Orthogonal biaxial two-dimensional closed-loop continuous rotary scanning device and laser radar comprising same

Abstract

The invention relates to an orthogonal biaxial two-dimensional closed-loop continuous rotary scanning device and a laser radar comprising the same, a detection laser beam emitted by a laser emission module passes through a light path deflection module to enable a light path to be deflected to a space around the laser radar, and an echo light beam reflected by an obstacle realizes light path turning through the light path deflection module; then the laser enters the laser receiving module, the laser receiving module feeds back information with a receiving port of the signal control and processing module through a line, and the signal control and processing module processes signals fed back by the laser receiving module and analyzes and calculates the round-trip time of the laser. An output port of the signal control and processing module is in control connection with the laser emission module and the light path deflection module through lines. The invention discloses a two-dimensional closed-loop continuous rotary scanning device capable of being used for a laser radar and a double-sided reflecting mirror, and solves the problems of swinging delay and small field angle of a scanning mirror in the prior art.

Description

technical field [0001] The invention relates to the technical field of laser radar, in particular to a rotary scanning device of laser radar. Background technique [0002] Autonomous driving technology includes perception, recognition, judgment, decision-making and execution, etc. With the vigorous development of autonomous driving technology, as the "eye" of autonomous driving, environmental perception technology highlights its most basic and important value - perception, environment Perception technology is not only the prerequisite for the intelligence of autonomous driving, but also the guarantee of safety. Among environmental perception sensors, lidar has unique advantages in detection distance, ranging accuracy, and reliability; the lidar system includes a laser emitting system, a beam deflection system, a detection receiving system, and a signal processing system. The emitted laser beam is reflected by the target object After being received by the detection system an...

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Problems solved by technology

However, it is difficult for traditional lidar technology to meet these performance requirements. At present, more mature autonomous driving lidars on the market include mechanical lidars and lidars based on scanners such as MEMS micro-vibrators. The former usually arranges multiple lasers in the vertical direction. The laser and the detector realize the viewing angle in the vertical direction, or use the one-dimensional vibrating mirror to swing to change the optical path direction of the outgoing laser beam. In the horizontal direction, the drive drives the entire system to rotate 360°. The system can obtain a large horizontal field of view , but the resolution of the vertical field of view is low, and the system is very complex, large in size, low in reliability, and high in cost; MEMS lidar does not require motors and other devices, and the volume can be made smaller, but its effective field of view is limited Influenced by the device itself, the field of view is small. To increase the field of view, it is necessary to add devices for field of view splicing, but this increases the cost and instability of the system

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