A laser scanning system

Abstract

A laser scanning system includes an emitting device, a first rotating mirror device, an optical path changing device, a second rotating mirror device, and can optionally include a reflecting device, a first reflector, and a second reflector. The optical path changing device can receive and convert multiple beams of first scanning light propagating in the same horizontal plane into multiple beams of second scanning light propagating in the same vertical plane, and multiple second scanning light beams constitute a second beam plane. It can be understood that we use the optical path changing device to convert the single beam of detection light emitted by the emitting device into multiple beams of second scanning light propagating in the same vertical plane, completely replacing the role of the galvanometer device in the prior art, so that the laser scanning system can achieve a surface scanning function without a galvanometer motor, thereby getting rid of the limitation of the galvanometer motor on the stability and service life of the entire laser scanning system, so that the laser scanning system of the present invention is greatly improved in terms of stability and service life.

Description

Technical Field

[0001] The present invention relates to the field of optical scanning technology, and in particular to a laser scanning system. Background Art

[0002] LiDAR (LiDAR) is a system that uses laser light to detect characteristic information such as the distance, position, and / or speed of a target object. It operates by emitting a probe beam toward the target. The reflected echo is then photoelectrically converted and compared with the probe beam to obtain information about the target, such as one or more of its range, position, altitude, speed, attitude, and even shape, enabling detection, tracking, and / or identification.

[0003] As is well known, common laser radars currently rely on galvanometers. For example, the laser radar disclosed in Chinese Invention Patent Publication No. CN115657051A includes a transmitter, a galvanometer, and a rotating mirror. The transmitter is used to transmit detection light and recover and detect return light. The galvanometer includes a galvanometer motor and a reflector connected to the galvanometer motor. The reflector faces the transmitter and the rotating mirror to redirect light between the transmitter and the rotating mirror. Horizontally, the transmitter is located between the galvanometer motor and the rotating mirror. It should be understood that in the laser radar field, the galvanometer and rotating mirror together constitute the laser radar's scanning module. The laser beam emitted by the transmitter first reaches the galvanometer, where it is reflected before reaching the rotating mirror. Within the galvanometer, the laser beam performs reciprocating scanning (line scanning) within a certain vertical angle range. Within the rotating mirror, the laser beam performs reciprocating scanning (plane scanning) within a certain horizontal angle range. After passing through the rotating mirror device, the laser is emitted to the target object and then diffusely reflected back to the transmitting device. The transmitting device receives the laser echo, and the control center calculates the distance to the target point through ranging. When the emission point is sufficient to cover the main features of the target object, the control center can identify the target shape and target distance.

[0004] It can be seen that the function of the galvanometer device is to convert the point light source emitted by the emitting device into a line light source parallel to the vertical plane, and the line light source is converted into a surface light source parallel to the vertical plane under the action of the rotating mirror device, thereby finally realizing surface scanning.

[0005] The current problem is that existing LiDARs have a high failure rate and a short lifespan. The applicant has discovered that the root cause of this problem is that during operation, the galvanometer motor in the LiDAR needs to maintain high-speed operation for a long time, making the galvanometer motor susceptible to damage and failure, ultimately causing the LiDAR to fail.

[0006] Therefore, it is necessary to design a new laser scanning system to overcome the above problems. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a laser scanning system, which can realize the surface scanning function without the need for a galvanometer motor, thereby getting rid of the limitations of the galvanometer motor on the stability and service life of the entire laser scanning system. The system has the advantages of simple and stable structure and long service life.

[0008] In order to solve the above technical problems, the present invention provides a laser scanning system.

[0009] In a first embodiment of the laser scanning system provided by the present invention, the laser scanning system includes an emitting device, a first rotating mirror device, an optical path changing device, a reflecting device, a second rotating mirror device and a receiving device; the emitting device is used to emit detection light; the first rotating mirror device is used to receive and convert the single beam of detection light emitted by the emitting device into multiple beams of first scanning light propagating in the same horizontal plane, and the multiple first scanning light rays constitute a first beam surface; the optical path changing device is used to receive and convert the multiple beams of first scanning light propagating in the same horizontal plane into multiple beams of second scanning light propagating in the same vertical plane, and the multiple second scanning light rays constitute a second beam surface; the reflecting device is used to convert the multiple beams of second scanning light propagating in the same vertical plane into multiple beams of A beam of third scanning light propagates in the same vertical plane, and multiple third scanning lines constitute a third light beam surface; the second rotating mirror device is used to receive and convert the third light beam surface into multiple fourth light beam surfaces propagating in different vertical planes respectively, and the multiple fourth light beam surfaces are projected on the same vertical plane that intersects with the multiple fourth light beam surfaces at the same time to form a planar illumination area; the light reflected by the object in the illumination area after being illuminated by the fourth light beam surface includes a first echo light beam directed to the second rotating mirror device; the second rotating mirror device is also used to receive and convert the first echo light beam into multiple second echo light beams propagating in the same horizontal plane, and multiple second echo light beams constitute an echo beam surface; the receiving device is used to receive multiple second echo light beams.

[0010] In a second embodiment of the laser scanning system provided by the present invention, the laser scanning system includes an emitting device, a first rotating mirror device, an optical path changing device, a reflecting device, a second rotating mirror device, a receiving device and an optical path shaping lens; the emitting device is used to emit detection light; the first rotating mirror device is used to receive and convert the single beam of detection light emitted by the emitting device into multiple beams of first scanning light propagating in the same horizontal plane, and multiple first scanning light rays constitute a first beam surface; the optical path changing device is used to receive and convert multiple beams of first scanning light propagating in the same horizontal plane into multiple beams of second scanning light propagating in the same vertical plane, and multiple second scanning light rays constitute a second beam surface; the reflecting device is used to convert multiple beams of second scanning light propagating in the same vertical plane into multiple beams of third scanning light propagating in the same vertical plane, and multiple third scanning lines constitute a third beam surface; the second rotating mirror device is used to receive and convert the third beam The optical path shaping lens is arranged on the propagation path of the plurality of fourth beam planes, and is used to receive and expand the fourth beam plane to form a fifth beam plane composed of a plurality of fifth scanning light rays in the same vertical plane and not parallel to each other; the illumination area formed by the plurality of fifth beam planes projected on the same vertical plane that intersects with the plurality of fifth beam planes at the same time is in the shape of a plane; the light reflected by the object in the illumination area after being irradiated by the fifth beam plane includes a first echo light ray directed to the optical path shaping lens; the optical path shaping lens is also used to focus the plurality of the first echo light rays incident to the second rotating mirror device; the second rotating mirror device is also used to receive and convert the first echo light into a plurality of second echo light rays propagating in the same horizontal plane, and the plurality of second echo light rays constitute an echo beam plane; the receiving device is used to receive the plurality of the second echo light rays.

[0011] In a third embodiment of the laser scanning system provided by the present invention, the laser scanning system includes a transmitting device, a first rotating mirror device, a first reflecting mirror, an optical path changing device, a second reflecting mirror, a second rotating mirror device and a receiving device; the transmitting device is used to transmit detection light; the first rotating mirror device is used to receive and convert the single beam of detection light emitted by the transmitting device into multiple beams of first scanning light propagating in the same horizontal plane, and multiple first scanning light rays constitute a first beam surface; the first reflecting mirror is used to receive and convert multiple first scanning light rays into multiple second scanning light rays, and multiple second scanning light rays propagate in the same horizontal plane, and multiple second scanning light rays constitute a second beam surface; the optical path changing device is used to receive and convert multiple second scanning light rays propagating in the same horizontal plane into multiple third scanning light rays propagating in the same vertical plane, and multiple third scanning light rays constitute a first beam surface. Two beam surfaces; the second reflector is used to receive and convert multiple third scanning rays into multiple fourth scanning rays, multiple fourth scanning rays propagate in the same vertical plane, and multiple fourth scanning rays constitute a fourth beam surface; the second rotating mirror device is used to receive and convert the fourth beam surface into multiple fifth beam surfaces that propagate in different vertical planes respectively, and the illumination area formed by multiple fifth beam surfaces projected on the same vertical plane that intersects with multiple fifth beam surfaces at the same time is in the shape of a surface; the light reflected by the object in the illumination area after being irradiated by the fifth beam surface includes a first echo light directed toward the second rotating mirror device; the second rotating mirror device is also used to receive and convert the first echo light into multiple second echo light beams that propagate in the same horizontal plane, and multiple second echo light rays constitute an echo beam surface; the receiving device is used to receive multiple second echo light rays.

[0012] In a fourth embodiment of the laser scanning system provided by the present invention, the laser scanning system includes an emitting device, a first rotating mirror device, a first reflecting mirror, an optical path changing device, a second reflecting mirror, a second rotating mirror device, a receiving device and an optical path shaping lens; the emitting device is used to emit detection light; the first rotating mirror device is used to receive and convert the single beam of detection light emitted by the emitting device into multiple beams of first scanning light propagating in the same horizontal plane, and multiple first scanning light rays constitute a first beam surface; the first reflecting mirror is used to receive and convert multiple first scanning light rays into multiple second scanning light rays, and multiple second scanning light rays propagate in the same horizontal plane, and multiple second scanning light rays constitute a second beam surface; the optical path changing device is used to receive and convert multiple second scanning light rays propagating in the same horizontal plane into multiple third scanning light rays propagating in the same vertical plane, and multiple third scanning light rays constitute a second beam surface; the second reflecting mirror is used to receive and convert multiple third scanning light rays into multiple fourth scanning light rays, and multiple fourth scanning light rays are propagated in the same vertical plane The optical path shaping lens is arranged on the propagation path of the plurality of fifth beam planes and is used to receive and expand the fifth beam plane to form a sixth beam plane composed of a plurality of sixth scanning light rays that are in the same vertical plane and are not parallel to each other. The plurality of sixth beam planes are projected onto the same vertical plane and intersect with the plurality of sixth beam planes to form a planar illumination area. The light reflected by an object in the illumination area after being illuminated by the sixth beam plane includes a first echo light directed toward the optical path shaping lens. The optical path shaping lens is also used to focus the plurality of first echo light rays incident on it onto the second mirror device. The second mirror device is also used to receive and convert the first echo light into a plurality of second echo light rays that propagate in the same horizontal plane. The plurality of second echo light rays constitute an echo beam plane. The receiving device is used to receive the plurality of second echo light rays.

