A transceiver separation type pulse laser ranging scanning method and device

Abstract

The application provides a kind of transceiver separation type pulse laser ranging scanning method and device, the scanning device includes: laser, laser receiver, emission spectrometer detector, light splitting light column, mirror, hollow shaft motor, rotating support and control circuit board, wherein, hollow shaft motor drives laser and mirror rotation, realize two-dimensional scene scanning and measurement.The direction of the laser's emission light path is horizontal, and the direction of the laser receiver's receiving light path is vertical. The transceiver paraxial design is achieved using a mirror. The laser emission and reception module light paths are separated, which can simplify the laser emission stray light control and light transmission cover structure, and is beneficial to reduce the volume and cost of the light transmission cover. The laser only emits pulsed laser at a predetermined frequency and does not participate in timing. The timing is completed by the receiving system composed of the emission spectrometer detector and the laser receiver. This can solve the problem that the clock consistency between the two systems is difficult to guarantee.

Description

Technical Field

[0001] This application relates to the field of laser ranging technology, and in particular to a transceiver-separated pulsed laser ranging scanning method and apparatus. Background Technology

[0002] Laser technology, as a cutting-edge technology in recent years, has been increasingly applied to various fields of social production and life. Lasers possess characteristics such as good monochromaticity, strong directionality, and high brightness. With the rapid development of the national intelligent equipment industry, laser pulse ranging and scanning devices, as core sensors capable of detecting surrounding conditions, have been widely promoted and applied in the field of industrial control. At the same time, as the requirements for the performance, reliability, and stability of intelligent equipment become increasingly stringent, higher demands are being placed on pulsed laser ranging and scanning devices.

[0003] Pulsed laser ranging employs a time-of-flight measurement method: the emission time of the pulsed laser and the reception time of the pulsed light signal reflected from the target are timed separately, and the time difference between the two moments is calculated and multiplied by the speed of light to determine the distance to the target. The accuracy of the timing at the emission and reception times determines the accuracy of the distance measurement.

[0004] However, the transmitting and receiving systems of pulsed lasers are two different systems, and it is difficult to ensure the clock consistency between these two systems. This makes it difficult to improve the timing accuracy of both the transmission and reception times. Summary of the Invention

[0005] This application provides a transceiver-separated pulsed laser ranging and scanning method and apparatus to solve the problem that the clock consistency between the pulsed laser transmitting system and the receiving system is difficult to guarantee, since the transmitting system and the receiving system are two different systems.

[0006] In a first aspect, this application provides a transceiver-separated pulsed laser ranging and scanning device, comprising: a laser, a laser receiver, an emission beam splitter detector, a beam splitter guide column, a reflector, a hollow shaft motor, a rotating bracket, and a control circuit board. The output shaft of the hollow shaft motor is connected to the rotating bracket, which is vertically positioned, with the hollow shaft motor located above it. The laser is mounted on the rotating bracket. The reflector is mounted on the rotating bracket, positioned below the laser, and lies in the optical path of the light reflected from the target being measured. The reflector is tilted. The setup includes: a laser receiver positioned below the reflector and along the optical path of the reflected light; a beam-splitting detector positioned in the central shaft hole of the hollow shaft motor; one end of the beam-splitting detector being hemispherical and the other end being beveled, with the beveled end located within the optical path of the laser; an emission beam-splitting detector positioned above the hemispherical end of the beam-splitting detector and on the same optical path as the hemispherical end of the beam-splitting detector; and a control circuit board connected to the laser, laser receiver, emission beam-splitting detector, and hollow shaft motor.

[0007] Optionally, the scanning device further includes a wireless power supply device disposed around the hollow shaft motor, the wireless power supply device being used to power the laser.

[0008] Optionally, the scanning device further includes a collimating lens disposed in the optical path of the laser, the collimating lens being used to disperse the light emitted by the laser into parallel light.

[0009] Optionally, the scanning device further includes a receiving lens, which is disposed between the laser receiver and the reflector, and the receiving lens, the laser receiver, and the reflector are on the same optical path. The receiving lens is used to focus the reflected light onto the laser receiver.

[0010] Optionally, the reflector is tilted at an angle of 45 degrees.

[0011] Optionally, the laser source of the laser is a semiconductor laser diode.

[0012] Optionally, the receiving source for the laser receiver and the emission beam splitter is a photodiode.

