WO2018082200A1 - Two-dimensional scanning device and laser radar device with two-dimensional scanning device - Google Patents

Two-dimensional scanning device and laser radar device with two-dimensional scanning device Download PDF

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Publication number
WO2018082200A1
WO2018082200A1 PCT/CN2017/000657 CN2017000657W WO2018082200A1 WO 2018082200 A1 WO2018082200 A1 WO 2018082200A1 CN 2017000657 W CN2017000657 W CN 2017000657W WO 2018082200 A1 WO2018082200 A1 WO 2018082200A1
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scanning
mirror
laser
axis
laser beam
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PCT/CN2017/000657
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French (fr)
Chinese (zh)
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张智武
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北科天绘（苏州）激光技术有限公司
北京北科天绘科技有限公司
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Priority to CN201790001361.5U priority Critical patent/CN211653129U/en
Publication of WO2018082200A1 publication Critical patent/WO2018082200A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

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  • the present invention relates to the field of laser radar scanning technologies, and in particular, to a two-dimensional scanning device and a laser radar device having the two-dimensional scanning device.
  • the main methods of laser scanning are raster scanning, acousto-optic scanning, electro-optical scanning and optical scanning.
  • the scanning of optical laser is the most important scanning method used by current laser radar products, while the typical laser radar scanning mode has vibration.
  • the galvanometer scan realizes the laser radar scanning through the mechanical oscillation of the galvanometer, forming an approximate linear trajectory perpendicular to the direction of motion of the platform. Due to the non-uniform oscillation of the galvanometer, the scanning laser point cloud appears to be sparsely dense underneath, which is not conducive to practical application;
  • the rotating mirror scan realizes the lidar scanning by the uniform rotation of the cylindrical mirror, forming an approximate linear trajectory perpendicular to the direction of motion of the platform.
  • the airborne equipment usually adopts a three-sided or four-sided cylindrical mirror, and the cylindrical mirror can be rotated for one week.
  • the main disadvantage of the above technique is that when rotating from one mirror to another, the laser beam emitted to the edge of the mirror cannot effectively detect the target, reducing the effective utilization of the emitted laser beam;
  • Both scanning and mirror scanning are one-dimensional scanning, which will produce shadows due to target occlusion.
  • the scanning field of the wedge mirror scanning is small and the scanning mechanism is heavy, which is not conducive to the light weight and miniaturization of the laser radar equipment.
  • the present invention can utilize the device to detect the target more effectively and improve the effective utilization rate of the emitted laser beam.
  • a two-dimensional scanning device includes a mirror and a scanning drive system and an axis, wherein:
  • the mirror is configured to reflect the emitted laser beam, the normal line of the mirror forms a fixed angle ⁇ with the axis, and the normal line of the mirror and the incident laser beam have an incident angle ⁇ ;
  • the emitting laser beam is fixedly directed to the mirror surface of the mirror, and the scanning driving system drives the mirror to rotate 360° around the axis through a scanning axis, and the reflecting direction of the emitted laser beam is followed by a period
  • the change in sex forms a circular laser scanning trajectory to achieve a two-dimensional scan of the target.
  • the ring shape includes a circular shape or an elliptical shape.
  • the laser scanning trajectory is obtained by device space coordinates of a laser point cloud obtained by each laser beam detecting target;
  • the device space coordinates of the laser point cloud are obtained by solving the tilt angle of the mirror surface, the rotation angle of the mirror, and the pulse laser ranging.
  • the scanning field of view of the device is related to the angle a and the angle of incidence ⁇ .
  • the device is mounted on a flight platform to enable bi-directional scanning measurements of the front and rear sides of the target.
  • the mirrors can be shared by the light-emitting paths.
  • the axis is the axis of rotation of the scan axis.
  • the invention also discloses a laser radar device comprising the laser scanning device.
  • FIG. 1 is a schematic structural diagram of a two-dimensional scanning device for a laser radar according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a principle of an apparatus according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a scanning device for acquiring a target side laser point cloud according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a two-dimensional scanning device according to an embodiment of the present invention.
