CN214276825U - Scanning measurement system - Google Patents

Abstract

The utility model provides a scanning measurement system, include: the scanning device at least comprises a reflector and a first rotating mechanism, wherein an included angle between the normal of a reflecting surface of the reflector and a rotating shaft is an acute angle, the first rotating mechanism controls the reflector to rotate 360 degrees around the rotating shaft, so that scanning light emitted in a preset plane is reflected by the reflector and then emitted to a space by rotating 360 degrees around the rotating shaft, or measuring light in a space range by rotating 360 degrees around the rotating shaft is reflected to the preset plane by the reflector; the transceiver module is used for receiving the measuring light and measuring the measuring light so as to obtain object information of the space according to the measuring result; the fixing device is provided with a plurality of slots, and the receiving module is fixed in the slots, so that the whole scanning and measuring system does not need to be controlled to rotate for 360 degrees, the reflector is only controlled to rotate for 360 degrees, and 360-degree scanning can be realized, and the mechanical stability of the whole measuring system is improved.

Description

Scanning measurement system

Technical Field

The utility model relates to an optical scanning technical field, more specifically say, relate to a scanning measurement system.

Background

The current full-angle (360 °) scanning measurement system, such as a full-angle scanning lidar measurement system, controls the whole measurement system to rotate 360 ° by a mechanical rotating mechanism, so as to realize 360 ° scanning. Although the scanning measurement system is widely applied to the fields of environmental mapping, building detection, tunnel and mine detection and the like, the scanning measurement system still has the problem of poor mechanical stability. Based on this, how to improve the mechanical stability of the scanning measurement system is one of the problems that those skilled in the art are demanding to solve.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a scanning measurement system to improve current measurement system's mechanical stability.

In order to achieve the above object, the utility model provides a following technical scheme:

a scanning measurement system, comprising:

the scanning device at least comprises a reflecting mirror and a first rotating mechanism, an included angle between a normal line of a reflecting surface of the reflecting mirror and a rotating shaft is an acute angle, the first rotating mechanism controls the reflecting mirror to rotate 360 degrees around the rotating shaft, so that scanning light emitted in the preset plane is reflected by the reflecting mirror and then rotates 360 degrees around the rotating shaft to be emitted into a space, or measuring light rotating 360 degrees around the rotating shaft in a space range is reflected by the reflecting mirror to be emitted into the preset plane;

the transceiver module is positioned in the preset plane and used for receiving the measuring light and measuring the measuring light so as to obtain object information of the space according to a measuring result;

the fixing device is provided with a plurality of slots, and the transceiver module is fixed in the slots.

Optionally, the transceiver module is further configured to emit scanning light.

Optionally, at least one of the transceiver modules is packaged in a package structure; the packaging structure is fixed in the slot.

Optionally, the package structure includes a data line, a mounting seat, and a package housing, where the package housing and the data line are respectively fixed to two opposite sides of the mounting seat;

the transceiver module is fixed on the mounting seat and is packaged in the packaging shell, and the transceiver module is electrically connected with an external circuit through the data line; the package housing has a window to pass the scanning light and the measuring light through the package housing.

Optionally, the package structure further includes a heat sink located in the package housing, so as to dissipate heat of the transceiver module through the heat sink.

Optionally, the scanning measurement system comprises a transceiver module, the transceiver module comprising a laser transmitter and a photodetector;

or, the scanning measurement system comprises a plurality of transceiver modules, each transceiver module comprises a laser transmitter and a photoelectric detector, each laser transmitter and each photoelectric detector are arranged in the vicinity of each other, and the transceiver modules are arranged in a preset manner.

Optionally, the scanning device further comprises:

at least one Risley prism located between the preset plane and the mirror;

and the second rotating mechanism controls the Risley prism to rotate 360 degrees around the rotating shaft, so that the scanning light emitted in a preset plane is refracted by the at least one Risley prism and reflected by the reflector and then emitted by rotating 360 degrees around the rotating shaft, or the measuring light rotating 360 degrees around the rotating shaft is reflected by the reflector and refracted by the at least one Risley prism into the preset plane.

Optionally, the first rotating mechanism includes a first motor, the second rotating mechanism includes a second motor, the first motor is disposed on a side of the mirror departing from the preset plane, and the second motor is disposed on a side surface of the Risley prism.

Optionally, the scanning device comprises a Risley prism, the inclined surface of the Risley prism facing away from the reflective surface of the mirror;

alternatively, the scanning device comprises two Risley prisms, inclined surfaces of the two Risley prisms are arranged towards the reflecting surface of the reflecting mirror.