[0013] In a fifth embodiment of the laser scanning system provided by the present invention, the laser scanning system includes a transmitting device, a first rotating mirror device, an optical path changing device, a second rotating mirror device and a receiving device; the transmitting device is used to transmit detection light; the first rotating mirror device is used to receive and convert the single beam of detection light emitted by the transmitting device into multiple beams of first scanning light propagating in the same horizontal plane, and the multiple first scanning light rays constitute a first beam surface; the optical path changing device is used to receive and convert the multiple beams of first scanning light propagating in the same horizontal plane into multiple beams of second scanning light propagating in the same vertical plane, and the multiple second scanning light rays constitute a second beam surface; The second rotating mirror device is used to receive and convert the second light beam surface into multiple third light beam surfaces that propagate in different vertical planes respectively. The illumination area formed by the multiple third light beam surfaces projected on the same vertical plane that intersects with the multiple third light beam surfaces at the same time is in the shape of a surface; the light reflected by the object in the illumination area after being illuminated by the third light beam surface includes the first echo light directed toward the second rotating mirror device; the second rotating mirror device is also used to receive and convert the first echo light into multiple second echo light beams that propagate in the same horizontal plane, and the multiple second echo light rays constitute an echo beam surface; the receiving device is used to receive the multiple second echo light rays.

[0014] In the sixth embodiment of the laser scanning system provided by the present invention, the laser scanning system includes an emitting device, a first rotating mirror device, an optical path changing device, a second rotating mirror device, a receiving device and an optical path shaping lens; the emitting device is used to emit detection light; the first rotating mirror device is used to receive and convert the single beam of detection light emitted by the emitting device into multiple beams of first scanning light propagating in the same horizontal plane, and the multiple first scanning light rays constitute a first beam surface; the optical path changing device is used to receive and convert the multiple beams of first scanning light propagating in the same horizontal plane into multiple beams of second scanning light propagating in the same vertical plane, and the multiple second scanning light rays constitute a second beam surface; the second rotating mirror device is used to receive and convert the second beam surface into multiple third beam surfaces propagating in different vertical planes; the optical path shaping lens is arranged On the propagation path of multiple third light beam surfaces, it is used to receive and expand the third light beam surface to form a fourth light beam surface composed of multiple fourth scanning light rays in the same vertical plane and non-parallel to each other; the illumination area formed by the multiple fourth light beam surfaces projected on the same vertical plane that intersects with the multiple fourth light beam surfaces at the same time is in the shape of a plane; the light reflected by the object in the illumination area after being illuminated by the fourth light beam surface includes the first echo light ray directed to the optical path shaping lens; the optical path shaping lens is also used to focus the multiple first echo light rays incident to the second rotating mirror device; the second rotating mirror device is also used to receive and convert the first echo light into multiple second echo light rays propagating in the same horizontal plane, and the multiple second echo light rays constitute the echo beam surface; the receiving device is used to receive the multiple second echo light rays.

[0015] In the first embodiment, or the second embodiment, or the third embodiment, or the fourth embodiment, or the fifth embodiment, or the sixth embodiment of the laser scanning system provided by the present invention, the first rotating mirror device includes a first motor and a first polygonal reflector connected to the first motor, the first polygonal reflector is in the shape of a prism or a pyramid, the first light reflecting surface of the first polygonal reflector is arranged on the side, and the first motor is used to drive the first polygonal reflector to rotate around its own central axis; the second rotating mirror device includes a second polygonal reflector in the shape of a prism or a pyramid, the second polygonal reflector is arranged above or below the first polygonal reflector and connected to the first motor, and the first motor is also used to drive the second polygonal reflector to rotate around its own central axis.

[0016] In the first embodiment, or the second embodiment, or the third embodiment, or the fourth embodiment, or the fifth embodiment, or the sixth embodiment of the laser scanning system provided by the present invention, the optical path changing device includes a plurality of flexible strip-shaped optical transmission components, each of the optical transmission components has a light input port and a light output port that are connected to each other, the light input ports of the plurality of optical transmission components are arranged into an array of m rows and n columns in a first plane, and the light output ports of the plurality of optical transmission components are arranged into an array of a rows and b columns in a second plane, and the first plane is parallel to the second plane, wherein a, b, m, and n are all positive integers greater than or equal to, m×n=a×b, m>n, a<b

[0017] In the third embodiment or the fourth embodiment of the laser scanning system provided by the present invention, the first rotating mirror device includes a first motor and a first multifaceted reflector connected to the first motor, the first multifaceted reflector is in the shape of a prism or a pyramid, the first light reflecting surface of the first multifaceted reflector is arranged on the side, and the first motor is used to drive the first multifaceted reflector to rotate around its own central axis; the second rotating mirror device includes a second multifaceted reflector in the shape of a prism or a pyramid, the second multifaceted reflector is arranged above or below the first multifaceted reflector and is connected to the first motor, and the first motor is also used to drive the second multifaceted reflector to rotate around its own central axis; the first reflector and the second reflector are respectively arranged on the left and right sides of the first rotating mirror device, and the first reflector is higher than the second reflector; the optical path changing device is arranged above or below the second multifaceted reflector, and the light inlet and light outlet of the optical path changing device are respectively facing the first reflector and the second reflector.

[0018] In the fifth embodiment or the sixth embodiment of the laser scanning system provided by the present invention, the first rotating mirror device and the second rotating mirror device are arranged with a left-right interval; the optical path changing device is arranged between the first rotating mirror device and the second rotating mirror device, and the light inlet and the light outlet of the optical path changing device are respectively facing the first rotating mirror device and the second rotating mirror device; or, the first rotating mirror device includes a first motor and a first multi-faceted reflector connected to the first motor, the first multi-faceted reflector is a prism, the first light reflecting surface of the first multi-faceted reflector is arranged on the side, and the first motor is used to drive the first multi-faceted reflector to rotate around its own central axis; the second rotating mirror device includes a second multi-faceted reflector in the shape of a prism or a pyramid, the second multi-faceted reflector is arranged above or below or below the first multi-faceted reflector and is connected to the first motor, and the first motor is also used to drive the second multi-faceted reflector to rotate around its own central axis; the optical path changing device is arranged above or below the second multi-faceted reflector, and the light inlet and the light outlet of the optical path changing device are respectively facing the first rotating mirror device and the second rotating mirror device.

[0019] Implementation of the laser scanning system of the present invention can achieve at least the following beneficial effects: The laser scanning system provided by the present invention includes an optical path changing device; the optical path changing device can receive and convert multiple beams of first scanning light propagating in the same horizontal plane into multiple beams of second scanning light propagating in the same vertical plane, and the multiple second scanning light beams constitute a second beam plane. It can be understood that we use the optical path changing device to convert the single beam of detection light emitted by the emitting device into multiple beams of second scanning light propagating in the same vertical plane, completely replacing the role of the galvanometer device in the prior art. As a result, the laser scanning system can achieve a surface scanning function without the need for a galvanometer motor, thereby getting rid of the limitations of the galvanometer motor on the stability and service life of the entire laser scanning system, thereby significantly improving the stability and service life of the laser scanning system of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments or technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the invention. Those skilled in the art can also derive other drawings based on the provided drawings without inventive work:

[0021] Figure 1 Schematic diagram of the structure of the laser scanning system of Example 1;

[0022] Figure 2 This is a schematic structural diagram of the optical path changing device of Example 1;

[0023] Figure 3 Schematic diagram of the positional relationship between a certain optical transmission component and the corresponding front-end collimating lens and end-end collimating lens in the optical path changing device of Example 1;

[0024] Figure 4 This is a schematic diagram of the arrangement of the transmission end sections connected to the light outlets in the same column in the optical path changing device provided in Example 1;

[0025] Figure 5 This is a schematic structural diagram of the optical path changing device of Example 2;

[0026] Figure 6 Schematic diagram of the arrangement of light inlets in the optical path changing device of Example 2;

[0027] Figure 7 Schematic diagram of the arrangement of light outlets in the optical path changing device of Example 2;

[0028] Figure 8 This is a schematic structural diagram of the optical path changing device of Example 3;

[0029] Figure 9 Schematic diagram of the arrangement of light inlets in the optical path changing device of Example 3;

[0030] Figure 10 Schematic diagram of the arrangement of light outlets in the optical path changing device of Example 3;

[0031] Figure 11 This is a schematic structural diagram of the optical path changing device of Example 4;

[0032] Figure 12 This is a schematic structural diagram of the optical path changing device of Example 5;

[0033] Figure 13 This is a schematic structural diagram of the optical path changing device of Example 6;

[0034] Figure 14 Schematic diagram of the structure of the laser scanning system of Example 9;

[0035] Figure 15 Schematic diagram of the optical path of the laser scanning system of Example 9;

[0036] Figure 16 Schematic diagram of the structure of the laser scanning system of Example 10;

[0037] Figure 17 Schematic diagram of the structure of the laser scanning system of Example 11;

[0038] Figure 18 Schematic diagram of the structure of the laser scanning system of Example 12;

[0039] Figure 19 Schematic diagram of the structure of the laser scanning system of Example 13;

[0040] Figure 20 Schematic diagram of the structure of the laser scanning system of Example 14;

[0041] Figure 21 Schematic diagram of the structure of the laser scanning system of Example 15;

[0042] Figure 22 Schematic diagram of the structure of the laser scanning system of Example 16;

[0043] Figure 23 Schematic diagram of the structure of the laser scanning system of Example 17;

[0044] Figure 24 This is a schematic structural diagram of a first polygonal reflector according to Example 18;

[0045] Figure 25 is a schematic structural diagram of a second polygonal reflector according to embodiment 18;

[0046] Figure 26 This is a schematic structural diagram of a first polygonal reflector according to Example 19;

[0047] Figure 27 Schematic diagram of the structure of the second polygonal reflector of Example 19.