[0013] Optionally, the control circuit board includes: a timing circuit, a data acquisition circuit, and a main control circuit, wherein the timing circuit is connected to the laser receiver and the emission beam splitter detector respectively, and the timing circuit is connected to the main control circuit through the data acquisition circuit; the main control circuit is connected to the laser, the laser receiver, the emission beam splitter detector, and the hollow shaft motor respectively.

[0014] Secondly, this application also provides a transceiver-separated pulsed laser ranging and scanning method, applied to the transceiver-separated pulsed laser ranging and scanning device described in the first aspect. The scanning method includes: controlling a laser to emit pulsed laser at a preset frequency; starting a timer when the transmitting beam splitter detects a light signal to obtain a start time; stopping the timer when the laser receiver detects a light signal to obtain an end time; calculating the distance to the target based on the start time and end time; controlling a hollow shaft motor to rotate at a preset speed and recording the rotation angle of the laser; and obtaining the position of the target based on the rotation angle of the laser and the distance to the target.

[0015] This application provides a transceiver-separated pulsed laser ranging and scanning method and apparatus. The scanning apparatus includes: a laser, a laser receiver, an emission beam splitter detector, a beam splitter guide column, a reflector, a hollow shaft motor, a rotating bracket, and a control circuit board. The hollow shaft motor drives the laser and the reflector to rotate, enabling scanning and measurement of a two-dimensional scene. The laser's emission path is horizontal, and the laser receiver's receiving path is vertical. A reflector is used to achieve a transceiver-receiver off-axis design. Separating the laser emission and receiving modules simplifies stray light control and the structure of the light-transmitting cover, reducing the size and cost of the cover. The laser only emits pulsed laser light at a preset frequency and does not participate in timing; timing is performed by the receiving system composed of the emission beam splitter detector and the laser receiver. This solves the problem of difficulty in ensuring clock consistency between the two systems. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the transceiver-separated pulsed laser ranging and scanning device described in this application;

[0018] Figure 2 This is a schematic diagram of the principle of a transceiver-separated pulsed laser ranging and scanning device described in this application;

[0019] Figure 3 This is a schematic diagram illustrating the principle of the beam-splitting light guide column described in this application;

[0020] Figure 4 This is a schematic diagram of the principle of the rotating mirror scanning structure described in this application;

[0021] Figure 5This is a schematic diagram of the integrated rotary scanning structure described in this application.

[0022] Figure 6 This is a schematic flowchart of a transceiver-separated pulsed laser ranging and scanning method as described in this application;

[0023] Figure 7 This is a schematic diagram of the working state of the transceiver-separated pulsed laser ranging and scanning method described in this application.

[0024] Illustration:

[0025] Among them, 1-laser, 11-collimating lens, 2-laser receiver, 21-receiving lens, 3-emitting beam splitter detector, 31-beam splitter guide column, 4-reflector, 5-hollow shaft motor, 51-rotating bracket, 6-wireless power supply device, 7-control circuit board. Detailed Implementation

[0026] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0027] In the description of this invention, the terms "upper," "lower," "bottom," "top," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," etc., are used only for the convenience of describing the invention and should not be construed as limiting the invention.

[0028] Laser technology, as a cutting-edge technology in recent years, has been increasingly applied to various fields of social production and life. Lasers possess characteristics such as excellent monochromaticity, strong directionality, and high brightness. With the rapid development of the national intelligent equipment industry, laser pulse ranging and scanning devices, as core sensors capable of detecting surrounding conditions, have been widely promoted and applied in the field of industrial control.

[0029] In some embodiments, the pulsed laser ranging and scanning device generally employs, for example... Figure 4The rotating mirror scanning structure shown includes a laser emitting module and a laser receiving module, which are fixedly mounted on the central structural component. The pulsed laser emitted by the laser emitting module is reflected by a mirror and projected onto the object being measured. The reflected light from the object illuminates the mirror in the opposite direction to the emitted light, and the mirror reflects the reflected light to the receiving lens of the laser receiving module, where it is focused onto the laser detector to complete the detection. The mirror is rotated by a motor to achieve scanning and measurement of a two-dimensional scene. In this rotating mirror scanning structure, the laser emitting module and the laser receiving module are coaxial, requiring an opening in the center of the receiving lens for installation, which affects the area of ​​the receiving lens. Furthermore, the laser emitting module, being within the receiving optical path, inevitably blocks some of the light converged by the receiving lens, affecting the reception of light energy. Since the laser emission and reception share the same optical path, stray light from the laser emission can have adverse effects, placing high demands on stray light control. Moreover, the laser emitting module provides the signal for the emission time to the timing circuit, and the laser receiving module provides the signal for the reception time to the timing circuit. The laser emitting module and the laser receiving module are two different systems, and it is difficult to guarantee the clock consistency between these two systems. This makes it difficult to improve the timing accuracy of the emission time and the reception time.