  • the two-dimensional scanning device may be disposed in a laser radar device. Can be used in other situations where a scanning device is required.
  • the two-dimensional scanning device main package include mirror 1, scan drive system 2 and axis 3, where:
  • the emitted laser beam 4 is incident on a mirror 1 for reflecting the emitted laser beam 4, the normal of which forms a fixed angle ⁇ with the axis 3 (0° ⁇ ⁇ ⁇ 45°).
  • the normal line of the mirror 1 and the incident emitted laser beam 4 have an incident angle ⁇ (0° ⁇ 45°); in a specific implementation, the mirror 1 can be shared by the light-emitting path, that is, the emitted laser beam 4
  • the object is irradiated on the target in the environment, and the signal light generated by the target is also incident on the mirror 1. After being reflected, it is received by the laser receiving unit to complete a laser detection.
  • the emitting laser beam 4 is fixedly directed to the mirror surface of the mirror 1 , and the scanning drive system 2 drives the mirror 1 to rotate 360° around the axis 3 through a scanning axis, the emitting laser beam 4 With the rotation of the mirror 1, the direction of reflection of the emitted laser light is periodically changed, and a circular laser scanning trajectory is formed at the target to realize two-dimensional scanning of the target.
  • the ring shape may include a circle or an ellipse.
  • the axis is the axis of rotation of the scan axis.
  • FIG. 2 is a schematic diagram showing the principle of the device according to the embodiment of the present invention.
  • the axis 3 of the two-dimensional scanning device maintains a fixed angle ⁇ with the normal of the mirror surface.
  • the mirror surface is The normal line is at an angle ⁇ with the emitted laser beam S1.
  • the emitted laser beam S1 is reflected by the mirror surface BC and imaged at the D1 position.
  • the emitted laser beam S2 is reflected by the mirror surface B'C'. After that, the image is at the D2 position, thereby constituting the laser radar scanning field of view D1D2.
  • the spatial orientation of the emitted laser beams S1, S2 is the same. That is to say, when the scanning drive system 2 drives the mirror to rotate 360° around the axis, the emitted laser beam periodically reflects the exit direction after being reflected by the mirror surface, and forms a ring laser scanning track under the target device.
  • the scanning field of view of the device is related to the angle ⁇ and the incident angle ⁇ , and the scanning field angle FOV of the device is expressed as:
  • the scanning field of view of the device increases with the increase of ⁇ and ⁇ , 0° ⁇ 45°, 0° ⁇ 45°, theoretically ⁇ and ⁇ can be nearly 90°, due to the larger
  • the reflection angle cannot receive the laser echo, and the ⁇ and ⁇ in the implementation are both less than 45°, and the maximum scanning field of view is less than 90°.
  • the two-dimensional laser scanning trajectory is obtained by a laser point cloud generated by each of the laser beam detecting targets, and the device space coordinates of the laser point cloud pass the tilt angle of the mirror surface, the rotation angle of the mirror, and the pulse.
  • Laser ranging solved by calculation.
  • the calculation model of the device space coordinates of the laser point cloud of the device is as follows:
  • the normal vector of the mirror surface is expressed as Where A m , B m and C m are determined by the angle ⁇ of the mirror surface and the rotation angle ⁇ of the mirror surface; x m , y m and z m are the three-dimensional coordinate values of the intersection of the emitted laser beam and the mirror surface in the device coordinate system.
  • the origin of the device coordinate system is set at the intersection of the normal of the mirror and the axis 3.
  • the spatial coordinate calculation model of any one of the transmitted pulsed laser beams relative to the device coordinate system is expressed as:
  • c is the speed of light and t is the time of flight of a single pulsed laser.
  • FIG. 3 is a schematic diagram of a scanning device for acquiring a target side laser point cloud according to an embodiment of the present invention.
  • the scanning device is mounted on a flight platform to realize bidirectional scanning of the front side and the rear side of the convex target. Measurement, refer to Figure 3:
  • the emitted laser beam 4 is scanned on the forward target 7 and the backward target 6 in the flight direction 5 as the mirror 1 rotates, and the laser scanning trajectories of the forward and backward targets are obtained.
