CN219871769U - Laser radar scanning system - Google Patents
Laser radar scanning system Download PDFInfo
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- CN219871769U CN219871769U CN202320936967.5U CN202320936967U CN219871769U CN 219871769 U CN219871769 U CN 219871769U CN 202320936967 U CN202320936967 U CN 202320936967U CN 219871769 U CN219871769 U CN 219871769U
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- 230000010287 polarization Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 239000013307 optical fiber Substances 0.000 claims abstract description 10
- 230000003068 static effect Effects 0.000 claims description 12
- 230000010365 information processing Effects 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The utility model discloses a laser radar scanning system, which comprises: the laser comprises a pulse laser, a 1 multiplied by 2 optical fiber coupler, a first collimating mirror, a second collimating mirror, a first single-axis MEMS vibrating mirror, a second single-axis MEMS vibrating mirror, a first polarization beam splitter, a second polarization beam splitter, a detection module, a turning mirror module and a control module, wherein the pulse laser emits laser in left and right directions, the emitted laser of the pulse laser can be upwards reflected by the single-axis MEMS vibrating mirror, the polarization beam splitter projects deflected laser in the field of view of the single-axis MEMS vibrating mirror to two sides of the turning mirror, the center of the turning mirror is positioned at the midpoint of a connecting line of the first polarization beam splitter and the second polarization beam splitter, the turning mirror controls scanning in the horizontal direction, and the two single-axis MEMS vibrating mirrors are responsible for scanning in the vertical directions of the fields of view at two sides, so that the laser can be scanned in a large range.
Description
Technical Field
The utility model relates to a laser radar scanning system, and belongs to the field of laser radars.
Background
The lidar is a radar using laser light as a working beam. The working principle of the laser radar is that the laser emits pulse laser to the surface of a target object to be reflected, echo signals are collected by the detection equipment, time information is obtained through comparison of initial signals and the echo signals, and the distance between the laser radar and the target object can be obtained. Because of the advantages of high ranging precision, good anti-interference performance, long ranging range and the like of the laser radar, the laser radar has very wide application in the aspects of aerospace, unmanned, measurement and control mapping and the like.
The traditional laser radar is mainly divided into a mechanical rotation scanning mode of multiple lines, a turning mirror scanning mode of multiple lines, a double-axis MEMS scanning mode of single lines and a laser line scanning camera of a single-axis MEMS according to a scanning mode, the number of point clouds in the vertical direction of the mechanical rotation scanning mode and the turning mirror scanning mode depends on the number of lines, the measurable distance of the line scanning laser scanning is small, the MEMS of single axis and double axis can only scan in a fixed view field range, in combination, the mechanical multi-line laser radar is subjected to the vertical direction and is of a laser line number or turning mirror structure, and the view field of the mixed laser radar of the MEMS is small.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide a single laser radar scanning system which aims at the defects in the prior art and can carry out laser scanning with high resolution in a horizontal direction and a large range and a vertical direction by one laser.
The utility model solves the technical problems by adopting the following technical scheme:
a lidar scanning system, comprising: the laser comprises a pulse laser, a 1X 2 optical fiber coupler, a first collimating mirror, a second collimating mirror, a first single-axis MEMS vibrating mirror, a second single-axis MEMS vibrating mirror, a first polarization beam splitter, a second polarization beam splitter, a detection module, a turning mirror module and a control module, wherein an input port of the 1X 2 optical fiber coupler is inserted into a light emitting port of the pulse laser, the first collimating mirror and the second collimating mirror are respectively connected with two output ports of the 1X 2 optical fiber coupler, the output ports emit laser in left and right directions, and the laser is characterized in that the first single-axis MEMS vibrating mirror is tilted to the left by 45 degrees, laser on the left side of the pulse laser can be vertically reflected by the static first single-axis MEMS vibrating mirror, the second single-axis MEMS vibrating mirror is tilted to the right by 45 degrees, the laser on the right side of the pulse laser can be vertically reflected by the static second single-axis MEMS vibrating mirror, the distance of the first polarization beam splitter is positioned above the first single-axis MEMS vibrating mirror, the distance of the second polarization beam splitter is positioned above the second single-axis MEMS vibrating mirror, the center of the turning mirror is positioned at the midpoint of the first polarization beam splitter and the second polarization connecting line, the turning mirror is used for controlling scanning in the horizontal direction, and the first single-axis MEMS vibrating mirror is used for controlling the scanning in the vertical scanning direction, and the first single-axis vibrating mirror is used for controlling the vertical scanning direction, and the vertical scanning direction of the first single-axis MEMS vibrating mirror is controlled to the vertical to rotate, and the first single-axis vibrating mirror is used for controlling the vertical scanning direction.