[0030] In some embodiments, a semiconductor laser diode ranging and scanning device may also be used. Semiconductor laser diode ranging and scanning devices generally employ, for example... Figure 5 The integrated rotating scanning structure shown is as follows. This structure includes a laser emitting module and a laser receiving module with parallel optical axes. The distance between the laser emitting and receiving modules is fixed (determined by the structural design). The laser emitting and receiving modules are fixed together on a rotating support, and a motor drives the integrated rotating scan to achieve scanning and measurement of a two-dimensional scene. In this integrated rotating scanning structure, the laser emitting module, laser receiving module, and data acquisition module are mounted on the motor-driven rotating support. Due to space limitations, the laser receiving and emitting circuits are close together, resulting in strong circuit interference. Furthermore, the laser emitting module provides the emission time signal to the timing circuit, and the laser receiving module provides the reception time signal to the timing circuit. Since the laser emitting and receiving modules are two different systems, clock consistency between them is difficult to guarantee, making it difficult to improve the timing accuracy of both emission and reception.

[0031] To address the aforementioned shortcomings, this application provides a transceiver-separated pulsed laser ranging and scanning device, such as... Figure 1As shown, the system includes: a laser 1, a laser receiver 2, an emission beam splitter detector 3, a beam splitter guide column 31, a reflector 4, a hollow shaft motor 5, a rotating bracket 51, and a control circuit board 7. The output shaft of the hollow shaft motor 5 is connected to the rotating bracket 51, which is vertically positioned, with the hollow shaft motor 5 located above it. The laser 1 is mounted on the rotating bracket 51 and is used to emit pulsed laser light in a specific direction, for example, horizontally. The reflector 4 is mounted on the rotating bracket 51. On the rotating bracket 51, the reflector 4 is located below the laser 1, and the reflector 4 is in the optical path of the light reflected from the target being measured. The reflector 4 is tilted. The laser receiver 2 is located below the reflector 4 and is in the optical path of the light reflected from the reflector 4. For example, the laser 1 emits a pulsed laser in a horizontal direction. The emitted laser light reaches the surface of the target being measured and is reflected back to form horizontal reflected light. The reflected light is then reflected by the reflector 4, changing the propagation path to a vertical direction, and thus reaching the laser receiver 2.

[0032] The hollow shaft motor 5 drives the rotating bracket 51 to rotate. The laser 1 and the reflector 4, fixed on the rotating bracket 51, also rotate with the bracket 51, enabling the scanning and measurement of the two-dimensional scene. Figure 2 As shown, the laser emitted by laser 1 is horizontal, while the laser received by laser receiver 2 is vertical. This separates the optical paths of the laser emission and reception modules, simplifying stray light control and the design of the light-transmitting cover, and reducing the size of the cover. The large spatial distance between laser 1 and laser receiver 2 allows for independent design of the laser emission and reception circuits, preventing interference between them.

[0033] In one illustrative embodiment, the scanning device further includes a collimating lens 11, which is disposed in the optical path of the laser 1 and is used to convert the light emitted by the laser 1 into parallel light. The collimating lens 11 is used to control stray light emitted by the laser, thereby converting the stray light into parallel light.

[0034] In one illustrative embodiment, the laser source of the laser 1 is a semiconductor laser diode. Using a semiconductor laser diode, and then directly collimating it through the collimating lens 11 to achieve a fixed laser spot shape, facilitates the control and identification of the laser scanning direction.

[0035] In one illustrative embodiment, the reflector 4 is tilted at a 45-degree angle. Using a single 45-degree reflector to implement a transceiver off-axis design allows horizontal light to be converted into vertical light, enabling the laser receiver 2 to receive horizontally reflected light.

