CN-116430408-B - Multi-line laser radar device

CN116430408BCN 116430408 BCN116430408 BCN 116430408BCN-116430408-B

Abstract

The invention relates to the field of laser radars, in particular to a multi-line laser radar device which comprises a measuring unit and a micro mirror, wherein the micro mirror comprises a driving module, a measuring angle module and a mirror body, the driving module comprises a driving circuit and a coil connected with the driving circuit, the mirror body is arranged in the coil and connected with the coil, the coil is used for driving a reflecting mirror surface of the mirror body to rotate, the measuring angle module is connected with the mirror body and is used for measuring the rotation direction and rotation angle of the reflecting mirror surface of the mirror body, the measuring unit is used for transmitting laser to the reflecting mirror surface of the mirror body, a measured object is arranged on a reflecting light path of the reflecting mirror surface, and the measuring unit is also used for receiving diffuse reflection laser of the measured object reflected by the reflecting mirror surface and generating an image according to the diffuse reflection laser. The invention can realize the functions of strong shock resistance and vibration energy and low power consumption.

Inventors

SUN JIAN
HE XIADONG
XU FEI
LIANG DONG

Assignees

西安深锐智能科技有限公司
西安交通大学
四川数字经济产业发展研究院

Dates

Publication Date: 20260508
Application Date: 20230518

Claims (6)

1. The multi-line laser radar device is characterized by comprising a measuring unit and a micro mirror, wherein the micro mirror comprises a driving module, a measuring angle module and a mirror body, and the driving module comprises a driving circuit and a coil connected with the driving circuit; the mirror body is arranged in the coil, and is connected with the coil, the coil is used for driving the reflecting mirror surface of the mirror body to rotate, and the angle measuring module is used for measuring the rotating direction and the rotating angle of the reflecting mirror surface of the mirror body; the measuring unit is used for transmitting laser to a reflecting mirror surface of the mirror body, the measured object is arranged on a reflecting light path of the reflecting mirror surface, and the measuring unit is also used for receiving diffuse reflection laser of the measured object reflected by the reflecting mirror surface and generating an image according to the diffuse reflection laser; The mirror body comprises a magnet S pole, a magnet N pole, a reflecting mirror surface, a rotating shaft and a mirror bracket; the coil is wound on the outer side of the mirror bracket, the rotating shaft is fixed in the mirror bracket, the reflecting mirror surface is arranged in the mirror bracket through the rotating shaft, the magnet S pole and the magnet N pole are symmetrically arranged on the reflecting mirror surface, and the magnet S pole and the magnet N pole take the rotating shaft as symmetrical shafts.
2. The multi-line lidar device of claim 1, wherein the angle-measuring module comprises a continuous laser emitting module, a continuous laser receiving module, a scale, and a signal processing module; The continuous laser transmitting module is used for transmitting continuous laser to the center of the back surface of the reflecting mirror surface, the back surface of the reflecting mirror surface is used for reflecting the continuous laser to the graduated scale, the continuous laser receiving module is used for receiving the continuous laser reflected by the graduated scale and connected with the signal processing module, the continuous laser receiving module is used for converting the received continuous laser into an electric signal, and the signal processing module is used for receiving the electric signal converted by the continuous laser receiving module and determining the rotation angle and the rotation direction of the reflecting mirror surface according to the intensity change of the electric signal.
3. The multi-line lidar device according to claim 1, wherein the measurement unit comprises a laser array transmitting module, a laser array receiving module and an image processing module; the laser array transmitting module transmits laser to the front surface of the reflecting mirror, the front surface of the reflecting mirror reflects the laser to the tested object, the laser array receiving module is used for receiving diffuse reflection laser of the tested object, and the image processing module is used for generating an image according to the diffuse reflection laser.
4. The multi-line lidar device according to claim 3, further comprising a mirror, wherein the mirror is a mirror having a through hole in a center of a mirror surface, the through hole is for passing laser light, the mirror is provided on an optical path of a front surface of the mirror surface, and the mirror is for reflecting diffuse reflected laser light reflected by the front surface of the mirror surface.
5. The multi-line lidar device of claim 4, further comprising a lens disposed between the mirror and the laser array receiving module, wherein the laser array receiving module is disposed at a focal point of the lens, and wherein the lens is configured to focus the diffusely reflected laser light reflected by the mirror.
6. The multi-line lidar device of claim 1, wherein the magnet S pole and the magnet N pole are both permanent magnets.