The first single-axis MEMS vibrating mirror and the second single-axis MEMS vibrating mirror are the same in mode of selection and are driven by the same closed-loop driving circuit through signal output.
Setting one frame time of the first single-axis MEMS galvanometer and the second single-axis MEMS galvanometer as T1, enabling the angular resolution of the turning mirror to be i degrees, enabling the turning mirror module to stop rotating at the starting moment of T1, enabling the turning mirror to start rotating to the position with the next resolution at the ending moment of T1, and enabling the resolution angle to meet the requirement of i degrees being less than or equal to 0.5 degrees.
The input signal of the single-axis galvanometer is not limited to the triangular wave signal shown in fig. 5, positive and negative round trip signals are selected, the rotating lens is guaranteed to have time to perform angle deflection, and the control module acquires the rotating lens angle signal to perform closed loop correction every 360 degrees.
The control module comprises an information processing circuit, a closed-loop driving circuit of the MEMS galvanometer, a rotating mirror angle sampling module, a power supply circuit and a TCD module, wherein the power supply circuit supplies power to each component, the first single-axis MEMS galvanometer and the second single-axis MEMS galvanometer are connected in parallel with a closed-loop driving mode, and the information processing circuit is responsible for closed-loop driving information processing of the rotation relation of the MEMS galvanometer and the stepping motor.
The detection module is fixed above the rotating mirror module, and lenses for enlarging the detection range are fixed in front of the four detectors.
The rotating mirror rotating shaft is hollow, and the detector lead wire is connected with the TDC module in the control module through the hollow rotating shaft.
The four detectors in the detector module work in a mode that the control module records that the rotating mirror rotates 90 degrees, and the detection light path signal source of the TDC module is switched to the last detector in the rotating direction.
The beneficial effects are that: through the vertical scanning of double-circuit MEMS, the scanning of turning mirror horizontal direction realizes the scanning near 360 in the horizontal direction, possess higher resolution in vertical direction, realizes the scanning of a large scale with a laser.
Drawings
Fig. 1 is a diagram of a laser radar scanning system according to an embodiment of the present utility model.
Fig. 2 is a schematic diagram of a turning scanning angle of a turning mirror according to an embodiment of the present utility model.
FIG. 3 is a top view of a detection module in an embodiment of the present utility model in a position above a turning mirror.
Fig. 4 is a schematic diagram showing the connection of the modules of the system according to the embodiment of the utility model.
FIG. 5 is a graph of a driven uniaxial MEMS signal as a function of an embodiment of the utility model.
1-pulse laser, 2-1×2 optical fiber coupler, 3-first collimating lens, 4-second collimating lens, 5-first single-axis MEMS galvanometer, 6-second single-axis MEMS galvanometer, 7-first polarizing beam splitter, 8-second polarizing beam splitter, 9-detection module, 10-turning lens module, 11-control module
Detailed Description
Referring to fig. 1, a single laser radar scanning system includes: the laser comprises a pulse laser 1, a 1 x 2 optical fiber coupler 2, a first collimating mirror 3, a second collimating mirror 4, a first single-axis MEMS vibrating mirror 5, a second single-axis MEMS vibrating mirror 6, a first polarizing beam splitter 7, a second polarizing beam splitter 8, a detection module 9, a turning mirror module 10 and a control module 11, wherein the pulse laser 1 emits laser, the laser is divided into two beams through the 1 x 2 optical fiber coupler 2, one beam is leftwards through the first collimating mirror 3, the other beam is rightwards through the second collimating mirror 4, the normal of the reflecting surface of the static first single-axis MEMS vibrating mirror 2 is 45 DEG above the right direction, left laser is projected to the center of the static first single-axis MEMS vibrating mirror 5, the left laser is vertically upwards reflected by the static first single-axis MEMS vibrating mirror 5, the first polarizing beam splitter 7 is positioned right above the first single-axis MEMS vibrating mirror 5, all the laser beams in a deflection view field can be reflected to the left side surface of the first single-axis MEMS vibrating mirror 3, the other beam is rightwards through the second collimating mirror 4, the normal of the static first single-axis MEMS vibrating mirror 2 is leftwards and the static single-axis vibrating mirror 6 is controlled by the static single-axis vibrating mirror 6, and the static single-axis vibrating mirror is controlled by the static single-axis vibrating mirror 6 is controlled to the second vibrating mirror 6.