[0036] In one illustrative embodiment, the scanning device further includes a receiving lens 21, which is disposed between the laser receiver 2 and the reflector 4. The receiving lens 21, the laser receiver 2, and the reflector 4 are on the same optical path, and the receiving lens 21 is used to focus the reflected light onto the laser receiver 2. Focusing the reflected light through the receiving lens 21 helps to increase the intensity of the reflected light, making it easier for the laser receiver 2 to detect the reflected light.

[0037] In one illustrative embodiment, the scanning device further includes a wireless power supply device 6, which is disposed around the hollow shaft motor 5 and is used to power the laser 1. The wireless power supply device 6 can be a wireless power supply coil or a slip ring. A wireless power supply coil utilizes the principle of electromagnetic induction to transmit energy through intermittent energy coupling. A slip ring is an electrical component responsible for connecting and transmitting energy and signals to a rotating body. It can be used in any electromechanical system that continuously transmits power and data signals during 360° rotation. It is also known as a conductive slip ring, brush, adapter, current collector, current collector, rotary joint, current collector ring, return ring, commutator, etc. Its principle is to realize a precision transmission device for the transmission of current, data signals, or images and power between two relatively rotating mechanisms. It is used in fields requiring the transmission of electrical and data signals from a fixed position to a rotating position during unrestricted 360° continuous rotation.

[0038] The beam splitter 31 is disposed in the central shaft hole of the hollow shaft motor 5; one end of the beam splitter 31 is a hemispherical end and the other end is a beveled end. The beveled end of the beam splitter 31 is located in the optical path of the laser 1. The emission beam splitter detector 3 is disposed above the hemispherical end of the beam splitter 31. The emission beam splitter detector 3 and the hemispherical end of the beam splitter 31 are on the same optical path.

[0039] like Figure 3 As shown, the relative position of the beam-splitting guide column 31 and the laser 1 is fixed. The inclined end of the beam-splitting guide column 31 is located within the optical path of the laser 1, providing a fixed beam splitting ratio and ensuring the stability of the reference signal for each measurement. The beam-splitting guide column 31 is mounted at the rotation center of the hollow shaft motor 5. The hemispherical upper surface of the rotating beam-splitting guide column 31 is always directly opposite the receiving source of the emission beam-splitting detector 3, ensuring the stability of the beam-splitting detection signal. A stable detection signal facilitates accurate timing of laser emission and improves the accuracy of distance measurement.

[0040] In one illustrative embodiment, the receiving source for both the laser receiver 2 and the emission beam splitter 3 is a photodiode. The laser receiver 2 and the emission beam splitter 3 serve the same function: detecting whether a light signal is received. They can employ the same circuit structure. Using a photodiode as the receiving source for both the laser receiver 2 and the emission beam splitter 3 meets the usage requirements. Photodiodes have high sensitivity, and their processing circuitry is simple and reliable.

[0041] The control circuit board 7 is connected to the laser 1, the laser receiver 2, the emission beam splitter 3, and the hollow shaft motor 5. The control circuit board 7 is used to control the laser 1 to emit pulsed laser light, the hollow shaft motor 5 to rotate, and to receive detection signals from the laser receiver 2 and the emission beam splitter 3.

[0042] In one illustrative embodiment, the control circuit board 7 includes a timing circuit, a data acquisition circuit, and a main control circuit. The timing circuit is connected to the laser receiver 2 and the emission spectrometer 3, respectively, and the timing circuit is connected to the main control circuit through the data acquisition circuit. The main control circuit is connected to the laser 1, the laser receiver 2, the emission spectrometer 3, and the hollow shaft motor 5, respectively.

[0043] The timing circuit starts timing after the beam splitter 3 detects the light signal and ends timing after the laser receiver 2 detects the light signal. Since the beam splitter 3 and laser receiver 2 have identical circuit structures, a single system can be used. That is, in this application, laser 1 only emits pulsed laser light at a preset frequency and does not participate in timing; timing is completed by the receiving system composed of the beam splitter 3 and laser receiver 2. This solves the problem of difficulty in ensuring clock consistency between the two systems. The acquisition circuit acquires the signals from the timing circuit, obtains the start and end times, and transmits these times to the main control circuit. The main control circuit controls the actions of each module and, based on the start and end times transmitted by the acquisition circuit, calculates the time difference between these two moments, multiplies it by the speed of light, and converts it into the distance to the target.

[0044] L = (t2 - t1) * c / 2;

[0045] Where L is the distance to the target being measured, t2 is the end time, t1 is the start time, and c is the speed of light.