  • the laser radar sequentially obtains a set of side scan lines 9 of the forward target 7 and a set of side scan lines 8 of the backward target 6; the laser point cloud through the sides of the targets 6 and 7 can be realized
  • the three-dimensional reconstruction of the target side; at the same time, the device can also avoid the influence of the target mutual occlusion on the data quality of the laser point cloud.
  • the scanning device provided by the embodiment of the present invention has the following advantages:
  • a two-dimensional scan of the target is achieved by one-dimensional rotation of the laser scanning device.
  • the emitted laser beam can be 100% reflected through the mirror surface to effectively realize laser scanning measurement
  • the one-dimensional rotation of the laser scanning device can achieve the target of the convex
  • the front side and back side are measured in both directions, which avoids the influence of the target mutual occlusion on the scanning measurement results.
  • a two-dimensional scan of the target is achieved by one-dimensional rotation of the laser scanning device.
  • the target can be detected more effectively and the effective utilization of the emitted laser beam can be improved.
  • the emitted laser beam can be 100% reflected through the mirror surface to effectively realize laser scanning measurement;
  • the one-dimensional rotation of the laser scanning device can realize the bidirectional scanning measurement of the front side and the back side of the convex target, thereby avoiding the influence of the target mutual occlusion on the scanning measurement result.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Disclosed are a two-dimensional scanning device and a laser radar device with the two-dimensional scanning device. The two-dimensional scanning device comprises a reflector (1), a scanning driving system (2) and an axis (3), wherein the reflector (1) is used to reflect an emergent laser beam (4), a normal line of the reflector (1) forms a fixed included angle α with the axis (3), an incident included angle θ exists between the normal line of the reflector (1) and the incident emergent laser beam (4), the emergent laser beam (4) arrives at a reflector surface of the reflector (1) in a fixed direction, and the scanning driving system (2) drives the reflector (1), through a scanning axis, to rotate 360 degrees around the axis (3), thus the reflection direction of the emergent laser beam (4) then periodically changes, forming an annular laser scanning track, realising two-dimensional scanning for a target.

Description

一种二维扫描装置及具有该二维扫描装置的激光雷达装置Two-dimensional scanning device and laser radar device having the same 技术领域Technical field
本发明涉及激光雷达扫描技术领域，尤其涉及一种二维扫描装置及具有该二维扫描装置的激光雷达装置。The present invention relates to the field of laser radar scanning technologies, and in particular, to a two-dimensional scanning device and a laser radar device having the two-dimensional scanning device.
背景技术Background technique
目前，实现激光扫描的主要方式有光栅扫描、声光扫描、电光扫描和光机扫描四种，光机扫描是当前激光雷达产品采用的最主要扫描方式，而典型的激光雷达光机扫描模式有振镜扫描、转镜扫描和楔镜扫描，即利用光学扫描元件的摆动或转动，不断地周期改变激光的出射方向，达到激光雷达扫描的目的。At present, the main methods of laser scanning are raster scanning, acousto-optic scanning, electro-optical scanning and optical scanning. The scanning of optical laser is the most important scanning method used by current laser radar products, while the typical laser radar scanning mode has vibration. Mirror scanning, mirror scanning and wedge scanning, that is, using the oscillation or rotation of the optical scanning element, continuously changing the exit direction of the laser to achieve the purpose of laser radar scanning.