As shown in fig. 2, 61 is that the left optical path is located at the upper side i/2 ° of the edge of the side face of the turning mirror, the right optical path is located at the lower side i/2 ° of the edge of the side face of the turning mirror, 62 is that the fields of view of the left optical path and the right optical path are both vertically incident to the side face of the turning mirror, 63 is that the left optical path is located at the lower side i/2 ° of the edge of the side face of the turning mirror, the turning mirror deflects 90 ° to a direction corresponding to 180 ° of horizontal scanning of one optical path, and each 90 ° of turning mirror is turned, the control module switches the signal source of the TDC module to the last detector in the turning direction of the turning mirror, for example, the turning mirror is turned to the two faces where the double optical path incident lens 91 and the lens 93 are located, the left 45 ° -i ° starts to the right 45 ° -i ° ends, at this time, the signal sources received by the TDC module are only the detector 95 and the detector 97, the turning mirror is turned to the two faces where the double optical path incident lens 92 and the lens 94 are located, and the control module switches the signal source of the TDC module to the detector 96 and the detector 98, so that only two detectors are enabled to work at any moment and are separated.
As shown in fig. 3, when the light is reflected by the side of the rotating mirror where the lens 91 is located, the signal is detected by the detector 95, the detector 95 is located at the focus of the lens 91, and the detector corresponding to each reflecting surface of the rotating mirror forms an included angle of 45 ° -i ° with the target signal echo, so that the lens is required to collect the echo signal, if multiple light paths, such as three light paths, are selected, the rotating mirror with 6 sides is selected, the detector corresponding to each reflecting surface of the rotating mirror forms an included angle of 30 ° -i ° with the target signal echo, each light path is easier to detect the echo signal, and the hollow rotating shaft 99 in the center is used for guiding the probe signal to the TDC module.
As shown in fig. 4, the laser emitted by the laser is divided into two uniaxial MEMS vibrating mirrors with two light paths reflected to two sides, so that the light rays with angles in the field of view of the uniaxial MEMS vibrating mirrors are reflected to the polarizing beam splitter, and then the light rays in a certain range in the field of view of the rotating mirror pass through the polarizing beam splitter and are not blocked by the polarizing beam splitter, so as to scan the surroundings, the detecting module leads to the TDC module from the rotating mirror module rotating shaft, the TDC module sends signals to the information processing module, wherein the TDC module performs signal acquisition by two TDCs in total, the time information of the two light paths is recorded by the two TDCs, the combination of the detector 95 and the detector 97 in fig. 3 is recorded respectively, the combination of the detector 96 and the detector 98 is recorded after the detector is switched, and the control module bears: the control and signal feedback of the two single-axis MEMS vibrating mirrors are carried out, the rotation of the rotating mirror is controlled according to the signal information driven by the MEMS, the signal source of the TDC module is controlled, the depth information recorded by the TDC module is processed, and the device is connected with an upper computer.
As shown in fig. 5, one frame of the first single-axis MEMS vibrating mirror 2 and the second single-axis MEMS vibrating mirror 3 is T, the angular resolution of the turning mirror 6 is i °, the number of sides of the turning mirror 6 is N, the turning mirror 6 stops turning by T1 every time i ° is turned, the turning mirror turns to the next resolution within the time of t0+t2, it is ensured that the single-frame point clouds of the first single-axis MEMS vibrating mirror 2 and the second single-axis MEMS vibrating mirror 3 are in the vertical direction, and the resolution angle satisfies i+.ltoreq.0.5 °.
