Scanning device, scanning method thereof, and laser radar

Abstract

The invention relates to a scanning device, a scanning method thereof, and a laser radar. The scanning device comprises a first scanning unit and a second scanning unit; the first scanning unit is suitable for making the transmission direction of an incident light beam undergo first reflection so that the incident light beam can form an outgoing light beam; the first scanning unit changes the deflection angle of the first deflection by means of rotating or swinging; the second scanning unit is located in the optical path of at least one of the incident light beam and the outgoing light beam; and when the incident light beam or the outgoing light beam is transmitted through the second scanning unit, the second scanning unit makes the propagation direction of the transmitted light beam undergo second propagation based on an electro-optical effect. The scanning device can not only realize delay angle compensation, but also effectively shorten time for single detection, effectively improvescanning frequency, and is conductive to realizing the balance between high scanning frequency and high coherence efficiency.

Description

technical field [0001] The invention relates to the field of laser detection, in particular to a scanning device, a scanning method thereof, and a laser radar. Background technique [0002] Lidar is a commonly used ranging sensor, which has the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in intelligent robots, drones, unmanned driving and other fields. In recent years, with the rapid development of autonomous driving technology, lidar, as the core sensor of distance perception, has become indispensable. [0003] At present, most laser radars realize the scanning of the outgoing beam by continuous rotation or swinging back and forth. In a laser radar with a common channel for sending and receiving, the scanning device not only needs to realize the scanning of the outgoing beam, but also needs to realize the collection of the echo beam formed by the reflection of the target to be detected. Due to the cont...

AI Technical Summary

Problems solved by technology

Therefore, in order to improve the coherence efficiency between the local oscillator light and the echo light to ensure the signal-to-noise ratio of the coherent signal, angle compensation must be performed to suppress the decrease in coherence efficiency caused by the delay angle.

[0005] However, in the prior art, lidar systems that can achieve angle compensation often have the problem of low scanning frequency

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