阅读说明：本技术 一种激光雷达扫描方法及激光雷达 (Laser radar scanning method and laser radar ) 是由 陈泽雄 于 2020-05-18 设计创作，主要内容包括：本发明公开了一种激光雷达扫描方法,本发明还公开了一种激光雷达通过各激光发射器发出的激光经多面体棱镜以及由N个振镜组成的圆形结构体后形成水平方向和垂直方向的二维扫描光,振镜的振幅为M°,经组合形成M°×360°视场的三维扫描光,实现三维扫描,将N个激光发射器以圆周等分方式设置,对应多面体棱镜的N个面以及圆形结构体上的振镜进行反射,将水平360°视场分割为N个二维扫描光,在保持高水平分辨率及扫描刷新率不变情况下增加每个垂直角度扫描时长,从而降低圆形结构体上振镜的摆动频率,此激光雷达能够实现混合固态式360°的三维扫描。此发明用于检测领域。(The invention discloses a laser radar scanning method, and also discloses a laser radar which forms two-dimensional scanning light in the horizontal direction and the vertical direction by laser emitted by each laser emitter through a polyhedral prism and a circular structure body consisting of N vibrating mirrors, wherein the amplitude of the vibrating mirrors is M degrees, and three-dimensional scanning light with M degrees multiplied by 360 degrees of field of view is formed through combination to realize three-dimensional scanning. The invention is used in the detection field.)

1. A lidar scanning method comprising:

the method comprises the steps of controlling N laser transmitters which are arranged according to the circumference in an equal division mode to transmit laser to a polyhedral prism corresponding to N faces, forming N synchronous scanning lights with a scanning angle of 360 degrees/N after the scanning lights are reflected or refracted by the polyhedral prism, enabling the scanning lights to be emitted to a round structure body consisting of N vibrating mirrors, enabling the amplitude of each vibrating mirror to be M/2 degrees, forming N two-dimensional scanning lights with a 360/N degree X M degree view field on a horizontal 360 degree view field, forming three-dimensional scanning lights with an M degree X360 degree view field on the horizontal 360 degree view field after the scanning lights are combined, and achieving 360 degree three-dimensional scanning.

2. A lidar, comprising:

the device comprises at least two laser transmitters for reflecting detection laser, wherein the number of the laser transmitters is N;

the scanning device comprises a polyhedral prism, a light source module and a control module, wherein the polyhedral prism is provided with N faces and can be arranged in a rotating mode and used for reflecting or refracting a point light source to form scanning light with a scanning angle of 360 degrees/N;

the circular structure body is composed of N vibrating mirrors, the amplitude of each vibrating mirror is M/2 degrees, and each vibrating mirror is vibrated and reflected to change the scanning light of the polyhedral prism into N horizontal 360/N-degree X two-dimensional scanning lights vertical to the M-degree view field on the horizontal 360-degree view field;

the motor control module group, the motor control module group includes a motor control module group and No. two motor control module groups, a motor control module group drive the polyhedron prism is rotatory, No. two motor control module group drives N galvanometers of circular structure carry out the synchronous oscillation.

3. The lidar of claim 2, wherein: the laser transmitters are arranged in a circumferentially equally spaced manner.

4. The lidar of claim 3, wherein: n faces of the polyhedral prism are arranged in a circumferential equal division mode and correspond to the N laser transmitters.

5. The lidar of claim 2, wherein: the polyhedral prism is a reflection-type polyhedral prism or a refraction-type polyhedral prism.

6. The lidar of claim 2, wherein: the N vibrating mirrors on the circular structure are arranged in a circumferential mode and correspond to the N faces of the polyhedral prism to synchronously swing with the same amplitude.

7. The lidar of claim 2, wherein: and the first motor control module and the second motor control module are both provided with coded discs used for determining the emission angles of the laser in the horizontal and vertical directions.

8. The lidar of claim 2, wherein: the laser transmitter also comprises receivers with the same number as the laser transmitters, and the receivers are installed in a shell at equal intervals.

9. The lidar of claim 8, wherein: the laser light source further comprises a focusing unit, wherein the focusing unit is arranged in front of the receiver and focuses the reflected laser light to the receiver.

10. The lidar of claim 2, wherein: the laser device further comprises a collimation unit, the collimation unit is arranged between the laser emitter and the polyhedral prism, and the collimation unit is used for collimating emergent laser emitted by the laser emitter.

Technical Field

The invention relates to the field of detection, in particular to a laser radar scanning method and a laser radar.

Background

Disclosure of Invention

The invention aims to provide a method for realizing hybrid solid-state laser radar scanning.

The invention also provides a laser radar.