Claims (8)
1. A lidar scanning system, comprising: the laser comprises a pulse laser, a 1X 2 optical fiber coupler, a first collimating mirror, a second collimating mirror, a first single-axis MEMS vibrating mirror, a second single-axis MEMS vibrating mirror, a first polarization beam splitter, a second polarization beam splitter, a detection module, a turning mirror module and a control module, wherein an input port of the 1X 2 optical fiber coupler is inserted into a light emitting port of the pulse laser, the first collimating mirror and the second collimating mirror are respectively connected with two output ports of the 1X 2 optical fiber coupler, the output ports emit laser in left and right directions, the laser is characterized in that the first single-axis MEMS vibrating mirror is tilted to the left by 45 degrees, laser on the left side of the pulse laser can be vertically reflected upwards by the static first single-axis MEMS vibrating mirror, laser on the right side of the pulse laser can be vertically reflected upwards by the static second single-axis MEMS vibrating mirror, the distance of the first polarization beam splitter is positioned above the first single-axis MEMS vibrating mirror, the distance of the second polarization beam splitter is positioned above the second single-axis MEMS vibrating mirror, the center of the turning mirror is positioned at the midpoint of the first polarization beam splitter and the second polarization connecting line, the turning mirror is used for controlling scanning in the horizontal direction, the first single-axis MEMS vibrating mirror is used for controlling the scanning in the vertical direction, the first single-axis MEMS vibrating mirror is vertically rotated in the vertical direction, and the first single-axis vibrating mirror is vertically controlled by the vertical scanning module is vertically rotated in the side view, and the first single-axis vibrating mirror is vertically controlled in the vertical direction, and the vertical scanning module is in the vertical direction.
2. The lidar scanning system of claim 1, wherein the first single-axis MEMS galvanometer and the second single-axis MEMS galvanometer are identical in type and are driven by a same closed-loop drive circuit signal output.
3. The lidar scanning system of claim 1, wherein the rotational relationship of the first and second single-axis MEMS mirrors and the rotating mirror: setting one frame time of the first single-axis MEMS galvanometer and the second single-axis MEMS galvanometer as T1, enabling the angular resolution of the turning mirror to be i degrees, enabling the turning mirror module to stop rotating at the starting moment of T1, enabling the turning mirror to start rotating to the position with the next resolution at the ending moment of T1, and enabling the resolution angle to meet the requirement of i degrees being less than or equal to 0.5 degrees.
4. The lidar scanning system of claim 1, wherein the single axis galvanometer input signal is not limited to a triangular wave signal, and the single axis galvanometer input signal is only required to be selected from a positive round trip signal and a negative round trip signal, so that the angle deflection of the turning mirror is ensured, and the control module obtains the turning mirror angle signal to correct every 360 degrees of closed loop.
5. The lidar scanning system of claim 1, wherein the control module comprises an information processing circuit, a closed-loop driving circuit of the MEMS galvanometer, a turning mirror angle sampling module, a power supply circuit and a TCD module, the power supply circuit supplies power to each component, the first single-axis MEMS galvanometer and the second single-axis MEMS galvanometer are connected in parallel with a closed-loop driving, and the information processing circuit is responsible for the closed-loop driving information processing of the rotation relationship of the MEMS galvanometer and the stepper motor.
6. The lidar scanning system of claim 1, wherein the detection module is fixed above the turning mirror module, and lenses for increasing the detection range are fixed in front of each of the four detectors.
7. The lidar scanning system of claim 1, wherein the rotating mirror shaft is hollow and the detector leads are connected to a TDC module in the control module via the hollow shaft.
8. The lidar scanning system of claim 1, wherein the four detectors in the detection module are operated in a mode that the control module records the last detector that rotates 90 ° in the rotating mirror to switch the detection light path signal source of the TDC module to the rotation direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320936967.5U CN219871769U (en) | 2023-04-21 | 2023-04-21 | Laser radar scanning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320936967.5U CN219871769U (en) | 2023-04-21 | 2023-04-21 | Laser radar scanning system |
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| Publication Number | Publication Date |
|---|---|
| CN219871769U true CN219871769U (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202320936967.5U Active CN219871769U (en) | 2023-04-21 | 2023-04-21 | Laser radar scanning system |
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| CN (1) | CN219871769U (en) |
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- 2023-04-21 CN CN202320936967.5U patent/CN219871769U/en active Active
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