振镜扫描通过振镜的机械摆动实现激光雷达扫描，形成垂直于平台运动方向的近似直线轨迹，由于振镜的非均匀摆动，扫描激光点云表现为下方稀疏两边密集，不利于实际作业应用；转镜扫描通过柱镜的均匀旋转实现激光雷达扫描，形成垂直于平台运动方向的近似直线轨迹，为了保证激光雷达点云获取效率，机载设备通常采用三面或四面柱镜，柱镜转动一周可以获取3-4条扫描线，上述技术的主要缺点是：当从一个镜面旋转到另一个镜面时，发射到镜面边缘的激光束无法有效探测目标，降低了发射激光束的有效利用率；振镜扫描和转镜扫描均为一维扫描，会因目标遮挡产生阴影；楔镜扫描的扫描视场小、扫描机构笨重，不利于激光雷达设备的轻型化和小型化。The galvanometer scan realizes the laser radar scanning through the mechanical oscillation of the galvanometer, forming an approximate linear trajectory perpendicular to the direction of motion of the platform. Due to the non-uniform oscillation of the galvanometer, the scanning laser point cloud appears to be sparsely dense underneath, which is not conducive to practical application; The rotating mirror scan realizes the lidar scanning by the uniform rotation of the cylindrical mirror, forming an approximate linear trajectory perpendicular to the direction of motion of the platform. In order to ensure the efficiency of the lidar point cloud acquisition, the airborne equipment usually adopts a three-sided or four-sided cylindrical mirror, and the cylindrical mirror can be rotated for one week. Obtaining 3-4 scan lines, the main disadvantage of the above technique is that when rotating from one mirror to another, the laser beam emitted to the edge of the mirror cannot effectively detect the target, reducing the effective utilization of the emitted laser beam; Both scanning and mirror scanning are one-dimensional scanning, which will produce shadows due to target occlusion. The scanning field of the wedge mirror scanning is small and the scanning mechanism is heavy, which is not conducive to the light weight and miniaturization of the laser radar equipment.
发明内容Summary of the invention
本发明的目的是提供一种激光雷达的二维扫描装置，通过扫描机构的一维旋转实现了对目标的二维扫描。SUMMARY OF THE INVENTION It is an object of the present invention to provide a two-dimensional scanning device for a laser radar that achieves two-dimensional scanning of a target by one-dimensional rotation of the scanning mechanism.
更进一步的，本发明利用该装置可以更加有效的对目标进行探测，提高发射激光束的有效利用率。Furthermore, the present invention can utilize the device to detect the target more effectively and improve the effective utilization rate of the emitted laser beam.
本发明公开了一种二维扫描装置，所述装置包括反射镜和扫描驱动系统和轴线，其中：A two-dimensional scanning device is disclosed that includes a mirror and a scanning drive system and an axis, wherein:
所述反射镜用于反射发射激光束，所述反射镜的法线与所述轴线形成固定夹角α，所述反射镜的法线与入射的发射激光束存在入射夹角θ； The mirror is configured to reflect the emitted laser beam, the normal line of the mirror forms a fixed angle α with the axis, and the normal line of the mirror and the incident laser beam have an incident angle θ;
所述发射激光束以固定指向到达所述反射镜的反射镜面，所述扫描驱动系统通过扫描轴带动所述反射镜绕所述轴线进行360°旋转，所述发射激光束的反射方向随之周期性改变，形成环形的激光扫描轨迹，实现对目标的二维扫描。The emitting laser beam is fixedly directed to the mirror surface of the mirror, and the scanning driving system drives the mirror to rotate 360° around the axis through a scanning axis, and the reflecting direction of the emitted laser beam is followed by a period The change in sex forms a circular laser scanning trajectory to achieve a two-dimensional scan of the target.
0°＜α＜45°，0°＜θ＜45°。0° < α < 45°, 0° < θ < 45°.
所述环形包括圆形或椭圆形。The ring shape includes a circular shape or an elliptical shape.
所述激光扫描轨迹由每束发射激光束探测目标得到的激光点云的设备空间坐标得到；The laser scanning trajectory is obtained by device space coordinates of a laser point cloud obtained by each laser beam detecting target;
所述激光点云的设备空间坐标通过反射镜面的倾斜角、反射镜的旋转角度和脉冲激光测距解算得到。The device space coordinates of the laser point cloud are obtained by solving the tilt angle of the mirror surface, the rotation angle of the mirror, and the pulse laser ranging.
所述装置的扫描视场与所述夹角α和入射夹角θ相关。The scanning field of view of the device is related to the angle a and the angle of incidence θ.
