CN-121995346-A - Laser radar and scanning method

CN121995346ACN 121995346 ACN121995346 ACN 121995346ACN-121995346-A

Abstract

The application discloses a scanning method of a laser radar, which comprises a turning mirror and a transceiver module, wherein the transceiver module comprises N groups of transmitting units which are arranged along the vertical direction, each group of transmitting units comprises M transmitting devices which are arranged along the horizontal direction, and the turning mirror comprises a rotating shaft along the vertical direction and an L-plane reflecting mirror which rotates around the rotating shaft. When the N-th group of emission units emit light according to a set horizontal visual angle range, each emission device of the N-th group of emission units and each surface of reflective mirror are matched to generate a point cloud array, M x L point cloud arrays are formed by symbiosis, and the N-th vertical visual field point cloud set is generated according to vertical resolution distribution. The N vertical view field point cloud sets are distributed along the vertical direction to form a frame of point cloud data set. The application also comprises a lidar for implementing the method. The application solves the problems of large volume and high cost of the large-view-field laser radar.

Inventors

ZHANG GUOWEI
WANG PANYI
LI XUE

Assignees

武汉万集光电技术有限公司

Dates

Publication Date: 20260508
Application Date: 20241106

Claims (10)

1. A scanning method of a laser radar is characterized in that the laser radar comprises a rotating mirror and a transceiver module, the transceiver module comprises N groups of transmitting units which are arranged along the vertical direction, each group of transmitting units comprises M transmitting devices which are arranged along the horizontal direction, the rotating mirror comprises a rotating shaft along the vertical direction and an L-plane reflecting mirror rotating around the rotating shaft, and the method comprises the following steps: Driving the N groups of emission units to emit light, and driving the turning mirror to rotate; When the nth group of emission units emit light, each emission device of the nth group of emission units and each surface of the reflector are matched to generate a point cloud row array according to a set horizontal direction view angle range, M multiplied by L point cloud row arrays are formed in a conformal mode, and an nth first view field point cloud set is formed according to vertical direction resolution distribution, wherein N is a positive integer smaller than or equal to N; The N groups of light emitting units correspond to N first view field point cloud sets, and the N first view field point cloud sets are distributed along the vertical direction to form a frame of point cloud data set.
2. The scanning method according to claim 1, wherein the L-plane mirror has different pitch angles with respect to the rotation axis of the turning mirror, and the pitch angle difference of the adjacent mirrors corresponds to the vertical resolution.
3. The scanning method according to claim 2, wherein the light emitting positions or the laser light emitting angles of the M emitting devices are distributed in the vertical direction, and the M-1 th emitter and the M-th emitter generate a point cloud array distributed in the vertical direction according to the vertical direction resolution x L.
4. The scanning method according to claim 1, wherein the N sets of emission units are alternately operated with an alternate period of N times the rotation period of the turning mirror.
5. A scanning method according to claim 1, wherein M laser emitting devices in any one group of emitting units operate sequentially or simultaneously within 1 rotation period of the turning mirror.
6. The scanning method according to claim 1, wherein the rotational speed of the turning mirror is adjusted so that the product of the time difference of the adjacent point cloud arrays and the moving speed of the object to be measured is smaller than a set distortion threshold.
7. The laser radar is characterized by comprising a rotating mirror, a receiving and transmitting module and a control module; the transceiver module comprises N groups of transmitting units arranged along the vertical direction, and each group of transmitting units comprises M transmitting devices arranged along the horizontal direction; The turning mirror comprises a rotating shaft along the vertical direction and an L-plane reflecting mirror rotating around the rotating shaft; The control module is electrically connected with the transceiver module and the turning mirror respectively and used for controlling the N groups of emission units to emit light and driving the turning mirror to rotate, wherein when the N groups of emission units emit light, each emission device in the N groups of emission units and each surface reflector are matched to generate a point cloud array according to a set horizontal viewing angle range, M x L point cloud arrays are generated in a symbiotic mode, the N groups of emission units are distributed according to the resolution of the vertical direction to generate an N vertical view field point cloud set, the N groups of emission units correspond to the N vertical view field point cloud sets, and the N vertical view field point cloud sets are distributed along the vertical direction to form a frame of point cloud data set.
8. The multi-line lidar of claim 7, wherein the L-plane mirror has different tilt angles with respect to the rotational axis of the turning mirror, and wherein the difference in tilt angles of adjacent mirrors corresponds to the vertical resolution.
9. The multi-line lidar of claim 7, wherein the L-plane mirror has the same horizontal angle of view.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-6 when executing the computer program.