[0048] Description of the accompanying drawings in the specific implementation manner:

[0049] Launcher 401 First rotating mirror device 402 Optical path changing device 403 Reflection device 404 Second rotating mirror device 405 The first polygon mirror 421 Second polygon mirror 451 Upper reflective surface 441 Lower reflective surface 442 First light reflecting surface 4211 Second light reflecting surface 4511 Optical transmission components 1 light entrance 11 light outlet 12 First plane 100 Second plane 200 Transmission front end 131 mid-transmission 132 Transmission end 133 Optical transmission segment 13 Angle α Front collimator 21 Back-end collimator 22 Optical devices 3 The third plane 300 Detection light L0 First scanning ray L1 First beam plane S1 Second scanning ray L2 Second beam plane S2 The third scanning ray L3 The third beam plane S3 Fourth beam plane S4 Fourth scanning ray L4 Illuminated area IA receiving device 406 First echo ray L8 Second echo ray L9 Optical path shaping lens 407 Fifth beam plane S5 Fifth scanning ray L5 Sixth scanning ray L6 The Sixth Beam S6 Echo beam surface S9 First reflector 408 Second reflector 409 DETAILED DESCRIPTION

[0050] To facilitate understanding of the invention, the invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate exemplary embodiments of the invention. However, the invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive disclosure of the invention.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the invention pertains. The terms used in the specification of the invention herein are for the purpose of describing specific embodiments only and are not intended to limit the invention.

[0052] Example 1

[0053] See also Figure 1 , is a schematic diagram of the laser scanning system provided in this embodiment.

[0054] like Figure 1 As shown, the laser scanning system includes a transmitting device 401 , a first rotating mirror device 402 , an optical path changing device 403 , a reflecting device 404 , a second rotating mirror device 405 and a receiving device 406 .

[0055] The emitting device 401 is used to emit the detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1s constitute a first light beam surface S1; the optical path changing device 403 is used to receive and convert the multiple beams of first scanning light L1 propagating in the same horizontal plane into multiple beams of second scanning light L2 propagating in the same vertical plane, and the multiple second scanning light L2s constitute a second light beam surface S2; the reflecting device 404 is used to convert the multiple beams of second scanning light L2 propagating in the same vertical plane into multiple beams of third scanning light L3 propagating in the same vertical plane, and the multiple third scanning light rays constitute a third light beam surface S2. S3; the second rotating mirror device 405 is used to receive and convert the third light beam surface S3 into multiple fourth light beam surfaces S4 propagating in different vertical planes respectively, and the multiple fourth light beam surfaces S4 are projected on the same vertical plane and intersect with the multiple fourth light beam surfaces S4 to form a planar illumination area IA; the light reflected after the object in the illumination area IA is irradiated by the fourth light beam surface S4 includes a first echo light ray L8 directed toward the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple second echo light rays L9 propagating in the same horizontal plane, and multiple second echo light rays L9 constitute an echo beam surface S9; the receiving device 406 is used to receive multiple second echo light rays L9.

[0056] The operating principle of the laser scanning system is described as follows. Continuing with the figure, the probe light L0 (e.g., a laser beam) emitted by the emitting device 401 first reaches the first rotating mirror device 402, where it is then reflected by the first rotating mirror device 402 to form multiple first scanning light beams L1 propagating in the same horizontal plane. These multiple first scanning light beams L1 then reach the optical path changing device 403. After being transmitted by the optical path changing device 403, these multiple first scanning light beams L1 form multiple second scanning light beams L2 propagating in the same vertical plane. These multiple second scanning light beams L2 reach the reflecting device 404 and are then reflected by the reflecting device 404 to form multiple third scanning light beams L3 propagating in the same vertical plane. These multiple third scanning light beams form a third beam plane S3. The third beam plane S3 reaches the second rotating mirror device 405, where it is then reflected by the second rotating mirror device 405 to form multiple fourth beam planes S4 propagating in different vertical planes. As can be seen in the figure, the illumination area IA formed by the multiple fourth beam surfaces S4 projected onto the same vertical plane that simultaneously intersects the multiple fourth beam surfaces S4 is planar (e.g., a rectangle as shown in the figure; of course, in some other embodiments, the illumination area IA may also have other shapes). It should be understood that the coverage area of ​​the illumination area IA is the effective scanning range of the laser scanning system within the corresponding vertical plane. In addition, each of the fourth beam surfaces S4 includes multiple mutually parallel fourth scanning light rays L4 propagating within the same vertical plane. The fourth scanning light L4 of the fourth beam surface S4 is irradiated on the target object and diffusely reflected to form a light beam including a first echo light beam L8 directed toward the second rotating mirror device 405. The second rotating mirror device 405 receives and converts the first echo light beam L8 into multiple beams of second echo light beams L9 propagating in the same horizontal plane. Multiple second echo light beams L9 constitute the echo beam surface S9. The receiving device 406 receives multiple second echo light beams L9. The control center obtains the target point distance through ranging calculation. When the effective scanning range is sufficient to cover the main features of the target object, the control center can identify the target shape and target distance.

[0057] According to the above description, the laser scanning system of this embodiment converts the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of second scanning light L2 propagating in the same vertical plane through the joint action of the first rotating mirror device 402 and the optical path changing device 403, completely replacing the role of the galvanometer device in the prior art. As a result, the laser scanning system can realize the surface scanning function without the need for a galvanometer motor, thereby getting rid of the limitation of the galvanometer motor on the stability and service life of the entire laser scanning system, so that the laser scanning system of the present invention is greatly improved in terms of stability and service life.

[0058] In this embodiment, the first beam surface S1 is perpendicular to the second beam surface S2; the second beam surface S2 is parallel to the third beam surface S3, and the propagation direction of the second beam surface S2 is opposite to the propagation direction of the third beam surface S3; each of the fourth beam surfaces S4 intersects with the third beam surface S3 at the second light reflecting surface 4511 of the second polygonal reflector 451.

[0059] The key to the aforementioned optical path design is that the propagation direction of the second beam surface S2 is opposite to that of the third beam surface S3. In other words, the propagation path of the second scanning light L2 is opposite to that of the third scanning light L3. This optical path reversal design significantly reduces the size of the entire laser scanning system, facilitating its miniaturization.

[0060] In this embodiment, the reflecting device 404 is a K-shaped reflecting mirror. As shown in the figure, the K-shaped reflecting mirror includes an upper reflecting surface 441 and a lower reflecting surface 442 that are orthogonal to each other, and the angle α between the upper reflecting surface 441 and the lower reflecting surface 442 and the horizontal plane is 45°.

[0061] It can be understood that the multiple beams of second scanning light L2 first reach the upper reflection surface 441 of the reflection device 404, are reflected by the upper reflection surface 441, and then vertically emit toward the lower reflection surface 442, and then are reflected by the lower reflection surface 442 to form multiple beams of the third scanning light L3.

[0062] In this embodiment, the first rotating mirror device 402 includes a first motor and a first polygonal reflector 421 connected to the first motor. The first polygonal reflector 421 is in the form of a prism (e.g., a right hexagonal prism as shown in the figure), with a first light-reflecting surface 4211 of the first polygonal reflector 421 disposed on a side surface. The first motor is used to drive the first polygonal reflector 421 to rotate about its central axis. Simultaneously, the second rotating mirror device 405 includes a second polygonal reflector 451 in the form of a prism (e.g., a right quadrangular prism as shown in the figure). The second polygonal reflector 451 is connected to the first motor and is also used to drive the second polygonal reflector 451 to rotate about its central axis. The second polygonal reflector 451 is disposed below the first polygonal reflector 421, with the central axis of the first polygonal reflector 421 collinear with the central axis of the second polygonal reflector 451.

[0063] In this way, the first motor simultaneously drives the first polygonal mirror 421 and the second polygonal mirror 451, achieving a high degree of integration between the first rotating mirror device 402 and the second rotating mirror device 405, which facilitates the miniaturization of the laser scanning system. Furthermore, the use of motors can be minimized, reducing sources of failure and significantly reducing the failure rate of the entire laser scanning system, thereby further improving the stability of the entire laser scanning system.

[0064] It should be noted that, under the drive of the first motor, the first polygonal mirror 421 and the second polygonal mirror 451 may rotate synchronously, or may rotate differentially.

[0065] Of course, in some other embodiments, the second polygonal reflector 451 may also be arranged above the first polygonal reflector 421 .

[0066] In this embodiment, the number of the first light reflecting surfaces 4211 of the first polygonal reflector 421 is greater than the number of the second light reflecting surfaces 4511 of the second polygonal reflector 451 .

[0067] In this embodiment, see Figure 2 , Figure 2 is a schematic structural diagram of the optical path changing device of this embodiment, as shown in FIG. Figure 2 As shown, the optical path changing device provided in this embodiment includes a plurality of flexible strip-shaped optical transmission components 1, each of the optical transmission components 1 having a light input port 11 and a light output port 12 that are connected to each other, the light input ports 11 of the plurality of optical transmission components 1 are arranged into an array of m rows and n columns in a first plane 100, and the light output ports 12 of the plurality of optical transmission components 1 are arranged into an array of a rows and b columns in a second plane 200, and the first plane 100 is parallel to the second plane 200, wherein a, b, m, and n are all positive integers greater than or equal to 1, m×n=a×b, m>n, and a<b.

