the same side. In fig. 7, a plurality of laser receiving units 12 corresponding to the same line-shaped laser light source 11 are arranged in a mixed manner with the line-shaped laser light source on the same side, that is, in fig. 7, the signal emitted by the right line-shaped laser light source 11 is received by the three left laser receiving units 12 together, and in fig. 7, the signal emitted by the left line-shaped laser light source 11 is received by the three right laser receiving units 12 together. The arrangement of the laser receiving units 12 can be set according to requirements. The receiving surface of the laser receiving unit is provided with a diaphragm to eliminate stray light.
The plurality of linear laser light sources are arranged to emit laser signals at different times. That is to say, only one linear laser light source emits laser signals at the same time, so that mutual interference of received data and confusion of identification possibly caused by simultaneous emission of a plurality of linear laser light sources are avoided.
As can be seen from fig. 5A and 5D, the plurality of linear laser light sources 11 are arranged in order along the extending direction of the rotation axis O. This a plurality of laser receiving unit arrange in proper order along this rotation axis O extending direction, through adjoining in proper order of every linear laser light source 11 correspondence visual field, the utility model discloses a laser scanning device can obtain great perpendicular angle of vision. In another embodiment, the plurality of linear laser light sources may also be arranged along a direction perpendicular to the extending direction of the rotation axis.
The line laser light source 11 is used for generating a line laser signal. Fig. 8 is a schematic structural diagram of the linear laser light source 11. Specifically, the line-shaped laser light source 11 includes a laser 111 and a beam shaping module 112. The laser 111 emits a laser signal facing the beam shaping module 112, and the beam shaping module 112 shapes the laser signal to form a linear laser signal. The beam shaping module 112 is an optical fiber or a micro lens or a diffractive element. The utility model discloses a pointolite that sends same laser instrument converts linear laser signal into for the energy that this laser instrument sent has carried out the spatial distribution that becomes more meticulous, has lower consumption simultaneously.
The utility model also discloses a laser radar, this laser radar is provided with above-mentioned laser scanning device.
The utility model also discloses an intelligent vehicle is provided with foretell laser radar.
The utility model also discloses an unmanned aerial vehicle is provided with foretell laser radar.
The utility model provides a realization mode of laser scanning device's core ray apparatus structure utilizes less linear laser light source, realizes the laser scanning based on the not identical scanning mirror subassembly of scanning mirror surface contained angle, has promoted resolution ratio. The transmitting light path and the receiving light path are isolated from each other, so that the related interference of linear laser signals and echo signals is avoided, and the accuracy of signal acquisition is improved. Additionally, the utility model discloses the applicable great perpendicular angle of vision still has lower consumption simultaneously.
The above-mentioned embodiments are only exemplary descriptions for implementing the present invention, and are not intended to limit the scope of the present invention, and various obvious modifications and equivalent technical solutions can be made by those skilled in the art, which are all covered by the scope of the present invention.
Claims (14)
1. A laser scanning device, comprising:
the scanning mirror assembly rotates around a rotating shaft, the scanning mirror assembly is provided with four scanning mirror surfaces, the included angle of each scanning mirror surface relative to the rotating shaft is not completely the same, and the section lines of the adjacent scanning mirror surfaces in the four scanning mirror surfaces are vertical to each other on the section plane vertical to the rotating shaft;
a linear laser light source for emitting a linear laser signal through a first scanning mirror among the four scanning mirrors;
the laser receiving units receive the echo signals of the linear laser signals through a second scanning mirror surface of the four scanning mirror surfaces, so that a transmitting light path and a receiving light path are isolated from each other, and the related interference of the linear laser signals and the echo signals is avoided;
the plane of the linear laser signal emitted by the linear laser light source is parallel to or the same plane with the plane formed by the echo signals received by the plurality of laser receiving units.
2. The laser scanning device as claimed in claim 1, wherein the first scanning mirror and the second scanning mirror are adjacent scanning mirrors.
3. The laser scanning device of claim 1, wherein the projection of the linear laser signal onto a reference plane extending parallel to the rotation axis is located between the rotation axis and the linear laser light source, the reference plane being parallel to the rotation axis.
4. The laser scanning device as claimed in claim 1, wherein the laser scanning device comprises:
the laser scanning device comprises a plurality of linear laser light sources, wherein each linear laser light source is correspondingly provided with a plurality of laser receiving units, the number of the laser receiving units corresponding to different linear laser light sources is the same or different, and the plurality of linear laser light sources are arranged on the same side or different sides of the view field of the laser scanning device.
5. The laser scanning device as claimed in claim 4, wherein the plurality of line laser light sources emit line laser signals at different times.
6. The laser scanning device according to claim 4, wherein the plurality of line-shaped laser light sources are arranged along the extending direction of the rotation axis, or the plurality of line-shaped laser light sources are arranged along a direction perpendicular to the extending direction of the rotation axis.
7. The laser scanning device according to claim 1, 2 or 4, wherein the plurality of laser receiving units are arranged in sequence along the extending direction of the rotation axis.
8. A laser scanning device according to claim 4 or 5, wherein the same laser receiving unit is capable of receiving echo signals from different linear laser light sources.
9. The laser scanning device as claimed in claim 1, wherein a portion of the plurality of laser receiving units is enabled according to a scanning mirror currently projected by the line-shaped laser light source.
10. The laser scanning device according to claim 1, wherein the receiving field of view of each of the laser receiving units generated by the second scanning mirror is included in the emitting field of view of the line-shaped laser light source generated by the first scanning mirror in a direction parallel to the scanning axis.
11. The laser scanning device according to claim 10,
wherein (. beta.) isn1、βn2) The actual receiving view angle range, alpha, of the nth laser receiving unit corresponding to the same linear laser light source1、α2、α3、α4Is the respective included angle of four scanning mirror surfaces (theta)1、θ2) The range of the emitting angle of the linear laser signal actually emitted by the linear laser light source.
12. The laser scanning device as claimed in claim 1, wherein the line laser source comprises a laser and a beam shaping module, the beam shaping module is an optical fiber or a micro lens or a diffraction element.
13. A lidar characterized in that a laser scanning apparatus according to any one of claims 1-12 is provided.
14. An unmanned aerial vehicle or smart car, characterized in that is provided with a lidar according to claim 13.
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| CN112859045A (en) * | 2020-12-30 | 2021-05-28 | 北京北科天绘科技有限公司 | Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112859045A (en) * | 2020-12-30 | 2021-05-28 | 北京北科天绘科技有限公司 | Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof |
| CN112859045B (en) * | 2020-12-30 | 2024-04-02 | 北京北科天绘科技有限公司 | Laser scanning device and laser radar, unmanned aerial vehicle or intelligent vehicle thereof |
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| GR01 | Patent grant |