CN-121995347-A - Laser radar

Abstract

The present disclosure provides a lidar. The laser radar comprises an optical-mechanical structure. The optical mechanical structure moves around a first rotating shaft and comprises a receiving and transmitting piece, an optical piece and a scanning mirror. The receiving and transmitting piece comprises a laser and a detector, wherein the reflecting surface of the scanning mirror moves around a second rotating shaft, the second rotating shaft is parallel to the reflecting surface, and the included angle between the second rotating shaft and the first rotating shaft is larger than 0 degree. The optical-mechanical structure can realize the laser radar with a larger detection field of view at lower cost.

Inventors

• WANG FEI
• ZHOU QUAN
• Yan Kaimin
• CHEN JINSONG

Assignees

• 上海禾赛科技有限公司

Dates

Publication Date

20260508

Application Date

20241108

Claims (19)

1. 1. A laser radar which comprises a laser beam source, characterized by comprising the following steps: a light mechanism, the light mechanism moving about a first axis of rotation; the optical-mechanical structure comprises a transceiver, an optical piece and a scanning mirror; wherein the transceiver comprises a laser and a detector; the scanning mirror comprises a reflecting surface, the reflecting surface moves around a second rotating shaft, the second rotating shaft is parallel to the reflecting surface, and an included angle between the second rotating shaft and the first rotating shaft is larger than 0 degree.
2. 2. The lidar of claim 1, wherein the probe beam emitted by the laser is emitted to the environment after passing through the optical element and the scanning mirror in sequence, the probe beam is reflected by an object to form an echo, and the echo is incident to the detector after passing through the scanning mirror and the optical element in sequence.
3. 3. The lidar of claim 1, wherein the second axis of rotation is perpendicular to the first axis of rotation.
4. 4. The lidar of claim 1, wherein the probe beam and the echo have optical paths that at least partially overlap.
5. 5. The lidar of claim 4, wherein an optical axis of the optical member is perpendicular to the second rotation axis.
6. 6. The lidar of claim 4, wherein an optical axis of the optical member is perpendicular to the first rotation axis.
7. 7. The lidar of claim 1, wherein the opto-mechanical structure further comprises a mirror that is positioned in an optical path between the optical element and the scanning mirror.
8. 8. The lidar of claim 1, wherein the opto-mechanical structure further comprises a base, and wherein the optical element and the transceiver element are fixed to the base.
9. 9. The lidar of claim 8, wherein the first axis of rotation is perpendicular to the base.
10. 10. The lidar of claim 8, wherein the second axis of rotation is parallel to the base.
11. 11. The lidar of claim 8, wherein the optical axis of the optical element is parallel to the base.
12. 12. The lidar of claim 1, wherein the scanning mirror comprises: a bearing about which the reflective surface of the scanning mirror moves; and the supporting pieces are positioned at two ends of the bearing to fix the bearing.
13. 13. The lidar of claim 12, wherein the support moves the reflective surface of the scanning mirror above the base; The transceiver is located between the reflective surface of the scan mirror and the base.
14. 14. The lidar of claim 1, wherein the reflective surface of the scanning mirror reciprocates about the second axis of rotation.
15. 15. The lidar of claim 1, wherein the reflective surface of the scanning mirror is rotatable in one direction about the second axis of rotation, and wherein the number of reflective surfaces in the scanning mirror is greater than 2.
16. 16. The lidar of claim 1, wherein the opto-mechanical structure moves about the first axis of rotation at a first frequency and the reflective surface of the scanning mirror moves about the second axis of rotation at a second frequency; wherein the first frequency is less than the second frequency.
17. 17. The lidar of claim 16, wherein the ratio of the second frequency to the first frequency is a non-integer.
18. 18. The lidar of claim 1, wherein the transceiver comprises a plurality of lasers.
19. 19. The lidar of claim 1, wherein the opto-mechanical structure moves about the first axis of rotation to form a first field of view and the reflective surface of the scanning mirror moves about the second axis of rotation to form a second field of view, wherein the first field of view has a maximum field of view range of 360 ° and the second field of view has a maximum field of view range of greater than or equal to 90 °.

Description

Laser radar Technical Field The present disclosure relates to the field of laser detection, and in particular, to a laser radar. Background The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and is an advanced detection mode combining laser technology and photoelectric detection technology. The laser radar is widely applied to the fields of automatic driving, unmanned aerial vehicle, intelligent robot, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like. In order to achieve a comprehensive detection of the environment, a larger detection field of view is a pursuit in the field of lidar. Some lidars employ more lasers and detectors in order to achieve a larger detection field of view, with a consequent higher cost. How to realize a low-cost large-field-of-view lidar is a technical problem to be solved in the art. Disclosure of Invention The problem addressed by the present disclosure is how to implement a low cost large field of view lidar. To solve the above problems, the present disclosure provides a lidar comprising: The optical-mechanical structure moves around a first rotating shaft, the optical-mechanical structure comprises a receiving and transmitting part, an optical part and a scanning mirror, wherein the receiving and transmitting part comprises a laser and a detector, a reflecting surface of the scanning mirror moves around a second rotating shaft, the second rotating shaft is parallel to the reflecting surface, and an included angle between the second rotating shaft and the first rotating shaft is larger than 0 degrees. Optionally, the detection light beam emitted by the laser sequentially passes through the optical piece and the scanning mirror and then is emitted to the environment, the detection light beam is reflected by an object to form an echo, and the echo sequentially passes through the scanning mirror and the optical piece and then is incident to the detector. Optionally, the second rotation axis is perpendicular to the first rotation axis. Optionally, the optical paths of the probe beam and the echo at least partially overlap. Optionally, the optical axis of the optical element is perpendicular to the second rotation axis. Optionally, the optical axis of the optical element is perpendicular to the first rotation axis. Optionally, the optical machine structure further comprises a mirror, the mirror being located in the optical path between the optical element and the scanning mirror. Optionally, the optical machine structure further comprises a base, and the optical piece and the transceiver are fixed on the base. Optionally, the first rotation axis is perpendicular to the base. Optionally, the second rotation axis is parallel to the base. Optionally, the optical axis of the optical element is parallel to the base. Optionally, the scanning mirror comprises a bearing around which the reflecting surface of the scanning mirror moves, and supports at both ends of the bearing to fix the bearing. Optionally, the support moves the reflective surface of the scan mirror above the base, and the transceiver is positioned between the reflective surface of the scan mirror and the base. Optionally, the reflective surface of the scan mirror reciprocates about the second axis of rotation. Optionally, the reflecting surfaces of the scanning mirror rotate unidirectionally around the second rotating shaft, and the number of the reflecting surfaces in the scanning mirror is greater than 2. Optionally, the optical-mechanical structure moves around the first rotation axis at a first frequency, and the reflecting surface of the scanning mirror moves around the second rotation axis at a second frequency, wherein the first frequency is smaller than the second frequency. Optionally, the ratio of the second frequency to the first frequency is a non-integer. Optionally, the transceiver comprises a plurality of lasers. Optionally, the optical-mechanical structure moves around the first rotating shaft to form a first view field, and the reflecting surface of the scanning mirror moves around the second rotating shaft to form a second view field, wherein the maximum view field range of the first view field is 360 degrees, and the maximum view field range of the second view field is greater than or equal to 90 degrees. Compared with the prior art, the technical scheme of the present disclosure has the following advantages: In the optical machine structure, the second rotating shaft is parallel to the reflecting surface, and the included angle between the second rotating shaft and the first rotating shaft is larger than 0 degrees. By adopting the optical-mechanical structure, the laser radar with a larger detection view field can be realized at lower cost. Drawings In ord