Optionally, the method further comprises:

a lens comprising an adjustable lens with adjustable focal length or position, the lens being positioned between the at least one Risley prism and the predetermined plane to adjust the direction of the scanning light or the measuring light through the lens.

Compared with the prior art, the utility model provides a technical scheme has following advantage:

the utility model provides a scanning measurement system, first rotary mechanism control speculum carries out 360 rotations around the rotation axis, in order to make the light of outgoing in the predetermined plane wind rotation 360 outgoing to a space in by speculum reflection back, perhaps, light in 360 spatial dimension of rotation axis rotation is reflected to the predetermined plane in by the speculum, thereby need not control whole scanning measurement system and carry out 360 rotations, but only control the speculum and carry out 360 rotations and can realize 360 scans, and then whole scanning measurement system's mechanical stability has been improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a scanning measurement system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 3 is a schematic structural diagram of a fixing device according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a package structure according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a package structure according to another embodiment of the present invention;

fig. 6 is a schematic view of a scanning cylindrical surface of a scanning measuring system according to an embodiment of the present invention;

fig. 7 is a discrete point distribution diagram of a scanning measurement system according to an embodiment of the present invention;

fig. 8 is a discrete point distribution diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 9 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 10 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 11 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 12 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 13 to fig. 16 are schematic views of a scanning simulation result of a scanning measurement system according to an embodiment of the present invention;

fig. 17 to fig. 19 are schematic views of scanning simulation results of a scanning measurement system according to an embodiment of the present invention;

fig. 20 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 21 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 22 is a schematic structural diagram of a scanning measurement system according to another embodiment of the present invention;

fig. 23 to fig. 25 are schematic views of a scanning simulation result of a scanning measurement system according to another embodiment of the present invention;

fig. 26 is a schematic diagram illustrating an arrangement of a plurality of transmitting modules and a plurality of receiving modules according to an embodiment of the present invention;

fig. 27 is a schematic diagram of the distribution of the positions of a plurality of transmitting modules and a plurality of receiving modules according to an embodiment of the present invention;

FIGS. 28 and 29 are graphs showing results of scan simulations of the system shown in FIG. 27;

fig. 30 is a schematic diagram of the distribution of the positions of a plurality of transmitting modules and a plurality of receiving modules according to another embodiment of the present invention;

fig. 31-34 are schematic diagrams of scan simulation results of the system shown in fig. 30.

Detailed Description

Above is the core thought of the utility model, for making the above-mentioned purpose, characteristic and advantage of the utility model can be more obvious understandable, will combine below in the embodiment of the utility model the drawing, to technical scheme in the embodiment of the utility model is clear, completely describe, obviously, the embodiment that describes is only a partial embodiment of the utility model, rather than whole embodiment. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The embodiment of the utility model provides a scanning measurement system, as shown in FIG. 1, include:

the scanning device 1, the scanning device 1 includes at least a mirror 10 and a first rotating mechanism (not shown in the figure). Wherein, the included angle theta between the normal F1 of the reflecting surface of the reflector 10 and the rotating shaft Z is an acute angle; the first rotating mechanism controls the reflector 10 to rotate 360 degrees around the rotation axis Z, so that the scanning light λ emitted in the preset plane XY is reflected by the reflector 10 and then emitted into a space by rotating 360 degrees around the rotation axis Z, or the measuring light δ in the space range by rotating 360 degrees around the rotation axis Z is reflected by the reflector 10 into the preset plane XY.

The receiving and transmitting module 2 is positioned in a preset plane XY, and the receiving and transmitting module 2 is used for receiving the measuring light delta and measuring the measuring light delta so as to obtain object information of a space according to a measuring result, wherein the object information comprises object distribution information, object distance information and the like;

the fixing device 3, the fixing device 3 has a plurality of slots 30, the transceiver module 2 is fixed in the slot 30.

The scanning and measuring system in some embodiments of the present invention comprises a thermal imaging scanning and measuring system, and the scanning device 1 is used for reflecting infrared light radiated by an object in a space to a preset plane XY; the transceiver module 2 is used for receiving the infrared light and measuring the infrared light so as to obtain the spatial heat radiation distribution according to the measurement result.

It should be noted that the electromagnetic wave can be radiated as long as the temperature of the object is higher than absolute zero (-273 ℃). The thermal imaging mainly adopts light in a thermal infrared band to detect thermal radiation emitted by an object, the thermal imaging converts the thermal radiation into gray values, the gray value difference of each object is utilized to image, the image is converted into a thermal image of a target object after being processed by a subsequent system, and the thermal image is displayed in gray level, so that the thermal detection of the surrounding environment is realized.