Description

Multi-line laser radar device Technical Field The invention relates to the field of laser radars, in particular to a multi-line laser radar device. Background In recent years, with the development of automobile unmanned technology, the requirement of the multi-line laser radar on the perception of the surrounding environment is also higher. The existing mechanical laser radar in the market utilizes a motor to drive a rotating mirror to realize scanning of laser beams, and the scheme has the defects of large moment of inertia, relatively poor impact resistance and vibration energy and large power consumption. The MEMS laser radar realizes the scanning of the laser beam by utilizing the MEMS scanning mirror, but the scheme has the defects of small scanning mirror area, short service life, high processing difficulty, high temperature influence on angle measurement and the like. Disclosure of Invention The invention aims to provide a multi-line laser radar device which has the functions of strong shock resistance and vibration energy capability, high reliability, low power consumption and small influence by environmental temperature. In order to achieve the above object, the present invention provides the following solutions: The multi-line laser radar device comprises a measuring unit and a micro mirror, wherein the micro mirror comprises a driving module, a measuring angle module and a mirror body, and the driving module comprises a driving circuit and a coil connected with the driving circuit; The mirror body is arranged in the coil, and is connected with the coil, the coil is used for driving the reflecting mirror surface of the mirror body to rotate, the measuring angle module is connected with the mirror body, and the measuring angle module is used for measuring the rotating direction and the rotating angle of the reflecting mirror surface of the mirror body; The measuring unit is used for transmitting laser to the reflecting mirror surface of the mirror body, the measured object is arranged on the reflecting light path of the reflecting mirror surface, and the measuring unit is also used for receiving the diffuse reflection laser of the measured object reflected by the reflecting mirror surface and generating an image according to the diffuse reflection laser. Optionally, the mirror body comprises a magnet S pole, a magnet N pole, a reflecting mirror surface, a rotating shaft and a mirror bracket; the coil is wound on the outer side of the mirror bracket, the rotating shaft is fixed in the mirror bracket, the reflecting mirror surface is arranged in the mirror bracket through the rotating shaft, the magnet S pole and the magnet N pole are symmetrically arranged on the reflecting mirror surface, and the magnet S pole and the magnet N pole take the rotating shaft as symmetrical shafts. Optionally, the angle measuring module comprises a continuous laser emitting module, a continuous laser receiving module, a graduated scale and a signal processing module; The continuous laser transmitting module is used for transmitting continuous laser to the center of the back surface of the reflecting mirror surface, the back surface of the reflecting mirror surface is used for reflecting the continuous laser to the graduated scale, the continuous laser receiving module is used for receiving the continuous laser reflected by the graduated scale and connected with the signal processing module, the continuous laser receiving module is used for converting the received continuous laser into an electric signal, and the signal processing module is used for receiving the electric signal converted by the continuous laser receiving module and determining the rotation angle and the rotation direction of the reflecting mirror surface according to the intensity change of the electric signal. Optionally, the measuring unit includes a laser array transmitting module, a laser array receiving module and an image processing module; the laser array transmitting module transmits laser to the front surface of the reflecting mirror, the front surface of the reflecting mirror reflects the laser to the tested object, the laser array receiving module is used for receiving diffuse reflection laser of the tested object, and the image processing module is used for generating an image according to the diffuse reflection laser. The multi-line laser radar device comprises a multi-line laser radar device body, a reflector, a through hole, a reflecting mirror and a diffuse reflection laser, wherein the reflector is a reflector with the through hole in the center of the reflector, the through hole is used for passing laser, the reflector is arranged on a light path of the front face of the reflector, and the reflector is used for reflecting diffuse reflection laser reflected by the front face of the reflector. Optionally, the multi-line laser radar device further comprises a lens, wherein the lens is arranged between the reflector and the laser array re