[0068] In this embodiment, m=b, n=a, specifically, m=b=1, n=a=10.

[0069] In this embodiment, the optical transmission component 1 is an optical fiber. Of course, in some other embodiments, the optical transmission component 1 can also be a core of an image transmission optical cable.

[0070] See also Figure 3 , Figure 3 Schematic diagram of the positional relationship between a certain optical transmission component 1 and the corresponding front-end collimating lens 21 and the end collimating lens in the optical path changing device of this embodiment, as shown in FIG. Figure 3As shown, the optical transmission component 1 has an optical transmission section 13 that connects the corresponding light outlet 12 and the light inlet 11. The optical transmission section 13 includes a transmission front section 131, a transmission middle section 132, and a transmission end section 133 that are connected in sequence. The transmission front section 131 is connected to the light inlet 11, and the transmission end section 133 is connected to the light outlet 12. Figure 1 ,exist Figure 1 It can be seen that the transmission front sections 131 of the plurality of light transmission components 1 are parallel to each other, and the central axis of each of the transmission front sections 131 is perpendicular to the first plane 100 or the second plane 200 .

[0071] See also Figure 4 , Figure 4 This is a schematic diagram of the arrangement of the transmission end sections 133 of the light outlets 12 connected to the same column in the optical path changing device provided in this embodiment, as shown in FIG. Figure 4 As shown, for the central axes of the transmission end segments 133 connected to the light outlets 12 in the same column, the central axes of the multiple transmission end segments 133 are arranged at equal intervals in a third plane 300 perpendicular to the second plane 200 and intersect at one point, and the angle α formed by the intersection of the central axes of the two outermost transmission end segments 133 toward the second plane 200 is between 20° and 40°, preferably 30°.

[0072] Continue to see Figure 3 ,exist Figure 3 It can be seen that the optical path changing device also includes multiple front-end collimating lenses 21 and multiple end collimating lenses; the multiple front-end collimating lenses 21 are respectively connected to the light entrance ports 11 of the multiple optical transmission components 1 in a one-to-one manner, and the central axis of the front-end collimating lens 21 is collinear with the central axis of the corresponding transmission front section 131 of the optical transmission component 1; the multiple rear-end collimating lenses 22 are respectively connected to the light exit ports 12 of the multiple optical transmission components 1 in a one-to-one manner, and the central axis of the rear-end collimating lens 22 is collinear with the central axis of the corresponding transmission end section 133 of the optical transmission component 1.

[0073] It can be understood that the optical path changing device can convert linear light propagating in a horizontal plane into linear light propagating in a vertical plane. In other words, multiple first scanning light beams propagating in the same horizontal plane can be converted into multiple second scanning light beams propagating in the same vertical plane by the optical path changing device.

[0074] In this embodiment, the specific structure of the transmitting device is the same as that in the prior art and will not be described in detail in this application.

[0075] In summary, the laser scanning system provided in this embodiment can achieve the following beneficial effects:

[0076] 1. The first rotating mirror device and the optical path changing device work together to convert the single beam of detection light emitted by the transmitting device into multiple beams of second scanning light propagating in the same vertical plane, completely replacing the role of the galvanometer device in the prior art. As a result, the laser scanning system can also achieve the surface scanning function without the need for a galvanometer motor, thereby getting rid of the limitation of the galvanometer motor on the stability and service life of the entire laser scanning system, which greatly improves the stability and service life of the laser scanning system of the present invention.

[0077] 2. The design of optical path foldback can greatly reduce the size of the entire laser scanning system, which is conducive to the miniaturization of the laser scanning system.

[0078] 3. Utilizing the first motor to simultaneously drive the first and second polygonal mirrors achieves high integration of the first and second rotating mirror devices, facilitating miniaturization of the laser scanning system. Furthermore, this minimizes the use of motors, reduces sources of failure, significantly reduces the failure rate of the entire laser scanning system, and further enhances the stability of the entire laser scanning system.

[0079] It should be emphasized that the prisms described in the present application are not limited to quadrangular prisms or hexagonal prisms. In some other embodiments, the first polygonal reflector and the second polygonal reflector can be selected as triangular prisms, quadrangular prisms, pentagonal prisms, hexagonal prisms, heptagonal prisms, octagonal prisms, nonaprisms, decagonal prisms, eleven prisms, etc., as long as the number of edges of the first polygonal reflector is greater than the number of edges of the second polygonal reflector.

[0080] Example 2

[0081] The difference between the laser scanning system of this embodiment and the first embodiment is that the structure of the optical path changing device is different. Figure 5 , Figure 5 is a schematic structural diagram of the optical path changing device of this embodiment, as shown in FIG. Figure 5 As shown, the difference between the optical path changing device provided in this embodiment and the embodiment 1 is that m=b=2. Figure 6 , Figure 6 Schematic diagram of the arrangement of the light inlet 11 in the optical path changing device of this embodiment, as shown in FIG. Figure 5 As shown, the array formed by the multiple light inlets 11 is a parallelogram array. In the parallelogram array formed by the multiple light inlets 11, the angle between the row direction and the column direction is 60°, the adjacent light inlets 11 are tangent to each other, the light inlets 11 in the same row are arranged in a straight line, and the light inlets 11 in the same column are arranged in a straight line.

[0082] See also Figure 7 , Figure 7This is a schematic diagram of the arrangement of the light outlet 12 in the light path changing device of this embodiment, as shown in FIG. Figure 7 As shown, the array formed by the multiple light outlets 12 is a rectangular array. In the rectangular array formed by the multiple light outlets 12, the angle between the row direction and the column direction is 90°, the adjacent light outlets 12 are tangent to each other, the light outlets 12 in the same row are arranged in a straight line, and the light outlets 12 in the same column are arranged in a straight line.

[0083] Example 3

[0084] The difference between the laser scanning system of this embodiment and the first embodiment is that the structure of the optical path changing device is different. Figures 8-10 , Figure 8 is a structural diagram of the optical path changing device of this embodiment, Figure 9 is a schematic diagram of the arrangement of the light inlet 11 in the optical path changing device of this embodiment, Figure 10 This is a schematic diagram of the arrangement of the light outlet 12 in the light path changing device of this embodiment, as shown in FIG. Figures 8-10 As shown, the difference between the optical path changing device provided in this embodiment and the second embodiment is that the array formed by the plurality of light outlets 12 is a parallelogram array (see Figure 10 ), in the parallelogram array formed by the plurality of light outlets 12, the angle between the row direction and the column direction is 60°, the adjacent light outlets 12 are tangent, the light outlets 12 in the same row are arranged in a straight line, and the light outlets 12 in the same column are arranged in a straight line; the array formed by the plurality of light inlets 11 is a rectangular array (see Figure 9 ), in a rectangular array formed by a plurality of the light inlets 11, the angle between the row direction and the column direction is 90°, the adjacent light inlets 11 are tangent to each other, the light inlets 11 in the same row are arranged in a straight line, and the light inlets 11 in the same column are arranged in a straight line.

[0085] Example 4

[0086] The difference between the laser scanning system of this embodiment and the first embodiment is that the structure of the optical path changing device is different. Figure 11 , Figure 11 is a schematic structural diagram of the optical path changing device of this embodiment, as shown in FIG. Figure 11 As shown, the difference between the optical path changing device provided in this embodiment and the third embodiment is that m=1 and b=2.

[0087] Example 5

[0088] The difference between the laser scanning system of this embodiment and the first embodiment is that the structure of the optical path changing device is different. Figure 12 , Figure 12 is a schematic structural diagram of the optical path changing device of this embodiment, as shown in FIG. Figure 12As shown, the difference between the optical path changing device provided in this embodiment and that in the first embodiment is that m=2 and b=1.

[0089] Example 6

[0090] The difference between the laser scanning system of this embodiment and the first embodiment is that the structure of the optical path changing device is different. Figure 13 , Figure 13 is a schematic structural diagram of the optical path changing device of this embodiment, as shown in FIG. Figure 13 As shown, the optical path changing device provided in this embodiment differs from that in the first embodiment in that the transmission end sections 133 of the multiple optical transmission elements 1 are parallel to each other, and the central axis of each transmission end section 133 is perpendicular to the first plane 100 or the second plane 200. The optical path changing device further includes an optical device 3 disposed on one side of the light outlet 12, the optical device 3 being configured to receive and diffuse the parallel light rays emitted from the multiple light outlets 12. Specifically, the optical device 3 is a square concave lens that converts the parallel light rays emitted from the multiple light outlets 12 into diffused light having a radiation angle between 15° and 90° (preferably between 25° and 60°).

[0091] Example 7

[0092] The laser scanning system of this embodiment differs from that of the first embodiment in the structure of the optical path altering device. The optical path altering device provided in this embodiment differs from that of the first embodiment in that the optical transmission element is a self-focusing lens with a length between 50 mm and 100 mm. This lens can directly perform light transmission and alignment, thus omitting the front-end and end-end collimating lenses.

[0093] It should be noted that the self-focusing lens mentioned above can also be replaced by an optical fiber with a gradient refractive index change.

[0094] Example 8

[0095] The laser scanning system of this embodiment differs from that of the first embodiment in that the second rotating mirror device 405 includes a second motor and a second polygonal reflector 451 connected to the second motor. The second motor is used to drive the second polygonal reflector 451 to rotate about its own central axis. In other words, the first polygonal reflector 421 and the second polygonal reflector 451 no longer share the same motor (the first motor described above). This has the advantage of reducing the load on the first motor and eliminating the need for a complex gear structure to separately control the rotation speeds of the first polygonal reflector 421 and the second polygonal reflector 451.

