LiDAR Scanner

Abstract

The present application provides a laser radar scanner, including a laser radar substrate, a central chamber is arranged in the laser radar substrate, a first side chamber, a third side chamber and a mounting base are respectively arranged outside the central chamber, a laser is arranged in the first side chamber, a data processing and central control module and an analog-to-digital conversion module are arranged in the third side chamber, a scanning assembly and a light receiving and emitting adjustment device are arranged in the central chamber, a driving module is arranged at one end of the scanning assembly, the scanning assembly includes a hollow main shaft supported and rotatable at both ends, a third reflector is arranged in the hollow main shaft, a window mirror is arranged outside the third reflector on the laser radar substrate, laser light emitted by the laser is transmitted to the third reflector through the light receiving and emitting adjustment device and emitted from the window mirror to the outside, and the external reflected light is reflected by the third reflector and recovered to the light receiving and emitting adjustment device, thereby solving the problem of far-end swing of the cantilever rotating scanning mirror.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a laser radar scanner. Background Art

[0002] LiDAR is a complex system that integrates multiple technologies, such as global positioning system, inertial navigation system, laser scanning system, central control unit, data processing software, multi-sensor fusion and other technologies.

[0003] In a line-scan laser scanner, the laser radar forms an image on a high-speed moving object. To reduce the blurring effect of the image, the speed of the full-length scanning mirror is relatively high. In order to improve the efficiency of the laser radar in obtaining point clouds, the scanning mirror and the window mirror are made as large as possible. However, in the case of high speed and large scanning mirror, the size, weight and stability of the equipment are relatively large challenges. Therefore, it is particularly important that the laser radar scanning device is lightweight and stable.

[0004] In the existing laser radar, one side of the scanning mirror is used to reflect the light path, so only the rotating shaft is set on the back side. The scanning mirror is in a cantilever structure as a whole. If the dynamic balance is not good during rotation, the scanning mirror will swing greatly, affecting the laser radar's light emission and light receiving accuracy. Summary of the invention

[0005] The invention provides a laser radar scanner, which solves the problem of far-end swing of a cantilever rotating scanning mirror.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a laser radar scanner, including a laser radar substrate, a central cavity is arranged in the laser radar substrate, and a first side cavity, a third side cavity and a mounting base are respectively arranged outside the central cavity, a laser is arranged in the first side cavity, a data processing and central control module and an analog-to-digital conversion module are arranged in the third side cavity, a scanning assembly and a light receiving and emitting adjustment device are arranged in the central cavity, a driving module is arranged at one end of the scanning assembly, the scanning assembly includes a hollow main shaft that is supported and rotatable at both ends, a third reflector is arranged in the hollow main shaft, a window mirror is arranged on the outside of the third reflector on the laser radar substrate, the laser emitted by the laser is transmitted to the third reflector through the light receiving and emitting adjustment device and emitted from the window mirror to the outside, and the external reflected light is reflected by the third reflector and recovered by the light receiving and emitting adjustment device.

[0007] In a preferred embodiment, the light receiving and light adjustment device includes a main shell frame, a collimator is provided on the main shell frame, a first reflector is provided at the front end of the collimator, a hollow space is provided in the center of the main shell frame, a condenser is provided in the center of the hollow space, the condenser faces the scanning component, a second reflector is provided on the side of the condenser close to the scanning component, a detector is provided on the other side of the light receiving and light adjustment device, the rotating axis of the third reflector is parallel to the optical axis of the condenser, and also includes a laser. The laser emits laser light, which is collimated by the collimator and then reflected by the first reflector and the second reflector in sequence. The laser reaches the third reflector and is reflected to the outside world. The external reflected light is reflected by the scanning component to the condenser and converges on the detector. The optical axis of the laser reflected from the second reflector to the third reflector is parallel to the rotating axis of the third reflector.