所述装置搭载于飞行平台上，实现对目标的前侧面和后侧面双向扫描测量。The device is mounted on a flight platform to enable bi-directional scanning measurements of the front and rear sides of the target.
所述反射镜能收发光路共用。The mirrors can be shared by the light-emitting paths.
所述轴线为所述扫描轴的旋转轴。The axis is the axis of rotation of the scan axis.
本发明还公开了一种激光雷达装置，包括所述的激光扫描装置。The invention also discloses a laser radar device comprising the laser scanning device.
附图说明DRAWINGS
图1为本发明实施例所提供激光雷达的二维扫描装置的结构示意图；1 is a schematic structural diagram of a two-dimensional scanning device for a laser radar according to an embodiment of the present invention;
图2为本发明实施例所述装置的一种原理示意图；2 is a schematic diagram of a principle of an apparatus according to an embodiment of the present invention;
图3为本发明实施例所举出的一种扫描装置获取目标侧面激光点云的示意图。FIG. 3 is a schematic diagram of a scanning device for acquiring a target side laser point cloud according to an embodiment of the present invention.
具体实施方式detailed description
下面结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明的保护范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
下面将结合附图对本发明实施例作进一步地详细描述，如图1所示为本发明实施例所提供二维扫描装置的结构示意图，所述二维扫描装置可以设置在激光雷达装置中，也可用于其他需要扫描装置的场合。所述二维扫描装置主要包 括反射镜1、扫描驱动系统2和轴线3，其中：The embodiment of the present invention will be further described in detail below with reference to the accompanying drawings. FIG. 1 is a schematic structural diagram of a two-dimensional scanning device according to an embodiment of the present invention. The two-dimensional scanning device may be disposed in a laser radar device. Can be used in other situations where a scanning device is required. The two-dimensional scanning device main package Include mirror 1, scan drive system 2 and axis 3, where:
发射激光束4入射至反射镜1，所述反射镜1用于反射发射激光束4，所述反射镜1的法线与轴线3形成固定夹角α(0°＜α＜45°)，所述反射镜1的法线与入射的发射激光束4存在入射夹角θ(0°＜θ＜45°)；具体实现中，该反射镜1能收发光路共用，即，该发射激光束4经反射后照射在环境中的目标上，而该目标产生的信号光也入射至该反射镜1，经反射后由激光接收单元进行接收，完成一次激光探测。The emitted laser beam 4 is incident on a mirror 1 for reflecting the emitted laser beam 4, the normal of which forms a fixed angle α with the axis 3 (0° < α < 45°). The normal line of the mirror 1 and the incident emitted laser beam 4 have an incident angle θ (0°<θ<45°); in a specific implementation, the mirror 1 can be shared by the light-emitting path, that is, the emitted laser beam 4 After the reflection, the object is irradiated on the target in the environment, and the signal light generated by the target is also incident on the mirror 1. After being reflected, it is received by the laser receiving unit to complete a laser detection.
所述发射激光束4以固定指向到达所述反射镜1的反射镜面，所述扫描驱动系统2通过扫描轴带动所述反射镜1绕所述轴线3进行360°旋转，所述发射激光束4随着所述反射镜1的旋转，周期性改变发射激光的反射方向，并在目标形成环形的激光扫描轨迹，实现对目标的二维扫描。所述环形可包括圆形或椭圆形。所述轴线为所述扫描轴的旋转轴。The emitting laser beam 4 is fixedly directed to the mirror surface of the mirror 1 , and the scanning drive system 2 drives the mirror 1 to rotate 360° around the axis 3 through a scanning axis, the emitting laser beam 4 With the rotation of the mirror 1, the direction of reflection of the emitted laser light is periodically changed, and a circular laser scanning trajectory is formed at the target to realize two-dimensional scanning of the target. The ring shape may include a circle or an ellipse. The axis is the axis of rotation of the scan axis.