[0096] Embodiment 9

[0097] The difference between the laser scanning system of this embodiment and the first embodiment is that the laser scanning system of this embodiment further includes an optical path shaping lens 407. Figure 14 and Figure 15 The laser scanning system includes a transmitting device 401, a first rotating mirror device 402, an optical path changing device 403, a reflecting device 404, a second rotating mirror device 405, a receiving device 406 and an optical path shaping lens 407. The emitting device 401 is used to emit the detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and multiple first scanning light L1s constitute a first light beam surface S1; the optical path changing device 403 is used to receive and convert multiple beams of first scanning light L1 propagating in the same horizontal plane into multiple beams of second scanning light L2 propagating in the same vertical plane, and multiple second scanning light L2s constitute a second light beam surface S2; the reflecting device 404 is used to convert multiple beams of second scanning light L2 propagating in the same vertical plane into multiple beams of third scanning light L3 propagating in the same vertical plane, and multiple third scanning lines constitute a third light beam surface S3; the second rotating mirror device 405 is used to receive and convert the third light beam surface S3 into multiple fourth light beam surfaces S4 propagating in different vertical planes respectively; the optical path shaping lens 407 is arranged On the propagation path of the multiple fourth light beam surfaces S4, it is used to receive and expand the fourth light beam surface S4 to form a fifth light beam surface S5 composed of multiple fifth scanning light rays L5 in the same vertical plane and non-parallel to each other; the multiple fifth light beam surfaces S5 are projected on the same vertical plane and intersect with the multiple fifth light beam surfaces S5 to form a planar illumination area IA; the light reflected by the object in the illumination area IA after being irradiated by the fifth light beam surface S5 includes a first echo light ray L8 directed to the light path shaping lens 407; the light path shaping lens 407 is also used to focus the multiple first echo light rays L8 incident to the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple second echo light rays L9 propagating in the same horizontal plane, and the multiple second echo light rays L9 constitute the echo beam surface S9; the receiving device 406 is used to receive the multiple second echo light rays L9.

[0098] It is worth mentioning that the divergence angle of the corresponding fourth beam surface S4 formed by the third beam surface S3 after passing through the optical path shaping lens 407 is between 15° and 90° (preferably, 25° and 60°). The divergence angle refers to the angle between the uppermost beam of the fourth beam surface S4 and the lowermost beam of the fourth beam surface S4.

[0099] It should be understood that, compared with the first embodiment, the effective scanning area of ​​the laser scanning system can be effectively expanded by adding the optical path shaping lens 407 .

[0100] Example 10

[0101] This embodiment provides a laser scanning system, which is different from the first embodiment. Figure 16 The laser scanning system includes a transmitting device 401, a first rotating mirror device 402, a first reflecting mirror 408, an optical path changing device 403, a second reflecting mirror 409, a second rotating mirror device 405 and a receiving device 406.

[0102] The first rotating mirror device 402 includes a first motor and a first polygonal reflector 421 connected to the first motor. The first polygonal reflector 421 is a prism with a first light-reflecting surface 4211 disposed on a side surface. The first motor is used to drive the first polygonal reflector 421 to rotate about its central axis. The second rotating mirror device 405 includes a second polygonal reflector 451, which is a prism. The second polygonal reflector 451 is disposed above or below the first polygonal reflector 421 and is connected to the first motor. The first motor is also used to drive the second polygonal reflector 451 to rotate about its central axis. The first reflector 408 and the second reflector 409 are disposed on the left and right sides of the first rotating mirror device 402, with the first reflector being higher than the second reflector. The optical path changing device 403 is disposed above the second polygonal reflector 451, with the light inlet 11 and light outlet 12 of the optical path changing device 403 facing the first reflector and the second reflector, respectively.

[0103] Wherein, the emitting device 401 is used to emit the detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1s constitute a first light beam surface S1; the first reflecting mirror is used to receive and convert the multiple first scanning light L1s into multiple second scanning light L2s, and the multiple second scanning light L2s propagate in the same horizontal plane, and the multiple second scanning light L2s constitute a second light beam surface S2; the optical path changing device 403 is used to receive and convert the multiple second scanning light L2s propagating in the same horizontal plane into multiple beams of third scanning light L3 propagating in the same vertical plane, and the multiple third scanning light L3s constitute a second light beam surface S2; the second reflecting mirror is used to receive and convert the multiple third scanning light L3s into multiple fourth scanning light Line L4, multiple fourth scanning light rays L4 propagate in the same vertical plane, and multiple fourth scanning light rays L4 constitute a fourth light beam surface S4; the second rotating mirror device 405 is used to receive and convert the fourth light beam surface S4 into multiple fifth light beam surfaces S5 propagating in different vertical planes respectively, and the multiple fifth light beam surfaces S5 are projected on the same vertical plane that intersects with the multiple fifth light beam surfaces S5 to form a surface-shaped illumination area IA; the light reflected by the object in the illumination area IA after being irradiated by the fifth light beam surface S5 includes a first echo light ray L8 directed toward the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple second echo light rays L9 propagating in the same horizontal plane, and multiple second echo light rays L9 constitute an echo beam surface S9; the receiving device 406 is used to receive multiple second echo light rays L9.

[0104] Compared with Example 1, by replacing the reflecting device 404 in Example 1 with the first reflecting mirror and the second reflecting mirror in this embodiment, and cleverly arranging the positions of the first reflecting mirror, the second reflecting mirror and the optical path changing device 403, the volume of the entire laser scanning system can be further reduced.

[0105] Example 11

[0106] The difference between the laser scanning system of this embodiment and the tenth embodiment is that the laser scanning system of this embodiment further includes an optical path shaping lens 407. Figure 17The laser scanning system includes a transmitting device 401, a first rotating mirror device 402, a first reflecting mirror, an optical path changing device 403, a second reflecting mirror, a second rotating mirror device 405, a receiving device 406 and an optical path shaping lens 407; the transmitting device 401 is used to transmit a detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the transmitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1 constitute a first beam surface S1; the first reflecting mirror is used to receive and convert the multiple first scanning light L1 The optical path changing device 403 is used to receive and convert multiple second scanning light beams L2 that propagate in the same horizontal plane into multiple third scanning light beams L3 that propagate in the same vertical plane, and multiple third scanning light beams L3 constitute a third beam surface S3; the second reflector is used to receive and convert multiple third scanning light beams L3 into multiple fourth scanning light beams L4 that propagate in the same vertical plane, and multiple fourth scanning light beams L4 constitute a third beam surface S3. The fourth scanning light L4 constitutes a fourth beam surface S4; the second rotating mirror device 405 is used to receive and convert the fourth beam surface S4 into a plurality of fifth beam surfaces S5 propagating in different vertical planes; the optical path shaping lens 407 is arranged on the propagation path of the plurality of fifth beam surfaces S5, and is used to receive and expand the fifth beam surface S5 to form a sixth beam surface S6 composed of a plurality of sixth scanning light rays L6 in the same vertical plane and not parallel to each other; the plurality of sixth beam surfaces S6 are projected on the same vertical plane and intersect with the plurality of sixth beam surfaces S6 to form a light beam S6. The illumination area IA is planar; the light reflected from the object in the illumination area IA after being surface-irradiated by the sixth light beam S6 includes a first echo light beam L8 directed toward the optical path shaping lens 407; the optical path shaping lens 407 is also used to focus the multiple first echo light beams L8 incident onto the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light beam L8 into multiple beams of second echo light beams L9 propagating in the same horizontal plane, and the multiple second echo light beams L9 constitute an echo beam surface S9; the receiving device 406 is used to receive multiple second echo light beams L9.

[0107] It is worth mentioning that the divergence angle of the corresponding sixth beam surface S6 formed by the fifth beam surface S5 after passing through the optical path shaping lens 407 is between 15° and 90° (preferably, 25° and 60°). The divergence angle refers to the angle between the uppermost beam of the sixth beam surface S6 and the lowermost beam of the sixth beam surface S6.

[0108] It should be understood that, compared with the tenth embodiment, the effective scanning area of ​​the laser scanning system can be effectively expanded by adding the optical path shaping lens 407 .

[0109] Example 12

[0110] This embodiment provides a laser scanning system, which is different from the first embodiment. Figure 18 The laser scanning system includes a transmitting device 401, a first rotating mirror device 402, an optical path changing device 403, a second rotating mirror device 405 and a receiving device 406.

[0111] The first rotating mirror device 402 includes a first motor and a first multifaceted reflector 421 connected to the first motor, the first multifaceted reflector 421 is a prism, and the first light reflecting surface 4211 of the first multifaceted reflector 421 is arranged on the side, and the first motor is used to drive the first multifaceted reflector 421 to rotate around its own central axis; the second rotating mirror device 405 includes a second multifaceted reflector 451 in the form of a prism, the second multifaceted reflector 451 is arranged above or below the first multifaceted reflector 421 and is connected to the first motor, and the first motor is also used to drive the second multifaceted reflector 451 to rotate around its own central axis; the optical path changing device 403 is arranged above the second multifaceted reflector 451, and the light inlet 11 and the light outlet 12 of the optical path changing device 403 are respectively facing the first rotating mirror device 402 and the second rotating mirror device 405.

[0112] The transmitting device 401 is used to transmit the detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the transmitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1s constitute a first light beam surface S1; the optical path changing device 403 is used to receive and convert the multiple beams of first scanning light L1 propagating in the same horizontal plane into multiple beams of second scanning light L2 propagating in the same vertical plane, and the multiple second scanning light L2s constitute a second light beam surface S2; the second rotating mirror device 405 is used to receive and convert the second light beam surface S2 into multiple beams of second scanning light L2 propagating in different vertical planes. The third light beam surface S3 propagates in a vertical plane, and the illumination area IA formed by multiple third light beam surfaces S3 projected on the same vertical plane that intersects with the multiple third light beam surfaces S3 at the same time is in a planar shape; the light reflected after the object in the illumination area IA is irradiated by the third light beam surface S3 includes a first echo light ray L8 directed toward the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple beams of second echo light rays L9 propagating in the same horizontal plane, and the multiple second echo light rays L9 constitute the echo beam surface S9; the receiving device 406 is used to receive multiple second echo light rays L9.