[0008] In the preferred solution, an adjustment seat that can move along the inner wall of the main frame is sleeved inside the main frame, the adjustment seat is threadedly connected to the inner wall of the main frame, a condenser is provided on one side of the adjustment seat, a light receiving plate is provided on the other side of the adjustment seat, a detector is provided in the center of the light receiving plate, one end of the adjustment seat is against the light receiving plate, and the adjustment seat moves to change the relative distance between the light receiving plate and the condenser.

[0009] In the preferred solution, a stop shoulder is provided in the main frame, and a second corrugated spring is also provided, one end of the second corrugated spring abuts against the stop shoulder, and the other end of the second corrugated spring abuts against the end of the adjustment seat, a plurality of threaded limit screws are provided along the circumferential direction of the side wall of the main frame, and a plurality of adjustment holes are provided along the circumferential direction of the light receiving plate, one end of each limit screw passes through each adjustment hole and presses the light receiving plate onto the adjustment seat.

[0010] In the preferred scheme, the inner diameter of the adjustment hole is larger than the outer diameter of the limit screw, and also includes a first translation adjustment group and a second translation adjustment group arranged vertically, the first translation adjustment group and the second translation adjustment group both include a first ear seat and a second ear seat connected to the outer edge of the main shell frame and arranged opposite to each other, the first ear seat is provided with a threaded adjustment screw, one end of the adjustment screw abuts against the side wall of one end of the light receiving plate, the second ear seat is provided with a third corrugated spring, and the third corrugated spring abuts against the side wall of the other end of the light receiving plate.

[0011] In a preferred embodiment, a hollow portion is provided on the side wall of the hollow main shaft in the direction of the third reflector, a first connecting shaft and a second connecting shaft are provided at both ends of the hollow main shaft (207), a scanning component mounting seat (206) and an end seat are provided on the laser radar base, the two ends of the hollow main shaft are rotatably connected to the scanning component mounting seat and the end seat, and the window mirror is provided between the scanning component mounting seat and the end seat.

[0012] In the preferred solution, a stator is provided on the inner wall of the end seat, a rotor is sleeved on the first connecting shaft, the rotor and the stator are coaxially sleeved, the end seat, the first connecting shaft, the rotor and the stator constitute a driving module, an annular code disk is provided at one end of the hollow main shaft close to the end seat, a reader is provided in the end seat, and the reader is aligned with the code disk.

[0013] In a preferred solution, a first bearing seat is provided at the scanning component mounting seat, a second bearing seat is provided on the end seat, the second connecting shaft is sleeved with the first bearing seat, and the first connecting shaft is sleeved with the second bearing seat.

[0014] In a preferred embodiment, the second bearing seat is opened on one side away from the first connecting shaft and is provided with an internal threaded portion, a threaded pressure ring is also provided in the internal threaded portion, a first corrugated spring is provided between the pressure ring and the second bearing seat, and the pressure ring is rotated to tighten the second bearing seat.

[0015] In a preferred solution, a laser module is provided at the first side cavity, and the laser is placed in the laser module. The laser module includes a heat dissipation shell, and an outer convex concave cavity with an opening on one side is provided in the heat dissipation shell. The side of the opening of the outer convex concave cavity on the heat dissipation shell is used to connect with the laser radar substrate. A laser housing is provided at the bottom of the outer convex concave cavity, and a laser cover is provided at one end of the laser housing. A second cavity is provided in the laser housing, and the second cavity is used to place the laser element. A plurality of heat dissipation fins are provided on the side of the heat dissipation shell away from the laser radar substrate.

[0016] The beneficial effects of the present invention are as follows: the reflector is integrated inside the hollow main shaft, and holes are opened in the side wall for the light path to enter and exit, and rotating shafts are arranged at both ends of the hollow main shaft to make the rotation more stable; the incident light axis of the reflector of the scanning component is parallel to the rotating shaft, which can realize all-round circular scanning without dead angles. Compared with the scanning structure of multi-faceted prism reflection, more continuous scanning data can be obtained, and there is no need for data splicing in the later stage, the modeling difficulty is low, and the scanning efficiency is high; the overall structure is streamlined, small in size, light in weight, portable and low in cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is a cross-sectional view of the present invention.