Description

Laser radar and scanning method Technical Field The application relates to the technical field of laser radars, in particular to a laser radar and a scanning method thereof. Background Lidar is a sensor for sensing parameters of the surrounding environment, which is known as the "eye" of the machine, and has wide application in the fields of surveying and mapping, detection or automatic driving. The multi-line laser radar is a key product for constructing three-dimensional environment parameters, wherein the larger the line number is, the larger the vertical scanning view field is, and the more abundant the acquired point cloud data is. Currently, one way to implement multi-line lidar is to increase the number of laser transceiver modules, but too many transceiver modules may increase the volume and cost of the lidar. Disclosure of Invention The application provides a laser radar and a scanning method, which solve the problems of large volume and high cost of a large-view-field laser radar, firstly form a local vertical view field, then sequentially form a plurality of local vertical view fields, and finally splice to form the whole vertical view field. In a first aspect, an embodiment of the present application provides a scanning method of a laser, where the apparatus includes a turning mirror and a transceiver module, where the transceiver module includes N groups of emission units arranged in a vertical direction, each group of emission units includes M emission devices arranged in a horizontal direction, the turning mirror includes a rotation axis in the vertical direction and an L-plane mirror that rotates around the rotation axis, and the method includes: Driving the N groups of emission units to emit light, and driving the turning mirror to rotate; When an nth group of emission units emit light (n=1-N), according to a set horizontal viewing angle range, each emission device of the nth group of emission units and each surface of reflective mirror are matched to generate a point cloud row array, M multiplied by L point cloud row arrays are formed in a conformal manner, and according to vertical resolution distribution, an nth vertical viewing field point cloud set is generated, wherein N is a positive integer less than or equal to N; The N groups of light emitting units correspond to N vertical view field point cloud sets, and the N vertical view field point cloud sets are distributed along the vertical direction to form a frame of point cloud data set. In one embodiment of the application, the turning mirror rotates for 1 circle, and the L-plane reflectors respectively act on the same emitting device to generate L point cloud arrays distributed according to the resolution in the vertical direction. In one embodiment of the present application, the L-plane mirror has different pitch angles with respect to the rotation axis of the turning mirror, and the pitch angle difference of the adjacent mirrors corresponds to the vertical resolution. In one embodiment of the present application, the light emitting positions or the laser light emitting angles of the M emitting devices are distributed in a vertical direction, and the M-1 th emitter and the point cloud arrays generated by the M-th emitter are distributed in the vertical direction according to the resolution x L of the vertical direction. In one embodiment of the application, the N groups of emitting units work alternately, the rotation period is N times of the rotation period of the rotating mirror, and/or M laser emitting devices in any group of emitting units work sequentially or simultaneously in 1 rotation period of the rotating mirror. In one embodiment of the application, the rotation speed of the turning mirror is adjusted so that the product of the time difference of the adjacent point cloud arrays and the moving speed of the target to be detected is smaller than a set distortion threshold. On the other hand, the embodiment of the application also provides a laser radar for realizing the method according to the embodiment of the first aspect of the application, and the laser radar comprises a rotating mirror, a receiving and transmitting module and a control module. The transceiver module comprises N groups of transmitting units which are arranged along the vertical direction, each group of transmitting units comprises M transmitting devices which are arranged along the horizontal direction, and the turning mirror comprises a rotating shaft along the vertical direction and an L-plane reflecting mirror which rotates around the rotating shaft. The control module is electrically connected with the transceiver module and the turning mirror respectively and is used for controlling the N groups of emission units to emit light and driving the turning mirror to rotate: When the nth group of emission units emit light, each emission device of the nth group of emission units and each surface of reflective mirror are matched to generate a point cloud ar