[0113] It should be understood that, compared with Example 10, by adjusting the orientation of the light inlet 11 and the light outlet 12 of the optical path changing device 403, the first reflector and the second reflector in Example 10 are omitted, thereby saving manufacturing costs and further reducing the volume of the entire laser scanning system.

[0114] Example 13

[0115] The difference between the laser scanning system of this embodiment and the embodiment 12 is that the laser scanning system of this embodiment further includes an optical path shaping lens 407. Figure 19The laser scanning system includes an emitting device 401, a first rotating mirror device 402, an optical path changing device 403, a second rotating mirror device 405, a receiving device 406 and an optical path shaping lens 407. The emitting device 401 is used to emit a detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1s constitute a first beam surface S1; the optical path changing device 403 is used to receive and convert the multiple beams of first scanning light L1 propagating in the same horizontal plane into multiple beams of second scanning light L2 propagating in the same vertical plane, and the multiple second scanning light L2s constitute a second beam surface S2; the second rotating mirror device 405 is used to receive and convert the second beam surface S2 into multiple third beam surfaces S3 propagating in different vertical planes; the optical path shaping lens 407 is arranged on the propagation path of the multiple third beam surfaces S3, and is used to receive and expand the third beam surface S3 Processing is performed to form a fourth light beam surface S4 composed of multiple fourth scanning light rays L4 that are in the same vertical plane and are not parallel to each other; the multiple fourth light beam surfaces S4 are projected on the same vertical plane that intersects with the multiple fourth light beam surfaces S4 to form a surface-shaped illumination area IA; the light reflected from the object in the illumination area IA after being irradiated by the fourth light beam surface S4 includes a first echo light ray L8 directed toward the light path shaping lens 407; the light path shaping lens 407 is also used to focus the multiple first echo light rays L8 incident to the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple beams of second echo light rays L9 propagating in the same horizontal plane, and the multiple second echo light rays L9 constitute the echo beam surface S9; the receiving device 406 is used to receive the multiple second echo light rays L9.

[0116] It is worth mentioning that the divergence angle of the corresponding fourth beam surface S4 formed by the third beam surface S3 after passing through the optical path shaping lens 407 is between 15° and 90° (preferably, 25° and 60°). The divergence angle refers to the angle between the uppermost beam of the fourth beam surface S4 and the lowermost beam of the fourth beam surface S4.

[0117] It should be understood that, compared with the twelfth embodiment, the effective scanning area of ​​the laser scanning system can be effectively expanded by adding the optical path shaping lens 407 .

[0118] Example 14

[0119] This embodiment provides a laser scanning system, which is different from the first embodiment. Figure 20The laser scanning system includes a transmitting device 401, a first rotating mirror device 402, an optical path changing device 403, a second rotating mirror device 405 and a receiving device 406.

[0120] The first rotating mirror device 402 and the second rotating mirror device 405 are arranged with a left-right interval; the optical path changing device 403 is arranged between the first rotating mirror device 402 and the second rotating mirror device 405, and the light input port 11 and the light output port 12 of the optical path changing device 403 are respectively facing the first rotating mirror device 402 and the second rotating mirror device 405.

[0121] The transmitting device 401 is used to transmit the detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the transmitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1s constitute a first light beam surface S1; the optical path changing device 403 is used to receive and convert the multiple beams of first scanning light L1 propagating in the same horizontal plane into multiple beams of second scanning light L2 propagating in the same vertical plane, and the multiple second scanning light L2s constitute a second light beam surface S2; the second rotating mirror device 405 is used to receive and convert the second light beam surface S2 into multiple beams of second scanning light L2 propagating in different vertical planes. The third light beam surface S3 propagates in a vertical plane, and the illumination area IA formed by multiple third light beam surfaces S3 projected on the same vertical plane that intersects with the multiple third light beam surfaces S3 at the same time is in a planar shape; the light reflected after the object in the illumination area IA is irradiated by the third light beam surface S3 includes a first echo light ray L8 directed toward the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple beams of second echo light rays L9 propagating in the same horizontal plane, and the multiple second echo light rays L9 constitute the echo beam surface S9; the receiving device 406 is used to receive multiple second echo light rays L9.

[0122] Similar to the first embodiment, the laser scanning system of this embodiment converts the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of second scanning light L2 propagating in the same vertical plane through the joint action of the first rotating mirror device 402 and the optical path changing device 403, completely replacing the role of the galvanometer device in the prior art. As a result, the laser scanning system can realize the surface scanning function without the need for a galvanometer motor, thereby getting rid of the limitation of the galvanometer motor on the stability and service life of the entire laser scanning system, so that the laser scanning system of the present invention is greatly improved in terms of stability and service life.

[0123] Example 15

[0124] The difference between the laser scanning system of this embodiment and the fourteenth embodiment is that the laser scanning system of this embodiment further includes an optical path shaping lens 407. Figure 21 The laser scanning system includes an emitting device 401, a first rotating mirror device 402, an optical path changing device 403, a second rotating mirror device 405, a receiving device 406 and an optical path shaping lens 407. The emitting device 401 is used to emit a detection light L0; the first rotating mirror device 402 is used to receive and convert the single beam of detection light L0 emitted by the emitting device 401 into multiple beams of first scanning light L1 propagating in the same horizontal plane, and the multiple first scanning light L1s constitute a first beam surface S1; the optical path changing device 403 is used to receive and convert the multiple beams of first scanning light L1 propagating in the same horizontal plane into multiple beams of second scanning light L2 propagating in the same vertical plane, and the multiple second scanning light L2s constitute a second beam surface S2; the second rotating mirror device 405 is used to receive and convert the second beam surface S2 into multiple third beam surfaces S3 propagating in different vertical planes; the optical path shaping lens 407 is arranged on the propagation path of the multiple third beam surfaces S3, and is used to receive and expand the third beam surface S3 Processing is performed to form a fourth light beam surface S4 composed of multiple fourth scanning light rays L4 that are in the same vertical plane and are not parallel to each other; the multiple fourth light beam surfaces S4 are projected on the same vertical plane that intersects with the multiple fourth light beam surfaces S4 to form a surface-shaped illumination area IA; the light reflected from the object in the illumination area IA after being irradiated by the fourth light beam surface S4 includes a first echo light ray L8 directed toward the light path shaping lens 407; the light path shaping lens 407 is also used to focus the multiple first echo light rays L8 incident to the second rotating mirror device 405; the second rotating mirror device 405 is also used to receive and convert the first echo light ray L8 into multiple beams of second echo light rays L9 propagating in the same horizontal plane, and the multiple second echo light rays L9 constitute the echo beam surface S9; the receiving device 406 is used to receive the multiple second echo light rays L9.

[0125] It is worth mentioning that the divergence angle of the corresponding fourth beam surface S4 formed by the third beam surface S3 after passing through the optical path shaping lens 407 is between 15° and 90° (preferably, 25° and 60°). The divergence angle refers to the angle between the uppermost beam of the fourth beam surface S4 and the lowermost beam of the fourth beam surface S4.

[0126] It should be understood that, compared with the fourteenth embodiment, the effective scanning area of ​​the laser scanning system can be effectively expanded by adding the optical path shaping lens 407 .

[0127] Example 16

[0128] The difference between the laser scanning system of this embodiment and the eleventh embodiment is that, see Figure 22 The layout positions of the devices are inverted upside down. The advantage of this layout is that it facilitates the installation and fixation of the optical path changing device.

[0129] Example 17

[0130] The difference between the laser scanning system of this embodiment and the embodiment thirteen is that, see Figure 23 The layout positions of the devices are inverted upside down. The advantage of this layout is that it facilitates the installation and fixation of the optical path changing device.

[0131] Specifically, in the laser scanning system provided in Example thirteen, the optical path changing device 403 needs to be arranged above the first polygonal reflector 421 and the second polygonal reflector 451. However, during operation, the first polygonal reflector 421 and the second polygonal reflector 451 need to rotate, and the optical path changing device 403 needs to remain stationary. Therefore, the optical path changing device 403 cannot be directly installed on the first polygonal reflector 421 or the second polygonal reflector 451. In other words, we also need to add an additional bracket to support or hoist the optical path changing device 403, which is not conducive to the miniaturization and stability of the entire laser scanning system.

[0132] In this embodiment, since the optical path changing device 403 is positioned below the first polygonal mirror 421 and the second polygonal mirror 451, a base (not shown) is essential for securing the first polygonal mirror 421 and the second polygonal mirror 451. Typically, the base is positioned at the bottom, and a first motor is mounted on the base. The output shaft of the first motor is connected to a rotation shaft, which is also connected to the first polygonal mirror 421 and the second polygonal mirror 451. In this manner, the first motor can drive the first polygonal mirror 421 and the second polygonal mirror 451 to rotate. The key to this embodiment is that the optical path changing device 403 can be directly secured to the base, eliminating the need for a separate bracket for mounting and positioning the optical path changing device 403. This reduces the production cost of the entire laser scanning system, simplifies installation difficulty, improves structural stability, and facilitates miniaturization.