[0019] Figure 2 This is the distribution diagram of the laser radar matrix cavity.

[0020] Figure 3 It is an external schematic diagram of the present invention.

[0021] Figure 4 This is a diagram of the laser module location.

[0022] Figure 5 It is a partial structural cross-sectional view of the light transmitting and receiving adjustment device.

[0023] Figure 6 This is a bottom view of the light-emitting and light-receiving adjustment device.

[0024] Figure 7 is a cross-sectional view of the scanning assembly.

[0025] Figure 8This is an end view of the scanning component.

[0026] Fig. 9 This is a cross-sectional view of the scanning component drive component.

[0027] Fig.10 This is the structure diagram of the laser module.

[0028] Fig.11 is a cross-sectional view of the laser module.

[0029] In the figure: laser radar substrate 1; central chamber 101; first side chamber 102; second side chamber 103; third side chamber 104; mounting base 105; scanning assembly 2; third reflector 201; first connecting shaft 202; rotor 203; stator 204; window mirror 205; scanning assembly mounting seat 206; hollow main shaft 207; hollow part 208; ring piece 209; second connecting shaft 210; first bearing seat 211; second bearing seat 212; end seat 213; reader 214; code disc 215; first corrugated spring 216; pressure ring 217; internal threaded part 218; light receiving and light adjusting device 3; main frame 301; adjustment seat 302; condenser 303; light receiving plate 304; detector 305; second corrugated spring 306; first ear seat 307; adjustment Screw 308; second ear seat 309; third corrugated spring 310; first translation adjustment group 311; second translation adjustment group 312; limit screw 313; rear cover 314; stop shoulder 315; adjustment hole 316; hollow slot 317; collimator 4; first reflector 5; light hole 6; second reflector 7; laser 8; laser module 9; heat sink 901; outer convex and concave cavity 902; laser housing 903; laser cover 904; heat sink fin 905; first cavity 906; second cavity 907; avoidance groove 908; positioning step 909; component mounting plate 910; upper box body 911; through hole 912; connecting screw 913; data processing and central control module 10; power supply assembly 11; drive module 12; analog-to-digital conversion module 13. DETAILED DESCRIPTION

[0030] Embodiment 1: like Figure 1-11A laser radar scanner is provided, comprising a laser radar substrate 1, a central chamber 101 is provided in the laser radar substrate 1, a first side chamber 102, a third side chamber 104 and a mounting base 105 are respectively provided outside the central chamber 101, a laser 8 is provided in the first side chamber 102, a data processing and central control module 10 and an analog-to-digital conversion module 13 are provided in the third side chamber 104, a scanning component 2 and a light receiving and adjusting device 3 are provided in the central chamber 101, a driving module 12 is provided at one end of the scanning component 2, the scanning component 2 comprises a rotatable third reflector 201, a window mirror 205 is provided outside the third reflector 201 on the laser radar substrate 1, laser light emitted by the laser 8 is transmitted to the third reflector 201 through the light receiving and adjusting device 3 and emitted to the outside from the window mirror 205, and the external reflected light is reflected by the third reflector 201 and recovered by the light receiving and adjusting device 3.

[0031] A second side cavity 103 is also provided outside the central cavity 101, and a power supply component 11 is provided in the second side cavity 103. The first side cavity 102 and the third side cavity 104 are arranged opposite to each other, and the second side cavity 103 and the mounting base 105 are arranged opposite to each other. The laser 8 with high heat generation is separated from the data processing and central control module 10 and the analog-to-digital conversion module 13, and they affect each other.

