Linear array laser radar circumferential image-rotation-free imaging system based on 45-degree rotating mirror

Abstract

The invention discloses a linear array laser radar circumferential image-rotation-free imaging system based on a 45-degree rotating mirror. The system comprises, from top to bottom, a linear array laser distance measuring instrument, an image rotation eliminating prism, a 45-degree rotating mirror, a 45-degree rotating mirror balancing structure, an angle sensor, a synchronous speed changing device, a scanning motor and a motor control system, wherein the motor control system drives the scanning motor to move, the scanning motor drives the image rotation eliminating prism and the 45-degree rotating mirror to rotate at different rotating speeds through the synchronous speed changing device, the angle sensor is used for accurately measuring circumferential imaging direction, and the rotatingspeed of the 45-degree rotating mirror is required to be twice that of the image rotation eliminating prism. The image rotation problem of the 45-degree rotating mirror is compensated by prism imagerotation effects of synchronous rotation. The 360-degree linear array laser radar circumferential image-rotation-free imaging is achieved through linear array light beam scanning. The system is simplein structure, the rotational inertia is reduced, and the stability and the scanning efficiency of the system are improved.

Description

technical field [0001] The invention relates to a laser radar imaging system, in particular to a linear array laser radar circumferential image rotation-free imaging system based on 45° rotating mirror scanning. Background technique [0002] Lidar has outstanding advantages such as high ranging accuracy, strong directionality, fast response, and is not affected by ground clutter. It can provide three-dimensional scene data for obstacle avoidance and autonomous path planning of unmanned vehicles. The most efficient solution for environmental sensing. [0003] At present, in the field of unmanned vehicles, the HDL-64E 64-line linear array laser radar of Velodyne in the United States is the most widely used and most advanced vehicle linear array laser radar. It uses a motor to drive the linear array laser rangefinder arranged along the pitch direction to perform 360° circumferential scanning imaging around the Z axis. This circumferential scanning method has fundamental probl...

AI Technical Summary

Problems solved by technology

The internal wires of the slip ring structure are dense, and the mutual inductance and mutual capacitance effects between signals are large, which affects the stability and efficiency of data transmission. At the same time, the wear of the slip ring during high-speed motion will directly affect the reliability of power supply and data transmission.

Images