The utility model discloses in some embodiments, scanning measurement system passes through the rotatory thermal radiation of accomplishing to the surrounding environment of speculum 10 among the scanning device 1 and gathers, because the system is fixed with a series of transceiver module 2 on presetting plane XY and is infrared sensor, consequently, the thermal radiation that the system was gathered is converted into the signal of telecommunication, through system's processing formation of heat formation of image and temperature value on the display, realizes the thermal detection and the formation of image to the surrounding environment.

Of course, the present invention is not limited thereto, and in other embodiments, as shown in fig. 2, the transceiver module 2 is also used for emitting the scanning light λ.

In some embodiments of the present invention, the scanning measurement system may be a laser radar scanning measurement system, and the transceiver module 2 is used for emitting scanning light λ; the scanning device 1 is used for reflecting the scanning light lambda to a space, enabling the scanning light lambda to rotate 360 degrees to scan the space by 360 degrees, receiving the measuring light delta reflected by an object in the space, and reflecting the measuring light delta to a preset plane XY; the transceiver module 2 is further configured to receive the measurement light δ and measure the measurement light δ to obtain object information of the space according to the measurement result.

In some embodiments of the present invention, as shown in fig. 3, the fixing device 3 of the scanning and measuring system is a circular plate-shaped structure, the fixing device 3 has a plurality of slots, the slots are fixed positions of the transceiver module 2, and the user can determine the number, the installation position and the light emission direction of the transceiver module 2 according to his own needs.

It should be noted that, in an embodiment of the present invention, the transceiver module 2 includes a laser transmitter and a photodetector, but the present invention is not limited thereto, and in some embodiments, the transceiver module 2 may also include only a photodetector. A light emitting surface of the laser emitter that emits the scanning light λ is located in the preset plane XY so that the scanning light λ exits from the preset plane XY, and a receiving surface of the photodetector that receives the measuring light δ is located in the preset plane XY so that the photodetector can detect the measuring light δ reflected into the preset plane XY by the mirror 10.

Alternatively, the Laser emitter is a VCSEL (Vertical-Cavity Surface-Emitting Laser), or an edge-Emitting Laser, and the like, and the photodetector is a Surface PD (Photo-Diode) or SGC.

When the edge-emitting laser is used, as shown in fig. 4, the edge-emitting laser emits laser on the surface of the substrate along a plane, and the emitted light spot is elliptical, compared with the conventional LED, although the light spot is not strictly circular, the edge-emitting laser has excellent characteristics such as divergence angle and emission power, and is used as an edge-emitting photodetector corresponding to the photodetector.

A vertical cavity surface emitting laser, as shown in fig. 5, which is mainly a laser emitting laser perpendicular to a substrate surface, has many advantages compared to a conventional semiconductor laser: (1) the volume of the active layer is extremely small, so that an extremely low working threshold value can be obtained; (2) the wavelength and threshold are relatively insensitive to temperature variations; (3) the magnitude of the length of the resonant cavity is close to the wavelength, so that the longitudinal mode interval is larger, and single-mode output can be realized; (4) a larger relaxation oscillation frequency can be obtained, and higher frequency modulation is realized; (5) a circular light spot is emitted, and the optical fiber is easy to couple; (6) packaging is easy, a two-dimensional laser array can be formed, and the like. Therefore, the selected circle emits the photoelectric detector, and light reflected by the system can be effectively received.

In some embodiments of the present invention, at least one transceiver module 2 is encapsulated in an encapsulation structure; the package structure is fixed in the slot 30.

Optionally, this packaging structure adopts the TO encapsulation, adopts TO encapsulation laser emitter and photoelectric detector promptly, and the encapsulation is not only the safety protection of physics, also gives the chip a more suitable operational environment, and after the encapsulation, also will be more convenient for install and transport. That is to say, in some embodiments of the present invention, one package structure can complete the transmission and reception of light, the conversion of light signals into electrical signals, and the data processing of electrical signals.

As shown in fig. 4 and 5, in some embodiments, the package structure includes a data line 5, a mounting seat 6, and a package housing 7, where the package housing 7 and the data line 5 are respectively fixed on two opposite sides of the mounting seat 6; the transceiver module 2 is fixed on the mounting seat 6 and is encapsulated in the encapsulation shell 7, and the transceiver module 2 is electrically connected with an external circuit through a data line 5; the package housing 7 has a window 70 for the scanning light and the measuring light to pass through the package housing 7.