[0032] In the preferred embodiment, the light receiving and light adjusting device 3 includes a main frame 301, a collimator 4 is provided on the main frame 301, a first reflector 5 is provided at the front end of the collimator 4, a hollow space is provided in the center of the main frame 301, a condenser 303 is provided in the center of the hollow space, the condenser 303 faces the scanning component 2, a second reflector 7 is provided on the side of the condenser 303 close to the scanning component 2, a detector 305 is provided on the other side of the light receiving and light adjusting device 3, the rotation axis of the third reflector 201 is parallel to the optical axis of the condenser 303, and also includes a laser 8. The laser 8 emits laser light, which is collimated by the collimator 4 and then reflected by the first reflector 5 and the second reflector 7 in sequence. The laser reaches the third reflector 201 and is reflected to the outside world. The external reflected light is reflected by the scanning component 2 to the condenser 303 and converges on the detector 305. The laser light axis reflected by the second reflector 7 to the third reflector 201 is parallel to the rotation axis of the third reflector 201.

[0033] The laser 8 is mounted on the laser radar substrate 1 and is introduced into the collimator 4 through an optical fiber.

[0034] A light hole 6 is formed on the side wall of the main housing 301 , and the laser is emitted from the light hole 6 after being reflected by the first reflector 5 .

[0035] The second reflector 7 is connected to the main housing 301 via a bracket.

[0036] In the preferred embodiment, an adjustment seat 302 is sleeved inside the main frame 301 and can move along the inner wall of the main frame 301. The adjustment seat 302 is threadedly connected to the inner wall of the main frame 301. A condenser 303 is provided on one side of the adjustment seat 302, and a light receiving plate 304 is provided on the other side of the adjustment seat 302. A detector 305 is provided in the center of the light receiving plate 304. One end of the adjustment seat 302 rests on the light receiving plate 304, and the adjustment seat 302 moves to change the relative distance between the light receiving plate 304 and the condenser 303.

[0037] The light receiving plate 304 is in the shape of a disk, and its axis coincides with the condenser 303 . The center of the adjustment seat 302 is hollowed out, and the detector 305 is arranged at the center of the light receiving plate 304 , so that it can receive the light signal concentrated by the condenser 303 .

[0038] In the preferred embodiment, a stop shoulder 315 is provided in the main frame 301, and a second corrugated spring 306 is also provided, one end of the second corrugated spring 306 abuts against the stop shoulder 315, and the other end of the second corrugated spring 306 abuts against the end of the adjustment seat 302, and a plurality of threaded limit screws 313 are circumferentially provided on the side wall of the main frame 301, and a plurality of adjustment holes 316 are circumferentially provided on the light receiving plate 304, and one end of each limit screw 313 passes through each adjustment hole 316 and presses the light receiving plate 304 onto the adjustment seat 302.

[0039] The adjusting seat 302 is rotated to adjust the distance between the light collecting plate 304 and the condensing lens 303 so that the focus of the concentrated light falls on the detector 305 .

[0040] When the focal plane needs to be adjusted far, the rear cover 314 can be removed, and the limit screws 313 can be loosened slowly to release an equal distance. The adjustment seat 302 can be turned through the hollow slot 317 on the light receiving plate 304. The light receiving plate 304 rotates relative to the light receiving plate 304 and squeezes the light receiving plate 304 to adjust the distance between the light receiving plate 304 and the condenser 303. The second corrugated spring 306 always maintains pressure to eliminate the thread matching clearance, and then the limit screws 313 are re-tightened to fix the position of the light receiving plate 304. To adjust the focal plane close, it is necessary to rotate the adjustment seat 302 first, and then tighten the limit screws 313.

[0041] Ring pieces 209 are provided at both ends of the hollow main shaft 207 , and the ring pieces 209 are provided with a plurality of threaded holes along the circumferential direction.