[0133] Example 18

[0134] The difference between the laser scanning system of this embodiment and the embodiment 1 is that the first polygonal reflector 421 and the second polygonal reflector 451 are not prisms. Figure 24The first multifaceted reflector 421 has a first top surface 4212 and a first bottom surface 4213 opposite to each other, and a first peripheral side surface connected between the first top surface and the first bottom surface. The first peripheral side surface includes a plurality of first light reflecting surfaces 4211 connected in sequence. The key point is that at least one of the first light reflecting surfaces 4211 is not perpendicular to the first top surface 4212 or the first bottom surface 4213. Here, each of the first light reflecting surfaces 4211 is not perpendicular to the first top surface 4212 or the first bottom surface 4213, and the angle between each of the first light reflecting surfaces 4211 and the first top surface 4212 (or the first bottom surface 4213) is consistent. Similarly, see Figure 25 The second polygonal reflector 451 has a second top surface 4512 and a second bottom surface 4513 facing each other, and a second peripheral side surface connected between the second top surface 4512 and the second bottom surface 4513. The second peripheral side surface includes a plurality of second light reflecting surfaces 4511 connected in sequence. The key point is that at least one of the second light reflecting surfaces 4511 is not perpendicular to the second top surface 4512 or the second bottom surface 4513. Here, each second light reflecting surface 4511 is not perpendicular to the second top surface 4512 or the second bottom surface 4513, and each second light reflecting surface 4511 forms the same angle with the second top surface 4512 (or the second bottom surface 4513).

[0135] Example 19

[0136] The difference between the laser scanning system of this embodiment and the embodiment 1 is that the first polygonal reflector 421 and the second polygonal reflector 451 are not prisms. Figure 26 The first multifaceted reflector 421 has a first top surface 4212 and a first bottom surface 4213 that are opposite to each other, and a first peripheral side surface connected between the first top surface and the first bottom surface. The first peripheral side surface includes a plurality of first light reflecting surfaces 4211 connected in sequence. The key point is that at least one of the first light reflecting surfaces 4211 is not perpendicular to the first top surface 4212 or the first bottom surface 4213. Here, each of the first light reflecting surfaces 4211 is not perpendicular to the first top surface 4212 or the first bottom surface 4213, and the angle between each of the first light reflecting surfaces 4211 and the first top surface 4212 (or the first bottom surface 4213) is different. Specifically, in a clockwise direction, the angle between the first light reflecting surface 4211 and the first top surface 4212 (or the first bottom surface 4213) gradually increases. Similarly, see Figure 27The second polygonal reflector 451 has a second top surface 4512 and a second bottom surface 4513 facing each other, and a second peripheral side surface connected between the second top surface 4512 and the second bottom surface 4513. The second peripheral side surface includes a plurality of second light reflecting surfaces 4511 connected in sequence. The key point is that at least one of the second light reflecting surfaces 4511 is not perpendicular to the second top surface 4512 or the second bottom surface 4513. Here, each second light reflecting surface 4511 is not perpendicular to the second top surface 4512 or the second bottom surface 4513, and each second light reflecting surface 4511 has a different angle with the second top surface 4512 (or second bottom surface 4513). Specifically, the angle between the second light reflecting surface 4511 and the second top surface 4512 (or second bottom surface 4513) gradually increases in a clockwise direction.

[0137] Example 20

[0138] The laser scanning system of this embodiment is different from that of the first embodiment in that the first light reflecting surface 4211 and the second light reflecting surface 4511 are curved surfaces rather than flat surfaces.

[0139] Example 21

[0140] The difference between the laser scanning system of this embodiment and the embodiment 1 is that the first polygonal reflector 421 or the second polygonal reflector 451 is selected to be a pyramid, such as a triangular pyramid, a quadrangular pyramid, a pentagonal pyramid, a hexagonal pyramid, a heptagonal pyramid, an octagonal pyramid, a nonagonal pyramid, a decagonal pyramid, etc.

[0141] It should be noted that the specific structure of the optical path changing device mentioned in the present invention can be referred to the invention patent applied for by the applicant on February 27, 2023, entitled "An Optical Path Changing Device" with application number 2023101678980.

[0142] The embodiments of the invention are described above in conjunction with the accompanying drawings, but the invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the inspiration of the invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the invention and the claims, all of which are protected by the invention.

Claims

1. A laser scanning system, characterized in that: The laser scanning system comprises a transmitting device (401), a first rotating mirror device (402), an optical path changing device (403), a reflecting device (404), a second rotating mirror device (405) and a receiving device (406); The emitting device (401) is used to emit detection light (L0); The first rotating mirror device (402) is used to receive and convert the single beam of detection light (L0) emitted by the transmitting device (401) into multiple beams of first scanning light (L1) propagating in the same horizontal plane, and the multiple first scanning light beams (L1) constitute a first beam plane (S1); The optical path changing device (403) is used to receive and convert multiple first scanning light beams (L1) propagating in the same horizontal plane into multiple second scanning light beams (L2) propagating in the same vertical plane, wherein the multiple second scanning light beams (L2) constitute a second beam plane (S2); The reflecting device (404) is used to convert multiple second scanning light beams (L2) propagating in the same vertical plane into multiple third scanning light beams (L3) propagating in the same vertical plane, and the multiple third scanning light beams constitute a third beam plane (S3); The second rotating mirror device (405) is used to receive and transform the third light beam plane (S3) into a plurality of fourth light beam planes (S4) that propagate in different vertical planes, and the illumination area (IA) formed by the plurality of fourth light beam planes (S4) projected onto the same vertical plane that simultaneously intersects the plurality of fourth light beam planes (S4) is in a planar shape; The light reflected by the object in the illumination area (IA) after being illuminated by the fourth light beam surface (S4) includes a first echo light (L8) directed toward the second rotating mirror device (405); The second rotating mirror device (405) is further used to receive and convert the first echo light (L8) into multiple second echo light beams (L9) propagating in the same horizontal plane, and the multiple second echo light beams (L9) constitute an echo beam surface (S9); The receiving device (406) is used to receive a plurality of the second echo light rays (L9).

2. A laser scanning system, characterized in that: The laser scanning system comprises a transmitting device (401), a first rotating mirror device (402), an optical path changing device (403), a reflecting device (404), a second rotating mirror device (405), a receiving device (406) and an optical path shaping lens (407); The emitting device (401) is used to emit detection light (L0); The first rotating mirror device (402) is used to receive and convert the single beam of detection light (L0) emitted by the transmitting device (401) into multiple beams of first scanning light (L1) propagating in the same horizontal plane, and the multiple first scanning light beams (L1) constitute a first beam plane (S1); The optical path changing device (403) is used to receive and convert multiple first scanning light beams (L1) propagating in the same horizontal plane into multiple second scanning light beams (L2) propagating in the same vertical plane, wherein the multiple second scanning light beams (L2) constitute a second beam plane (S2); The reflecting device (404) is used to convert multiple second scanning light beams (L2) propagating in the same vertical plane into multiple third scanning light beams (L3) propagating in the same vertical plane, and the multiple third scanning light beams constitute a third beam plane (S3); The second rotating mirror device (405) is used to receive and transform the third light beam plane (S3) into a plurality of fourth light beam planes (S4) propagating in different vertical planes; The optical path shaping lens (407) is arranged on the propagation path of the plurality of fourth beam planes (S4), and is used to receive and expand the fourth beam plane (S4) to form a fifth beam plane (S5) composed of a plurality of fifth scanning light rays (L5) in the same vertical plane and not parallel to each other; the illumination area (IA) formed by the plurality of fifth beam planes (S5) projected on the same vertical plane that simultaneously intersects the plurality of fifth beam planes (S5) is in a planar shape; The light reflected by the fifth beam surface (S5) after the object in the illumination area (IA) is illuminated includes a first echo light (L8) directed toward the optical path shaping lens (407); The optical path shaping lens (407) is also used to focus the incident plurality of the first echo light rays (L8) onto the second rotating mirror device (405); The second rotating mirror device (405) is further used to receive and convert the first echo light (L8) into multiple second echo light beams (L9) propagating in the same horizontal plane, and the multiple second echo light beams (L9) constitute an echo beam surface (S9); The receiving device (406) is used to receive a plurality of the second echo light rays (L9).

3. A laser scanning system, characterized in that: The laser scanning system comprises a transmitting device (401), a first rotating mirror device (402), a first reflecting mirror (408), an optical path changing device (403), a second reflecting mirror (409), a second rotating mirror device (405) and a receiving device (406); The emitting device (401) is used to emit detection light (L0); The first rotating mirror device (402) is used to receive and convert the single beam of detection light (L0) emitted by the transmitting device (401) into multiple beams of first scanning light (L1) propagating in the same horizontal plane, and the multiple first scanning light beams (L1) constitute a first beam plane (S1); The first reflector is used to receive and convert the plurality of first scanning light rays (L1) into a plurality of second scanning light rays (L2), the plurality of second scanning light rays (L2) propagate in the same horizontal plane, and the plurality of second scanning light rays (L2) form a second beam surface (S2); The optical path changing device (403) is used to receive and convert multiple second scanning light beams (L2) propagating in the same horizontal plane into multiple third scanning light beams (L3) propagating in the same vertical plane, and the multiple third scanning light beams (L3) constitute a second beam plane (S2); The second reflector is used to receive and convert the plurality of third scanning light rays (L3) into a plurality of fourth scanning light rays (L4), wherein the plurality of fourth scanning light rays (L4) propagate in the same vertical plane, and the plurality of fourth scanning light rays (L4) form a fourth beam surface (S4); The second rotating mirror device (405) is used to receive and transform the fourth light beam surface (S4) into a plurality of fifth light beam surfaces (S5) that propagate in different vertical planes, and the illumination area (IA) formed by the plurality of fifth light beam surfaces (S5) projected on the same vertical plane that simultaneously intersects with the plurality of fifth light beam surfaces (S5) is in a planar shape; The light reflected by the object in the illumination area (IA) after being illuminated by the fifth light beam surface (S5) includes a first echo light (L8) directed toward the second rotating mirror device (405); The second rotating mirror device (405) is further used to receive and convert the first echo light (L8) into multiple second echo light beams (L9) propagating in the same horizontal plane, and the multiple second echo light beams (L9) constitute an echo beam surface (S9); The receiving device (406) is used to receive a plurality of the second echo light rays (L9).