Of course, the package structure may further include a beam splitter 8 and a backlight detector 9 for distinguishing the scanning light λ and the measuring light δ, and the details are not described herein. Among them, the backlight detector mainly functions to monitor the stability of the laser emitter. In addition, the photodetector is close to the laser emitter, and a lens can be added at the window 70 to perform an optical adaptation function, that is, to compensate the light spot received at the photodetector, so as to ensure that the scanning light emitted by the laser emitter can be received by the photodetector after being reflected.

The embodiment of the utility model provides an in, through encapsulating transceiver module 2 in an encapsulated structure, can be so that transmission position and receiving position are the same, namely make laser emitter and photoelectric detector's position basically the same to make the scanning light lambda of outgoing and the position of received measuring light delta basically the same, and then can reduce the deviation of light path, improve measuring precision.

Since the laser transmitter generates heat during operation, if the package structure has no heat dissipation device, the laser may generate excessive heat due to long-term operation, and the chip may be burned out, therefore, optionally, the package structure further includes a heat sink 10 located in the package housing to dissipate heat of the transceiver module 2 through the heat sink 10.

The embodiment of the utility model provides an in scanning measurement system still includes auxiliary circuit and mainboard circuit, and auxiliary circuit's effect is that after photoelectric detector received light, light signal turned into the signal of telecommunication, enlargies the processing to the signal of telecommunication to data transmission after will handling gives mainboard circuit. The auxiliary circuit mainly has four modules: the device comprises a pulse generating module 11a, a pulse time delay detecting module 11b, a transmitting driving circuit module 11c and a receiving amplifying circuit module 11 d. The modules mainly process the transmitted electric signals and transmit the electric signals to a main board circuit (MCU) through a data line 5, the main board circuit is mainly embodied in a central processing module 4, the central processing module 4 is positioned below the fixing device 3, and the central processing module 4 obtains spatial object information according to the received electric signals.

The utility model discloses some embodiments, it is perpendicular with rotation axis Z to predetermine plane XY, predetermines the scanning light lambda of outgoing in the plane XY promptly, incides on speculum 10 along the direction that is on a parallel with rotation axis Z, perhaps, after the measuring light delta of 360 within ranges of rotation around rotation axis Z is reflected by speculum 10, incides in predetermineeing plane XY along the direction that is on a parallel with rotation axis Z. Of course, the present invention is not limited thereto, and in other embodiments, the predetermined plane XY may not be perpendicular to the rotation axis Z, which is not described herein again.

The embodiment of the present invention provides an embodiment, if only a beam of scanning light λ is emergent to preset plane XY, and the direction vector of the scanning light λ incident on the reflector 10 along the direction parallel to the rotation axis Z is L ═ 0,0,1, and the vector of the normal F1 of the plane where the reflector 10 is located is N ═ sin θ cos β, sin θ sin β, cos θ, then, after the scanning light λ passes through the reflector 10, its direction vector is:

R＝L-2×(N·L)×N (1)；

where θ is an angle between the Z axis and a normal F1 of the mirror 10, β is an angle between the X axis and a normal F1 of the mirror 10, and R is a direction vector of the scanning light λ emitted after passing through the mirror 10.

The embodiment of the utility model provides a scanning device is when scanning the environment on every side, is realized adopting the method of constructing virtual face of cylinder, constructs a face of cylinder that the radius is r as shown in figure 6 promptly, expandes the face of cylinder into two-dimensional plane to divide it according to net (7 x 1 °). The divided two-dimensional plane is composed of grids, and the quality of the scanning measurement system is judged according to the factors of different rotating speeds, different scanning light lambda emission positions, namely the positions of laser emitters emitting scanning light lambda and the like. The rotation axis of the scanning device is a Z axis, the mirror 10 rotates around the Z axis, and each time the mirror 10 rotates by a certain angle, the photodetector in the preset plane XY receives the measurement light δ reflected by the mirror 10. With this configuration, a 360 ° scan coverage can be achieved, and a scatter point distribution can be obtained with only a single mirror 10 as shown in fig. 7 and 8. Fig. 7 and 8 are schematic diagrams of distribution of scattered points corresponding to scanning light λ emitted from different positions or laser emitters at different positions, where the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, and the coordinates respectively corresponding to the laser emitters or different scanning light λ beams are: (0,0, 0) and (0, 4, 0).