[0046] For example, when controlling laser 1 to emit pulsed laser light, the timing circuit starts timing after the emission beam splitter 3 detects the light signal, and the acquisition circuit obtains the start time t1 as 100 nanoseconds; the timing ends after the laser receiver 2 detects the light signal, and the acquisition circuit obtains the end time t2 as 1500 nanoseconds. The speed of light c is 0.3 m / nanosecond, then the distance L of the target being measured is 210 meters.

[0047] In some implementations, the main control circuit may include one or more processors / processing units. For example, the main control circuit may be: an ARM architecture processor, a digital signal processor (DSP), a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a central processing unit (CPU), a graphics processing unit (GPU), a microcontroller unit (MCU), etc.

[0048] Based on the transceiver-separated pulsed laser ranging and scanning device provided in the above embodiments, some embodiments of this application also provide a transceiver-separated pulsed laser ranging and scanning method, such as... Figure 6 As shown, the scanning method includes:

[0049] S100: Controls laser 1 to emit pulsed laser at a preset frequency.

[0050] Laser 1 is an independent system whose internal clock can be set according to the needs of emitting pulsed laser light and does not need to be synchronized with other systems. Laser 1 simply emits pulsed laser light at a preset frequency, and the laser light can propagate horizontally until it encounters a target and is then reflected back by the target.

[0051] S200: When the emission spectrometer 3 detects the optical signal, it starts timing and obtains the start time.

[0052] After laser 1 emits a pulsed laser, as Figure 3 As shown, the relative position of the beam-splitting guide post 31 and the laser 1 is fixed. The inclined end of the beam-splitting guide post 31 penetrates into the optical path of the laser 1, allowing a portion of the laser light to be transmitted through the beam-splitting guide post 31 to the emission beam-splitting detector 3. The hemispherical upper surface of the beam-splitting guide post 31 is always directly opposite the receiving source of the emission beam-splitting detector 3, enabling the emission beam-splitting detector 3 to detect the optical signal. When the emission beam-splitting detector 3 detects the optical signal, the timing circuit starts timing and transmits the start time to the main control circuit through the acquisition circuit.

[0053] S300: When the laser receiver 2 detects the light signal, the timing ends and the end time is obtained.

[0054] When the laser encounters the target being measured and is reflected back, such as Figure 2As shown, the reflected light is reflected by the reflector 4, changing from a horizontal to a vertical direction, and then converged by the receiving lens 21 to the laser receiver 2. When the laser receiver 2 detects the light signal, the timing circuit stops timing and transmits the end time to the main control circuit through the acquisition circuit.

[0055] S400: Calculate the distance to the target based on the start and end times.

[0056] Based on the start and end times, calculate the distance to the target by multiplying the time difference between these two moments by the speed of light: L = (t2 - t1) * c / 2, where L is the distance to the target, t2 is the end time, t1 is the start time, and c is the speed of light.

[0057] S500: Controls the hollow shaft motor 5 to rotate at a preset speed and records the rotation angle of the laser 1.

[0058] The hollow shaft motor 5 rotates, driving the laser 1 to rotate at a preset speed, thus enabling the scanning and measurement of a two-dimensional scene. By recording the rotation angle of the laser 1, the direction of the target being measured can be obtained.

[0059] S600: The position of the target is obtained based on the rotation angle of the laser 1 and the distance to the target.

[0060] like Figure 7 As shown, taking the initial northward orientation of laser 1 as an example, when laser 1 rotates clockwise from north to east, when laser 1 rotates to 18°, it scans the first target, with a distance of 218 meters. The position of the first target is 18° east of north and a distance of 218 meters. When laser 1 rotates to 70°, it scans the second target, with a distance of 234 meters. The position of the second target is 70° east of north and a distance of 234 meters. When laser 1 rotates to 123°, it scans the third target, with a distance of 175 meters. The position of the third target is 33° south of east and a distance of 175 meters.

[0061] This application provides a transceiver-separated pulsed laser ranging and scanning method and apparatus. The scanning apparatus includes: a laser 1, a laser receiver 2, an emission beam splitter detector 3, a beam splitter guide column 31, a reflector 4, a hollow shaft motor 5, a rotating bracket 51, and a control circuit board 7. The hollow shaft motor 5 drives the laser 1 and the reflector 4 to rotate, realizing the scanning and measurement of a two-dimensional scene. The emission path of the laser 1 is horizontal, and the receiving path of the laser receiver 2 is vertical. The reflector 4 is used to implement a transceiver off-axis design. Separating the laser emission and receiving modules simplifies the control of stray laser light and the structure of the light-transmitting cover, which helps to reduce the size and cost of the light-transmitting cover. The laser 1 only emits pulsed laser light at a preset frequency and does not participate in timing. Timing is completed by the receiving system composed of the emission beam splitter detector 3 and the laser receiver 2, thus solving the problem of difficulty in ensuring clock consistency between the two systems.