4. A laser scanning system, characterized in that: The laser scanning system comprises a transmitting device (401), a first rotating mirror device (402), a first reflecting mirror, an optical path changing device (403), a second reflecting mirror, a second rotating mirror device (405), a receiving device (406) and an optical path shaping lens (407); The emitting device (401) is used to emit detection light (L0); The first rotating mirror device (402) is used to receive and convert the single beam of detection light (L0) emitted by the transmitting device (401) into multiple beams of first scanning light (L1) propagating in the same horizontal plane, and the multiple first scanning light beams (L1) constitute a first beam plane (S1); The first reflector is used to receive and convert the plurality of first scanning light rays (L1) into a plurality of second scanning light rays (L2), the plurality of second scanning light rays (L2) propagate in the same horizontal plane, and the plurality of second scanning light rays (L2) form a second beam surface (S2); The optical path changing device (403) is used to receive and convert multiple second scanning light beams (L2) propagating in the same horizontal plane into multiple third scanning light beams (L3) propagating in the same vertical plane, and the multiple third scanning light beams (L3) constitute a second beam plane (S2); The second reflector is used to receive and convert the plurality of third scanning light rays (L3) into a plurality of fourth scanning light rays (L4), wherein the plurality of fourth scanning light rays (L4) propagate in the same vertical plane, and the plurality of fourth scanning light rays (L4) form a fourth beam surface (S4); The second rotating mirror device (405) is used to receive and transform the fourth light beam plane (S4) into a plurality of fifth light beam planes (S5) propagating in different vertical planes; The optical path shaping lens (407) is arranged on the propagation path of the plurality of fifth light beam surfaces (S5), and is used for receiving and performing beam expansion processing on the fifth light beam surface (S5) to form a sixth light beam (S6) surface composed of a plurality of sixth scanning light rays (L6) in the same vertical plane and not parallel to each other; the illumination area (IA) formed by the plurality of sixth light beam (S6) surfaces projected on the same vertical plane that simultaneously intersects the plurality of sixth light beam (S6) surfaces is in the shape of a plane; After the object in the illumination area (IA) is illuminated by the sixth light beam (S6), the reflected light includes a first echo light (L8) directed toward the optical path shaping lens (407); The optical path shaping lens (407) is also used to focus the incident plurality of the first echo light rays (L8) onto the second rotating mirror device (405); The second rotating mirror device (405) is further used to receive and convert the first echo light (L8) into multiple second echo light beams (L9) propagating in the same horizontal plane, and the multiple second echo light beams (L9) constitute an echo beam surface (S9); The receiving device (406) is used to receive a plurality of the second echo light rays (L9).

5. A laser scanning system, characterized in that: The laser scanning system comprises a transmitting device (401), a first rotating mirror device (402), an optical path changing device (403), a second rotating mirror device (405) and a receiving device (406); The emitting device (401) is used to emit detection light (L0); The first rotating mirror device (402) is used to receive and convert the single beam of detection light (L0) emitted by the transmitting device (401) into multiple beams of first scanning light (L1) propagating in the same horizontal plane, and the multiple first scanning light beams (L1) constitute a first beam plane (S1); The optical path changing device (403) is used to receive and convert multiple first scanning light beams (L1) propagating in the same horizontal plane into multiple second scanning light beams (L2) propagating in the same vertical plane, wherein the multiple second scanning light beams (L2) constitute a second beam plane (S2); The second rotating mirror device (405) is used to receive and convert the second light beam surface (S2) into a plurality of third light beam surfaces (S3) that propagate in different vertical planes, and the illumination area (IA) formed by the plurality of third light beam surfaces (S3) projected onto the same vertical plane that simultaneously intersects the plurality of third light beam surfaces (S3) is in a planar shape; The light reflected by the object in the illumination area (IA) after being illuminated by the third light beam surface (S3) includes a first echo light (L8) directed toward the second rotating mirror device (405); The second rotating mirror device (405) is further used to receive and convert the first echo light (L8) into multiple second echo light beams (L9) propagating in the same horizontal plane, and the multiple second echo light beams (L9) constitute an echo beam surface (S9); The receiving device (406) is used to receive a plurality of the second echo light rays (L9).

6. A laser scanning system, characterized in that: The laser scanning system comprises a transmitting device (401), a first rotating mirror device (402), an optical path changing device (403), a second rotating mirror device (405), a receiving device (406) and an optical path shaping lens (407); The emitting device (401) is used to emit detection light (L0); The first rotating mirror device (402) is used to receive and convert the single beam of detection light (L0) emitted by the transmitting device (401) into multiple beams of first scanning light (L1) propagating in the same horizontal plane, and the multiple first scanning light beams (L1) constitute a first beam plane (S1); The optical path changing device (403) is used to receive and convert multiple first scanning light beams (L1) propagating in the same horizontal plane into multiple second scanning light beams (L2) propagating in the same vertical plane, wherein the multiple second scanning light beams (L2) constitute a second beam plane (S2); The second rotating mirror device (405) is used to receive and transform the second light beam plane (S2) into a plurality of third light beam planes (S3) propagating in different vertical planes; The optical path shaping lens (407) is arranged on the propagation path of the plurality of third beam planes (S3), and is used to receive and perform beam expansion processing on the third beam plane (S3) to form a fourth beam plane (S4) composed of a plurality of fourth scanning light rays (L4) in the same vertical plane and not parallel to each other; the illumination area (IA) formed by the plurality of fourth beam planes (S4) projected on the same vertical plane that simultaneously intersects the plurality of fourth beam planes (S4) is in a planar shape; The light reflected by the object in the illumination area (IA) after being illuminated by the fourth beam surface (S4) includes a first echo light (L8) directed toward the optical path shaping lens (407); The optical path shaping lens (407) is also used to focus the incident plurality of the first echo light rays (L8) onto the second rotating mirror device (405); The second rotating mirror device (405) is further used to receive and convert the first echo light (L8) into multiple second echo light beams (L9) propagating in the same horizontal plane, and the multiple second echo light beams (L9) constitute an echo beam surface (S9); The receiving device (406) is used to receive a plurality of the second echo light rays (L9).

7. The laser scanning system according to any one of claims 1 to 6, characterized in that: The first rotating mirror device (402) comprises a first motor and a first multifaceted reflector (421) connected to the first motor, the first multifaceted reflector (421) being in the form of a prism or a pyramid, the first light reflecting surface (4211) of the first multifaceted reflector (421) being arranged on a side surface, and the first motor being used to drive the first multifaceted reflector (421) to rotate around its own central axis; The second rotating mirror device (405) includes a second polygonal reflector (451) in the shape of a prism or a pyramid. The second polygonal reflector (451) is arranged above or below the first polygonal reflector (421) and is connected to the first motor. The first motor is also used to drive the second polygonal reflector (451) to rotate around its own central axis.

8. The laser scanning system according to any one of claims 3 to 4, characterized in that: The first rotating mirror device (402) comprises a first motor and a first multifaceted reflector (421) connected to the first motor, the first multifaceted reflector (421) being in the form of a prism or a pyramid, the first light reflecting surface (4211) of the first multifaceted reflector (421) being arranged on a side surface, and the first motor being used to drive the first multifaceted reflector (421) to rotate around its own central axis; The second rotating mirror device (405) comprises a second polygonal reflector (451) in the form of a prism or a pyramid, the second polygonal reflector (451) being arranged above or below the first polygonal reflector (421) and connected to the first motor, the first motor being further used to drive the second polygonal reflector (451) to rotate around its own central axis; The first reflector and the second reflector are respectively arranged on the left and right sides of the first rotating mirror device (402), and the first reflector is higher than the second reflector; The optical path changing device (403) is arranged above or below the second multifaceted reflector (451), and the light inlet (11) and the light outlet (12) of the optical path changing device (403) face the first reflector and the second reflector respectively.

9. The laser scanning system according to any one of claims 5 to 6, characterized in that: The first rotating mirror device (402) and the second rotating mirror device (405) are arranged at intervals on the left and right; the optical path changing device (403) is arranged between the first rotating mirror device (402) and the second rotating mirror device (405), and the light inlet (11) and the light outlet (12) of the optical path changing device (403) are respectively oriented toward the first rotating mirror device (402) and the second rotating mirror device (405); or, The first rotating mirror device (402) comprises a first motor and a first multifaceted reflector (421) connected to the first motor, the first multifaceted reflector (421) being in the shape of a prism or a pyramid, the first light reflecting surface (4211) of the first multifaceted reflector (421) being arranged on the side, and the first motor being used to drive the first multifaceted reflector (421) to rotate around its own central axis; the second rotating mirror device (405) comprises a second multifaceted reflector (451) being in the shape of a prism or a pyramid, the second multifaceted reflector (451) being in the shape of a prism or a pyramid, A facet reflector (451) is arranged above or below the first multifaceted reflector (421) and is connected to the first motor, and the first motor is also used to drive the second multifaceted reflector (451) to rotate around its own central axis; the optical path changing device (403) is arranged above or below the second multifaceted reflector (451), and the light inlet (11) and the light outlet (12) of the optical path changing device (403) are respectively oriented towards the first rotating mirror device (402) and the second rotating mirror device (405).

10. The laser scanning system according to any one of claims 1 to 6, characterized in that: The optical path changing device (403) comprises a plurality of flexible strip-shaped optical transmission components (1), each of the optical transmission components (1) having a light inlet (11) and a light outlet (12) that are in communication with each other, the light inlets (11) of the plurality of optical transmission components (1) being arranged in an array of m rows and n columns in a first plane (100), and the light outlets (12) of the plurality of optical transmission components (1) being arranged in an array of a rows and b columns in a second plane (200), the first plane (100) being parallel to the second plane (200), wherein a, b, m, and n are all positive integers greater than or equal to , m×n=a×b, m>n, and a<b.

Images