In some embodiments of the present invention, as shown in fig. 9, the scanning device further includes:

at least one Risley prism 11, the at least one Risley prism 11 being located between the predetermined plane XY and the mirror 10;

and the second rotating mechanism controls the Risley prism 11 to rotate 360 degrees around the rotating shaft Z, so that the scanning light lambda emitted in the preset plane XY is refracted by the at least one Risley prism 11 and reflected by the reflecting mirror 10 and then emitted by rotating 360 degrees around the rotating shaft Z, or the measuring light delta within the range of rotating 360 degrees around the rotating shaft Z is reflected by the reflecting mirror 10 and refracted by the at least one Risley prism 11 to be in the preset plane XY.

It should be noted that, the first rotating mechanism and the second rotating mechanism in the embodiment of the present invention may be motors, as shown in fig. 10, the first rotating mechanism includes a first motor 12, the second rotating mechanism includes a second motor 13, the first motor 12 is disposed on one side of the reflecting mirror 10 departing from the preset plane XY, and the second motor 13 is disposed on the side of the Risley prism 11, so as to control the reflecting mirror 10 and the Risley prism 11 to rotate 360 ° around the rotation axis Z through the motors. Alternatively, the first motor 12 and the second motor 13 are servo motors, but the present invention is not limited thereto, and in other embodiments, the first rotating mechanism and the second rotating mechanism can control the mirror 10 and the Risley prism 11 to rotate 360 ° around the rotation axis Z by other devices.

It should be noted that, in the embodiment of the present invention, the rotational speeds of the Risley prism 11 and the reflecting mirror 10 may be the same or different; the rotational speed of the different Risley prisms 11 may be the same or different. The rotational speeds of the Risley prism 11 and the mirror 10 can be set according to the circumstances of the scanning environment.

The embodiment of the utility model provides an in, can utilize the refraction condition at different interfaces through Risley prism 11, can control the directive of light beam, control scanning light lambda promptly and measure the direction of light delta. Moreover, because the Risley prism 11 is a wedge prism, the Risley prism 11 can be controlled to rotate 360 degrees around the Z axis, so that the light beam can continuously scan in a wide angle range, and compared with other scanning devices of the traditional laser radar, for example, compared with a galvanometer, a scanning mirror of a micro electro mechanical system and the like, the Risley prism 11 has the advantages of being insensitive to vibration, high in scanning speed, high in precision, large in field of view and the like.

In some embodiments, as shown in fig. 9, the scanning device includes a Risley prism 11, and, since the Risley prism 11 is a wedge prism, that is, includes an inclined surface and a horizontal surface, in some embodiments, as shown in fig. 11, the inclined surface of the Risley prism 11 is away from the reflecting surface of the reflecting mirror 10, and in other embodiments, as shown in fig. 12, the inclined surface of the Risley prism 11 is toward the reflecting surface of the reflecting mirror 10.

Since the coordinates of the scanning light λ on the preset plane XY, the vertex angle α of the Risley prism 11, and the angle θ 4 of the mirror 10 with the rotation axis Z are adjustable, for the structure shown in fig. 11, the light traveling along a straight line can be traced. When the inclined surface is the first one through which light passesWhen the scanning light lambda passes through the center of the Risley prism 11 on one surface, the direction vector of the scanning light lambda can be obtained as r₁(0,0,1), the normal vector of the first face of the Risley prism 11 is n₁(sin θ cos β, sin θ sin β, cos θ). Where θ is the angle between the Z-axis and the normal to the mirror 10 and β is the angle between the X-axis and the normal to the mirror 10.

The direction vector of the refracted ray of the scanning light λ can be obtained from snell's law as:

wherein r is₁Is the direction vector, r, of the incident ray, i.e. the scanning light, lambda₂Is the direction vector of the refracted ray of the scanning light lambda, n is the refractive index, n₁、n₂Is the normal vector of the two faces of the Risley prism 11 through which the light passes.

After emerging from the first, inclined, surface, the light propagates in the Risley prism 11 to the second surface of the prism, the normal vector of which is n₂(0,0, -1). Snell's law is:

the normal vector of the mirror 10 is N ═ (sin θ cos β, sin θ sin β, cos θ), and the direction vector of the light finally passing through one mirror 10 is:

R＝L-2×(N·L)×N (4)；

where R is the direction vector of the outgoing light, L is the direction vector of the incoming light, and N is the normal vector of the plane where the reflector 10 is located.