[0062] Similar parts between the embodiments provided in this application can be referred to mutually. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods extended from the solution of this application without creative effort shall fall within the scope of protection of this application.

Claims

1. A transceiver-separated pulsed laser ranging and scanning device, characterized in that, include: The system comprises a laser (1), a laser receiver (2), an emission beam splitter detector (3), a beam splitter guide column (31), a reflector (4), a hollow shaft motor (5), a rotating bracket (51), and a control circuit board (7), wherein... The output shaft of the hollow shaft motor (5) is connected to the rotating bracket (51), the rotating bracket (51) is vertically arranged, and the hollow shaft motor (5) is located above the rotating bracket (51); The laser (1) is mounted on the rotating bracket (51); The reflector (4) is mounted on the rotating bracket (51), the reflector (4) is located below the laser (1), the reflector (4) is in the optical path of the light reflected from the target being measured, and the reflector (4) is tilted. The laser receiver (2) is disposed below the reflector (4) and is disposed in the optical path of the light reflected by the reflector (4); The beam splitter (31) is disposed in the central shaft hole of the hollow shaft motor (5); one end of the beam splitter (31) is a hemispherical end and the other end is a beveled end. The beveled end of the beam splitter (31) is located in the optical path of the laser (1). The emission beam splitter detector (3) is disposed above the hemispherical end of the beam splitter (31). The emission beam splitter detector (3) and the hemispherical end of the beam splitter (31) are on the same optical path. The control circuit board (7) is connected to the laser (1), laser receiver (2), emission beam splitter (3) and hollow shaft motor (5) respectively; The control circuit board (7) includes: a timing circuit, a data acquisition circuit, and a main control circuit, wherein, The timing circuit is connected to the laser receiver (2) and the emission beam splitter (3) respectively, and the timing circuit is connected to the main control circuit through the acquisition circuit; The main control circuit is connected to the laser (1), laser receiver (2), emission beam splitter (3) and hollow shaft motor (5) respectively.

2. The transceiver-separated pulsed laser ranging and scanning device according to claim 1, characterized in that, The scanning device further includes a wireless power supply device (6), which is disposed around the hollow shaft motor (5) and is used to power the laser (1).

3. The transceiver-separated pulsed laser ranging and scanning device according to claim 1, characterized in that, The scanning device further includes a collimating lens (11), which is disposed in the optical path of the laser (1) and is used to disperse the light emitted by the laser (1) into parallel light.

4. The transceiver-separated pulsed laser ranging and scanning device according to claim 1, characterized in that, The scanning device further includes a receiving lens (21), which is disposed between the laser receiver (2) and the reflector (4). The receiving lens (21), the laser receiver (2), and the reflector (4) are on the same optical path. The receiving lens (21) is used to focus the reflected light onto the laser receiver (2).

5. The transceiver-separated pulsed laser ranging and scanning device according to claim 1, characterized in that, The tilt angle of the reflector (4) is 45 degrees.

6. The transceiver-separated pulsed laser ranging and scanning device according to claim 1, characterized in that, The laser source of the laser (1) is a semiconductor laser diode.

7. The transceiver-separated pulsed laser ranging and scanning device according to claim 1, characterized in that, The receiving source of the laser receiver (2) and the emission spectrometer (3) is a photodiode.

8. A transceiver-separated pulsed laser ranging and scanning method, applied to the transceiver-separated pulsed laser ranging and scanning device according to any one of claims 1-7, characterized in that, The scanning method includes: Control the laser to emit pulsed laser light at a preset frequency; When the emission spectrometer detects the optical signal, it starts timing to obtain the start time; When the laser receiver detects a light signal, the timing stops, and the end time is obtained. The distance to the target is calculated based on the start and end times. Control the hollow shaft motor to rotate at a preset speed and record the angle of laser rotation; The position of the target is obtained based on the rotation angle of the laser and the distance to the target.

Images