如图2所示为本发明实施例所述装置的一种原理示意图，参考图2：二维扫描装置的轴线3与反射镜面的法线保持固定夹角α，在初始状态时，反射镜面的法线与发射激光束S1成θ夹角，发射激光束S1经反射镜面BC反射后，成像在D1位置；当反射镜绕轴线3旋转180°，发射激光束S2经反射镜面B′C′反射后，成像在D2位置，由此构成了激光雷达扫描视场D1D2。发射激光束S1、S2的空间指向是相同的。也就是说，当扫描驱动系统2带动反射镜绕轴线360°旋转时，发射激光束经反射镜面反射后周期性改变出射方向，并在目标设备下方形成环形激光扫描轨迹。FIG. 2 is a schematic diagram showing the principle of the device according to the embodiment of the present invention. Referring to FIG. 2, the axis 3 of the two-dimensional scanning device maintains a fixed angle α with the normal of the mirror surface. In the initial state, the mirror surface is The normal line is at an angle θ with the emitted laser beam S1. The emitted laser beam S1 is reflected by the mirror surface BC and imaged at the D1 position. When the mirror is rotated 180° around the axis 3, the emitted laser beam S2 is reflected by the mirror surface B'C'. After that, the image is at the D2 position, thereby constituting the laser radar scanning field of view D1D2. The spatial orientation of the emitted laser beams S1, S2 is the same. That is to say, when the scanning drive system 2 drives the mirror to rotate 360° around the axis, the emitted laser beam periodically reflects the exit direction after being reflected by the mirror surface, and forms a ring laser scanning track under the target device.
具体实现中，所述装置的扫描视场与所述夹角α和入射夹角θ相关，所述装置的扫描视场角FOV表示为：In a specific implementation, the scanning field of view of the device is related to the angle α and the incident angle θ, and the scanning field angle FOV of the device is expressed as:
FOV＝α+θ    (1)FOV=α+θ (1)
可见，所述装置的扫描视场随着α和θ的增大而扩大，0°＜α＜45°，0°＜θ＜45°，理论上α和θ最大可以近90°，由于较大的反射角度无法接收到激光回波，实施中的α和θ均小于45°，最大扫描视场小于90°。It can be seen that the scanning field of view of the device increases with the increase of α and θ, 0°<α<45°, 0°<θ<45°, theoretically α and θ can be nearly 90°, due to the larger The reflection angle cannot receive the laser echo, and the α and θ in the implementation are both less than 45°, and the maximum scanning field of view is less than 90°.
具体实现中，上述二维的激光扫描轨迹由每个发射激光束探测目标后产生的激光点云得到，所述激光点云的设备空间坐标通过反射镜面的倾斜角、反射镜的旋转角度和脉冲激光测距，解算得到。举例来说，所述装置的激光点云的设备空间坐标的计算模型如下： In a specific implementation, the two-dimensional laser scanning trajectory is obtained by a laser point cloud generated by each of the laser beam detecting targets, and the device space coordinates of the laser point cloud pass the tilt angle of the mirror surface, the rotation angle of the mirror, and the pulse. Laser ranging, solved by calculation. For example, the calculation model of the device space coordinates of the laser point cloud of the device is as follows:
设反射镜面的平面方程为：Let the plane equation of the mirror surface be:
Am(x-xm)+Bm(y-ym)+Cm(z-zm)＝0   (2)A m (xx m )+B m (yy m )+C m (zz m )=0 (2)
则反射镜面的法向量表示为
Figure PCTCN2017000657-appb-000001
其中Am、Bm和Cm由反射镜面的夹角α和镜面的转角ω确定；xm、ym和zm为发射激光束与反射镜面的交点在设备坐标系下的三维坐标值。该设备坐标系的原点设置在反射镜的法线与该轴线3的交汇点。Then the normal vector of the mirror surface is expressed as
Figure PCTCN2017000657-appb-000001
Where A m , B m and C m are determined by the angle α of the mirror surface and the rotation angle ω of the mirror surface; x m , y m and z m are the three-dimensional coordinate values of the intersection of the emitted laser beam and the mirror surface in the device coordinate system. The origin of the device coordinate system is set at the intersection of the normal of the mirror and the axis 3.