When the scanning device scans the surrounding environment, the scanning device is realized by adopting a method for constructing a virtual cylindrical surface, namely constructing a cylindrical surface with the radius of r, unfolding the cylindrical surface into a two-dimensional plane, and dividing the two-dimensional plane according to a grid (2 degrees multiplied by 0.2 degrees). Therefore, when only one scanning light λ is emitted from the preset plane XY, that is, a set of laser generators is set according to the value of the preset plane XY, a distribution diagram of discrete points and a time evolution process of coverage can be obtained through simulation, and the results are shown in fig. 13 to 16. Fig. 13 is a three-dimensional discrete point distribution diagram, fig. 14 is a two-dimensional discrete point distribution diagram, fig. 15 is an enlarged view of fig. 14, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, the abscissa of fig. 16 is time, and the ordinate is coverage. From the simulation results, it can be seen that for the structure shown in fig. 11, the coverage can reach 91.38% when the scanning light λ of the single light beam is incident at a single point.

When the inclined surface faces the mirror, as shown in fig. 12, the first surface through which the light passes is a plane perpendicular to the rotation axis Z, i.e., when the light passes through this plane, the light is not deflected, when the light is incident from the center of the plane of the Risley prism 11, the light propagates along the axis and is refracted at the second surface, the vector expression of snell's formula is formula (3), the light reaches the mirror 10, and the rest is substantially the same as the case when the first surface is the inclined surface, and the 360 ° dispersion point distribution thereof is shown in fig. 17 to 19. In fig. 17, a three-dimensional discrete point distribution diagram, fig. 18 a two-dimensional discrete point distribution diagram, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, the abscissa in fig. 19 is time, and the ordinate is coverage.

For the structure shown in fig. 12, the coverage ratio can reach 86.6% when the single point incidence is the scanning light λ of the single light beam, and the coverage ratio in the two cases can be found through comparison analysis, the coverage ratio shown in fig. 11 is higher and more practical, therefore, the inclined surface of the Risley prism 11 is preferably arranged to be away from the reflecting surface of the reflecting mirror 10.

In other embodiments of the present invention, as shown in fig. 20, the scanning device may further include two Risley prisms 11, of course, the present invention is not limited thereto, and in other embodiments, the scanning device may further include three, four or more Risley prisms 11.

Due to the shape characteristics of the Risley prisms 11, the two Risley prisms 11 have four combinations, and simulation analysis of the four combinations shows that: under the same conditions, the combination shown in fig. 21 can achieve higher coverage than the other three combinations. As shown in fig. 22, in some embodiments of the present invention, the inclined surfaces of the two Risley prisms 11 are not parallel, and the inclined surfaces of the Risley prisms 11 are disposed toward the reflection surface of the reflector 10.

The scanning device having two Risley prisms 11 has two more refractions of light rays than the scanning device having a single Risley prism 11, i.e., the refractions also occur at both surfaces of the second Risley prism 11, but the vector expressions of the light rays passing through the surfaces of the respective elements can still be expressed by the expressions (2), (3) and (4).

It should be noted that when more Risley prisms 11 are used in the scanning device, there are more combinations, and each combination can be subjected to simulation testing to determine the highest coverage that can be achieved and to select the best combination.

In order to further improve the scanning coverage, in some embodiments of the present invention, as shown in fig. 22, the scanning device further includes: a lens 12, the lens 12 comprising an adjustable lens with adjustable focal length or position, the lens 12 being located between the at least one Risley prism 11 and the predetermined plane XY to adjust the direction of the scanning light λ or the measuring light δ through the lens 12.

After the emission direction of the scanning light lambda is adjusted through the lens 12, two light rays intersect at a position of 50cm, and under the condition that the position of the scanning light lambda or the position of the measuring light delta is unchanged, a three-dimensional and two-dimensional discrete point distribution diagram and a time evolution process diagram of the coverage rate can be obtained. Fig. 23 is a three-dimensional discrete point distribution diagram, fig. 24 is a discrete point distribution diagram obtained in a single transceiving structure, an abscissa is an angle in a horizontal direction, an ordinate is an angle in a vertical direction, and in fig. 25, the abscissa is time and the ordinate is coverage.

From the above simulation results, it can be found that the scan coverage reaches 100%. Of course, the lens 12 in the embodiment of the present invention includes a lens with adjustable focal length or position, i.e. the light can be focused at 110m by adding an adjustable lens. The adjustable lens is equivalent to an angle converter, namely, the adjustable lens plays a role of introducing an angle to an incident light beam, and adjusts the direction of the light beam to enable the direction of the light beam to change greatly. After the light beams of the scanning light lambda pass through the adjustable lens, the light rays can be focused on an image focal plane of the adjustable lens, and due to the focusing effect, the light beams can be concentrated at the image focal plane, so that the high-resolution scanning light lambda has higher resolution on a scene or an object at the image focal plane. Based on this, the adjustable lens can cooperate with the reflector 10 to optimize the spot distribution, so that the scanning device can scan more details.