The technical scheme adopted by the invention is as follows:

a lidar scanning method according to an embodiment of the first aspect of the invention, comprises: the method comprises the steps of controlling N laser transmitters which are arranged according to the circumference in an equal division mode to transmit laser to a polyhedral prism corresponding to N faces, forming N synchronous scanning lights with a scanning angle of 360 degrees/N after the scanning lights are reflected by the polyhedral prism, enabling the scanning lights to be emitted to a round structure body consisting of N vibrating mirrors, enabling the amplitude of each vibrating mirror to be M/2 degrees, forming N two-dimensional scanning lights with a 360/N degree X M degree view field on a horizontal 360 degree view field, forming three-dimensional scanning lights with an M degree X360 degree view field on the horizontal 360 degree view field after combination, and achieving 360 degree three-dimensional scanning.

The laser radar scanning method includes that laser emitted by each laser emitter forms two-dimensional scanning light in the horizontal direction and the vertical direction through a polyhedral prism and a circular structure body formed by N vibrating mirrors, the amplitude of each vibrating mirror is M/2 degrees, three-dimensional scanning light of an M-degree multiplied by 360-degree view field is formed through combination, three-dimensional scanning is achieved, the N laser emitters are arranged in a circumferential equal division mode and reflect corresponding to the N faces of the polyhedral prism and the vibrating mirrors on the circular structure body, the horizontal direction is divided into the N two-dimensional scanning lights, the scanning time length of each vertical angle is increased under the condition that high horizontal resolution and scanning refresh rate are kept unchanged, and therefore the swing frequency of the vibrating mirrors on the circular structure body is reduced.

According to a second aspect of the invention, a lidar comprising:

the device comprises at least two laser transmitters for reflecting detection laser, wherein the number of the laser transmitters is N;

the scanning device comprises a polyhedral prism, a light source module and a control module, wherein the polyhedral prism is provided with N faces and can be arranged in a rotating mode and used for refracting a point light source to form scanning light with a scanning angle of 360 degrees/N;

the circular structure body is composed of N galvanometers, the amplitude of each galvanometer is M/2 degrees, and each galvanometer is vibrated and reflected to change the scanning light of the polyhedral prism into two-dimensional scanning light of N M degrees multiplied by 360 degrees/N view fields;

the motor control module group, the motor control module group includes a motor control module group and No. two motor control module groups, a motor control module group drive the polyhedron prism is rotatory, No. two motor control module group drives N galvanometers of circular structure carry out the synchronous oscillation.

The laser radar comprises N laser transmitters, a polyhedral prism, a circular structural body consisting of N vibrating mirrors and a motor control module, wherein laser emitted by each laser transmitter forms N360/N-degree X M-degree two-dimensional scanning lights on a 360-degree view field through the rotating polyhedral prism and the vibrating mirrors of the circular structural body, so that 360-degree three-dimensional scanning of a mixed solid state type is realized.

Further as an improvement of the technical scheme of the invention, the laser transmitters are arranged in a circumferential equal division mode.

Further as an improvement of the technical scheme of the invention, N faces of the polyhedral prism are arranged in a circumferential equal division manner and correspond to the N laser transmitters.

Further as an improvement of the technical scheme of the invention, the polyhedral prism is a reflection-type polyhedral prism or a refraction-type polyhedral prism.

Further as an improvement of the technical scheme of the invention, the N galvanometer mirrors on the circular structural body are arranged in a circumferential mode and swing synchronously with the same amplitude corresponding to the N surfaces of the polyhedral prism.

As a further improvement of the technical scheme of the invention, code discs for determining the emission angles of the laser in the horizontal and vertical directions are mounted on the first motor control module and the second motor control module.

Further as an improvement of the technical scheme of the invention, the laser device further comprises receivers with the same number as the laser transmitters, and the receivers are arranged in a shell at equal intervals.

Further as an improvement of the technical scheme of the invention, the laser device further comprises a focusing unit, wherein the focusing unit is arranged in front of the receiver, and the focusing unit focuses the reflected laser to the receiver.

Further as an improvement of the technical scheme of the invention, the laser device further comprises a collimation unit, wherein the collimation unit is arranged between the laser emitter and the polyhedral prism, and is used for collimating emergent laser emitted by the laser emitter.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of an optical path system according to embodiment 1 of the present invention;

fig. 2 is a plan view of a laser radar according to embodiment 1 of the present invention;

fig. 3 is a front view of a laser radar of embodiment 1 of the present invention;

FIG. 4 is a schematic view of an optical path system according to embodiment 2 of the present invention;

FIG. 5 is a plan view of a lidar according to embodiment 2 of the present invention;

fig. 6 is a front view of a laser radar according to embodiment 2 of the present invention.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.