对于单位入射光线向量
Figure PCTCN2017000657-appb-000002
其反射向量表示为：For unit incident ray vector
Figure PCTCN2017000657-appb-000002
Its reflection vector is expressed as:
Figure PCTCN2017000657-appb-000003
Figure PCTCN2017000657-appb-000003
任意一发射脉冲激光束相对于设备坐标系的空间坐标计算模型表示为：The spatial coordinate calculation model of any one of the transmitted pulsed laser beams relative to the device coordinate system is expressed as:
Figure PCTCN2017000657-appb-000004
Figure PCTCN2017000657-appb-000004
式中，c表示光速，t表示单束脉冲激光的飞行时间。Where c is the speed of light and t is the time of flight of a single pulsed laser.
如图3所示为本发明实施例所举出的一种扫描装置获取目标侧面激光点云的示意图，所述扫描装置搭载于飞行平台上，实现对凸起目标的前侧面和后侧面双向扫描测量，参考图3：FIG. 3 is a schematic diagram of a scanning device for acquiring a target side laser point cloud according to an embodiment of the present invention. The scanning device is mounted on a flight platform to realize bidirectional scanning of the front side and the rear side of the convex target. Measurement, refer to Figure 3:
激光雷达进行数据采集时，发射激光束4随着反射镜1的旋转，分别在飞行方向5的前向目标7和后向目标6上扫描，得到前向和后向目标的激光扫描轨迹。When the laser radar performs data acquisition, the emitted laser beam 4 is scanned on the forward target 7 and the backward target 6 in the flight direction 5 as the mirror 1 rotates, and the laser scanning trajectories of the forward and backward targets are obtained.
当平台沿飞行方向5运动时，激光雷达顺序得到前向目标7的一组侧面扫描线9和后向目标6的一组侧面扫描线8；通过目标6和7的侧面激光点云，可以实现目标侧面的三维重建；同时所述装置还可避免目标相互遮挡对激光点云数据质量的影响。When the platform moves in the flight direction 5, the laser radar sequentially obtains a set of side scan lines 9 of the forward target 7 and a set of side scan lines 8 of the backward target 6; the laser point cloud through the sides of the targets 6 and 7 can be realized The three-dimensional reconstruction of the target side; at the same time, the device can also avoid the influence of the target mutual occlusion on the data quality of the laser point cloud.
综上所述，本发明实施例所提供的扫描装置具有如下优点：In summary, the scanning device provided by the embodiment of the present invention has the following advantages:
1)通过激光扫描装置的一维旋转实现了对目标的二维扫描。1) A two-dimensional scan of the target is achieved by one-dimensional rotation of the laser scanning device.
2)可以更加有效的对目标进行探测，提高发射激光束的有效利用率。发射激光束通过所述反射镜面可以100％反射，有效实现激光扫描测量；2) It is possible to detect the target more effectively and improve the effective utilization of the emitted laser beam. The emitted laser beam can be 100% reflected through the mirror surface to effectively realize laser scanning measurement;
3)在飞行平台上，通过激光扫描装置的一维旋转可以实现对凸起目标的 前侧面和后侧面双向扫描测量，避免了目标相互遮挡对扫描测量结果的影响。3) On the flight platform, the one-dimensional rotation of the laser scanning device can achieve the target of the convex The front side and back side are measured in both directions, which avoids the influence of the target mutual occlusion on the scanning measurement results.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or within the technical scope of the present disclosure. Alternatives are intended to be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the claims.
工业应用性Industrial applicability
通过激光扫描装置的一维旋转实现了对目标的二维扫描。A two-dimensional scan of the target is achieved by one-dimensional rotation of the laser scanning device.
