Optical path system and laser radar

Abstract

The invention discloses an optical path system and a laser radar. The optical path system comprises a first light path and a second light path. With the optical path system, the vertical resolution and the refresh rate can be improved. The laser radar comprises a laser emission source, a galvanometer or a multi-surface reflecting prism, a light path system, a horizontal rotating structure and a motor control module. With one laser emission source, the cost and the calibration workload can be greatly reduced; meanwhile, the rotary multi-surface reflection type prism or galvanometer and the optical path system are adopted; a plurality of laser beams can be distributed in the horizontal direction and the vertical direction; the horizontal and vertical resolution of the laser radar is improved; and the technical parameter requirements of the multi-line laser radar of the multi-path emitter are met. The motor control module drives the horizontal rotating structure to rotate and thus the laser emission source and the galvanometer or the multi-surface reflecting prism are driven to rotate synchronously, so that 360-degree three-dimensional scanning is achieved. The optical path system andthe laser radar are applied to the field of detection.

Description

technical field [0001] The invention relates to the detection field, in particular to an optical path system and a laser radar. Background technique [0002] Currently, in the field of automatic driving and other fields, the lidar in the existing public technology is mainly divided into two categories, the first type is a rotating multi-line lidar, and the second type is a non-rotating type lidar, that is, a solid-state lidar. [0003] The first category uses mechanical rotation to realize 3D scanning, which can meet the technical requirements of unmanned driving for 0.1-degree horizontal resolution (360 degrees), 0.2-0.3-degree vertical resolution (up and down 15 degrees), and 10-20 frame refresh rate. However, multiple laser transmitters and receivers and a horizontal speed of 600 revolutions per minute are required. Mass production must calibrate each transmitter and receiver, which requires a large amount of manpower and low product yield. LiDAR with multiple laser emit...

AI Technical Summary

Problems solved by technology

However, the second type of solid-state lidar can only scan in one direction and cannot scan 360 degrees. Four such solid-state radars must cooperate to achieve the effect of the first type of lidar, and only the first type of technology is relatively mature, so the cost cannot be greatly reduced. drop and mass production

[0006] Invention patent CN107153185a discloses a laser radar and a laser radar control method, which uses a vertical vibrating mirror and a horizontal rotating structure to complete three-dimensional scanning, and uses a transmitter to scan in the vertical direction through the vibrating mirror, replacing multiple transmitters in order to reduce costs and The structure is complex, but since unmanned driving requires a horizontal resolution of 0.1 degrees and a refresh rate of 10 frames or more, and a measurement distance of 200m, according to this technical requirement, the time for scanning 0.1 degrees in the horizontal direction is 27us. And each measurement time is at least 2us, and only 13 times can be measured in the vertical direction, that is, the vertical resolution can only be 2.2 degrees, so it cannot meet the technical parameter requirements of the first multi-emitter / receiver lidar, and cannot Completely replace the first type of lidar mentioned above

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