In some embodiments, the scanning measurement system includes a transceiver module 2, and the transceiver module 2 includes a laser emitter and a photodetector. Optionally, the transceiver module 2 further comprises a control device for regulating the position or the transmitting direction of the laser transmitter. The discrete point distribution of a single laser emitter and a single photodetector under a single mirror 10 is shown in fig. 7 and 8.

However, considering that the scanning speed v and the detection distance L are related, that is, the scanning light λ emitted from the preset plane XY reaches the object through the detection distance L and then is returned to the photodetector, the elapsed time is also the time required for scanning, i.e., t is 2L/v, and for scanning, the length L1 of the object in the environment to be scanned is related to the scanning time, i.e., L1 is t × v. When the detection distance L increases, the scanning speed decreases, and therefore, in order to increase the scanning speed and maintain a sufficient scanning speed even when the detection distance is increased, a multi-transmission-reception structure is introduced.

That is, in other embodiments of the present invention, the scanning and measuring device includes a plurality of transceiver modules 2, the transceiver modules 2 include a laser emitter and a photodetector, the transceiver modules 2 are arranged according to a predetermined manner, and each laser emitter and each photodetector are disposed adjacent to each other. Alternatively, as shown in fig. 26, the plurality of transceiver modules 2 are arranged in a circularly symmetric manner. Optionally, the transceiver module 2 further comprises a control device for regulating the position or emission direction of the laser emitter, which may be integrated in the central processing module 4.

When the scanning and measuring device includes a plurality of transceiver modules 2 and the emission directions of a plurality of laser transmitters are adjusted, the position distribution of the laser transmitters is shown in fig. 27, and the distribution of discrete points is obtained as shown in fig. 28. Wherein, the coordinates of the seven laser emitters in fig. 27 are (0.72,1.55), (-1.93,0.86), (-0.57, -2.7), (-2.0,0.17), (0.79, -3.95), (-3.1,2.05), (0.57,2.7), and the emitting directions of the laser emitters are [ [0.023,0.026,1], [0.2, -0.1,1], [ -0.211,0.1,1], [ -0.106, -0.205,1], [0.12,0.21,1], [0.038, -0.113,1], [ -0.111,0.02,1], respectively. In fig. 28, the abscissa is the angle in the horizontal direction, and the ordinate is the angle in the vertical direction; fig. 29 is a time evolution process of coverage, the abscissa is time, the ordinate is coverage, and it can be seen from the result graph of coverage that the full coverage of the scanning range is achieved in a short time. As can be seen from simulation of a single laser emitter and a plurality of laser emitters, the scattering point distribution range of the laser emitters is obviously superior to that of the single laser emitter, the emission direction of scanning light of the laser emitters can be changed by regulating and controlling the laser emitters, and the laser emitters can be reasonably applied to different scenes.

The utility model discloses in some embodiments, can set up laser radar's scanning range and be 110m (virtual cylinder face radius), when light reachs 110m department, the light beam shines on the object, and diffuse reflection takes place for light, and partly light is returned according to former way, reachs receiving module 40 on the preset plane XY, has the information completion that the object plane feedbacks to the detection of surrounding environment in through a cycle.

The utility model discloses some embodiments, set up the integration time and be 0.1s, a cycle is 0.1s promptly, and the optical device adopts servo motor as the rotation of speculum and prism, and servo motor controls its rotation by the pulse, and servo motor rotatory round needs 216 to 65536 pulses, can gather 65536 discrete points in cycle promptly.

When the structure of the laser emitters and the photodetectors is applied to a scanning measurement system with a Risley prism, the laser emitters and the photodetectors can be designed into a required layout structure as required to realize full-coverage scanning.

For example, when 4 laser emitters and 4 photodetectors are employed, the layout structure thereof is shown in fig. 30. The laser emitter and the photodetector are as close as possible, and the optical refraction and reflection processes of the scanning device with the Risley prism are repeated, so that the three-dimensional and two-dimensional discrete point distribution of the scene to be measured and the evolution process of the coverage rate along with time can be obtained, as shown in fig. 31 to 34. Fig. 31 is a three-dimensional discrete point distribution diagram, fig. 32 is a two-dimensional discrete point distribution diagram, fig. 33 is an enlarged view of fig. 32, the abscissa is an angle in the horizontal direction, the ordinate is an angle in the vertical direction, and in fig. 34, the abscissa is time and the ordinate is coverage.