可以更加有效的对目标进行探测，提高发射激光束的有效利用率。发射激光束通过所述反射镜面可以100％反射，有效实现激光扫描测量；The target can be detected more effectively and the effective utilization of the emitted laser beam can be improved. The emitted laser beam can be 100% reflected through the mirror surface to effectively realize laser scanning measurement;
在飞行平台上，通过激光扫描装置的一维旋转可以实现对凸起目标的前侧面和后侧面双向扫描测量，避免了目标相互遮挡对扫描测量结果的影响。 On the flight platform, the one-dimensional rotation of the laser scanning device can realize the bidirectional scanning measurement of the front side and the back side of the convex target, thereby avoiding the influence of the target mutual occlusion on the scanning measurement result.

Claims (9)

  1. 一种二维扫描装置，其特征在于，所述装置包括反射镜和扫描驱动系统和轴线，其中：A two-dimensional scanning device, characterized in that the device comprises a mirror and a scanning drive system and an axis, wherein:
    所述反射镜用于反射发射激光束，所述反射镜的法线与所述轴线形成固定夹角α，所述反射镜的法线与入射的发射激光束存在入射夹角θ；The mirror is configured to reflect the emitted laser beam, the normal line of the mirror forms a fixed angle α with the axis, and the normal line of the mirror and the incident laser beam have an incident angle θ;
    所述发射激光束以固定指向到达所述反射镜的反射镜面，所述扫描驱动系统通过扫描轴带动所述反射镜绕所述轴线进行360°旋转，所述发射激光束的反射方向随之周期性改变，形成环形的激光扫描轨迹，实现对目标的二维扫描。The emitting laser beam is fixedly directed to the mirror surface of the mirror, and the scanning driving system drives the mirror to rotate 360° around the axis through a scanning axis, and the reflecting direction of the emitted laser beam is followed by a period The change in sex forms a circular laser scanning trajectory to achieve a two-dimensional scan of the target.
  2. 根据权利要求1所述的二维扫描装置，其特征在于，0°＜α＜45°，0°＜θ＜45°。The two-dimensional scanning apparatus according to claim 1, wherein 0° < α < 45° and 0° < θ < 45°.
  3. 根据权利要求1所述的二维扫描装置，其特征在于，所述环形包括圆形或椭圆形。The two-dimensional scanning device according to claim 1, wherein the ring shape comprises a circular shape or an elliptical shape.
  4. 根据权利要求1所述的二维扫描装置，其特征在于，The two-dimensional scanning device according to claim 1, wherein
    所述激光扫描轨迹由每束发射激光束探测目标得到的激光点云的设备空间坐标得到；The laser scanning trajectory is obtained by device space coordinates of a laser point cloud obtained by each laser beam detecting target;
    所述激光点云的设备空间坐标通过反射镜面的倾斜角、反射镜的旋转角度和脉冲激光测距解算得到。The device space coordinates of the laser point cloud are obtained by solving the tilt angle of the mirror surface, the rotation angle of the mirror, and the pulse laser ranging.
  5. 根据权利要求1所述的二维扫描装置，其特征在于，The two-dimensional scanning device according to claim 1, wherein
    所述装置的扫描视场与所述夹角α和入射夹角θ相关。The scanning field of view of the device is related to the angle a and the angle of incidence θ.
  6. 根据权利要求1所述的二维扫描装置，其特征在于，The two-dimensional scanning device according to claim 1, wherein
    所述装置搭载于飞行平台上，实现对目标的前侧面和后侧面双向扫描测量。The device is mounted on a flight platform to enable bi-directional scanning measurements of the front and rear sides of the target.
  7. 根据权利要求1所述的二维扫描装置，其特征在于，The two-dimensional scanning device according to claim 1, wherein
    所述反射镜能收发光路共用。The mirrors can be shared by the light-emitting paths.
  8. 根据权利要求1所述的二维扫描装置，其特征在于，The two-dimensional scanning device according to claim 1, wherein
    所述轴线为所述扫描轴的旋转轴。The axis is the axis of rotation of the scan axis.
  9. 一种激光雷达装置，其特征在于，包括：A laser radar device, comprising:
    如权利要求1-8中任一所述的激光扫描装置。 A laser scanning device as claimed in any one of claims 1-8.
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