It can be seen through simulation that: compared with the coverage rate (91.38%) of a system with a single transceiver module 2, the coverage rate of the system with a plurality of transceiver modules 2 is obviously improved, 100% is reached within the range of +/-14 degrees, and the time for reaching 100% of the coverage rate is shortened, namely, the equivalent scanning speed is improved.

A plurality of receiving and transmitting modules 2 are arranged in a laser radar scanning measuring system which is formed by a Risley prism and a reflector and fully covers the 360-degree range, so that the coverage rate can be obviously increased in a short time, and the rapid scanning of the 360-degree range is realized. Of course, the present invention is not limited thereto, and in other embodiments, the distribution of the discrete points may be optimized by changing the rotation speed ratio between the Risley prisms 11 and the reflecting mirror 10, or by changing the number and the vertex angles of the Risley prisms 11, or by optimizing the position of the laser transmitter, so as to obtain a higher coverage rate.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A scanning measurement system, comprising:

the scanning device at least comprises a reflecting mirror and a first rotating mechanism, an included angle between a normal line of a reflecting surface of the reflecting mirror and a rotating shaft is an acute angle, the first rotating mechanism controls the reflecting mirror to rotate 360 degrees around the rotating shaft, so that scanning light emitted in a preset plane is reflected by the reflecting mirror and then rotates 360 degrees around the rotating shaft to be emitted into a space, or measuring light rotating 360 degrees around the rotating shaft in a space range is reflected by the reflecting mirror to be emitted into the preset plane;

the transceiver module is positioned in the preset plane and is used for receiving the measuring light and measuring the measuring light so as to obtain object information of the space according to a measuring result, wherein the object information comprises distribution information of objects and distance information of the objects;

the fixing device is provided with a plurality of slots, and the transceiver module is fixed in the slots.

2. Scanning measurement system according to claim 1,

the transceiver module is also used for emitting scanning light.

3. The scanning measurement system of claim 1 wherein at least one of said transceiver modules is packaged in a package structure; the packaging structure is fixed in the slot.

4. The scanning measurement system of claim 3, wherein the package structure comprises a data line, a mounting base and a package housing, and the package housing and the data line are respectively fixed on two opposite sides of the mounting base;

the transceiver module is fixed on the mounting seat and is packaged in the packaging shell, and the transceiver module is electrically connected with an external circuit through the data line; the package housing has a window to pass the scanning light and the measuring light through the package housing.

5. The scanning measurement system of claim 4 wherein the package structure further comprises a heat sink within the package housing to dissipate heat from the transceiver module through the heat sink.

6. The scanning measurement system of claim 1 wherein said scanning measurement system comprises a transceiver module, said transceiver module comprising a laser transmitter and a photodetector;

or, the scanning measurement system comprises a plurality of transceiver modules, each transceiver module comprises a laser transmitter and a photoelectric detector, each laser transmitter and each photoelectric detector are arranged in the vicinity of each other, and the transceiver modules are arranged in a preset manner.

7. The scanning measurement system of claim 1 wherein the scanning device further comprises:

at least one Risley prism located between the preset plane and the mirror;

and the second rotating mechanism controls the Risley prism to rotate 360 degrees around the rotating shaft, so that the scanning light emitted in a preset plane is refracted by the at least one Risley prism and reflected by the reflector and then emitted by rotating 360 degrees around the rotating shaft, or the measuring light rotating 360 degrees around the rotating shaft is reflected by the reflector and refracted by the at least one Risley prism into the preset plane.

8. The scanning measurement system of claim 7 wherein the first rotation mechanism comprises a first motor and the second rotation mechanism comprises a second motor, the first motor being disposed on a side of the mirror facing away from the predetermined plane, the second motor being disposed on a side of the Risley prism.

9. The scanning measurement system of claim 7 wherein the scanning device includes a Risley prism having an inclined surface facing away from the reflective surface of the mirror;

alternatively, the scanning device comprises two Risley prisms, inclined surfaces of the two Risley prisms are arranged towards the reflecting surface of the reflecting mirror.

10. The scanning measurement system of claim 7, further comprising:

a lens comprising an adjustable lens with adjustable focal length or position, the lens being positioned between the at least one Risley prism and the predetermined plane to adjust the direction of the scanning light or the measuring light through the lens.

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