[0042] During debugging, according to the dynamic balance condition, install the top screw in the corresponding threaded hole to increase the weight and improve the dynamic balance. In the preferred embodiment, the inner diameter of the adjustment hole 316 is larger than the outer diameter of the limit screw 313, and also includes a first translation adjustment group 311 and a second translation adjustment group 312 arranged vertically. The first translation adjustment group 311 and the second translation adjustment group 312 both include a first ear seat 307 and a second ear seat 309 connected to the outer edge of the main frame 301 and arranged relatively to each other. The first ear seat 307 is provided with a threaded adjustment screw 308, one end of the adjustment screw 308 abuts against the side wall of one end of the light receiving plate 304, and the second ear seat 309 is provided with a third corrugated spring 310, and the third corrugated spring 310 abuts against the side wall of the other end of the light receiving plate 304.

[0043] The adjusting screw 308 and the second ear seat 309 are respectively located at the two ends of the diameter line of the light receiving plate 304. Since the adjusting hole 316 has a large margin, when the limit screw 313 is loosened, the adjusting screw 308 can be rotated to squeeze the light receiving plate 304 to translate to the other end, and the resistance of the third corrugated spring 310 keeps the light receiving plate 304 and the adjusting screw 308 in a contact state. The first translation adjustment group 311 and the second translation adjustment group 312 can synchronously adjust the positions of two orthogonal directions on the plane in two vertical directions to adjust the detector 305 to the focal position of the central axis of the condenser 303.

[0044] After the adjustment is completed, the adjusting screw 308 and the third corrugated spring 310 can be removed.

[0045] A hollow slot 317 is provided on the light collecting plate 304 , and a rear cover plate 314 is provided on a side of the light collecting plate 304 away from the condenser 303 .

[0046] A rear cover plate 314 is disposed outside the light receiving plate 304 to cover the hollow slot 317 .

[0047] In the preferred embodiment, the scanning component 2 includes a rotatable hollow main shaft 207, a third reflector 201 is arranged inside the hollow main shaft 207, a hollow portion 208 is arranged on the side wall of the hollow main shaft 207 in the direction facing the third reflector 201, a first connecting shaft 202 and a second connecting shaft 210 are respectively arranged at both ends of the hollow main shaft 207, a scanning component mounting seat 206 and an end seat 213 are respectively arranged on the laser radar substrate 1, and both ends of the hollow main shaft 207 are rotatably connected to the scanning component mounting seat 206 and the end seat 213, and a window mirror 205 is arranged between the scanning component mounting seat 206 and the end seat 213.

[0048] The scanning assembly 2 is integrally mounted on the laser radar substrate 1, and a hollow hole is opened on the side wall of the hollow main shaft 207 to reduce weight.

[0049] The first connecting shaft 202 is a stepped shaft, one end of which is provided with a flange structure for connecting to the end face of the third reflector 201 by screws.

[0050] The window mirror 205 has a certain structural strength, and connects the laser radar substrate 1 and the end seat 213 at both ends into one. Therefore, the rotating shafts at both ends of the hollow main shaft 207 can be manufactured, which is more stable than the cantilever structure.

[0051] The window mirror 205 is in the shape of a regular polygonal ring or a circular ring, and is made of a transparent material.

[0052] In a preferred solution, a stator 204 is provided on the inner wall of the end seat 213 , a rotor 203 is sleeved on the first connecting shaft 202 , and the rotor 203 and the stator 204 are coaxially sleeved.

[0053] The end seat 213 , the first connecting shaft 202 , the rotor 203 and the stator 204 constitute the driving module 12 .

[0054] There is a small gap between the rotor 203 and the stator 204. After power is turned on, the end seat 213 does not move, the hollow main shaft 207 and the third reflector 201 rotate under the action of electromagnetic force, and the laser is injected from the central inner cavity of the laser radar substrate 1 to the third reflector 201, and the reflected light is emitted to the outside through the window mirror 205, forming a ring-shaped scanning line.

[0055] In a preferred solution, a first bearing seat 211 is provided at the scanning component mounting seat 206 , a second bearing seat 212 is provided on the end seat 213 , the second connecting shaft 210 is sleeved with the first bearing seat 211 , and the first connecting shaft 202 is sleeved with the second bearing seat 212 .

[0056] The end seat 213 is provided with an openable end cover, and the second bearing seat 212 is connected to the inner wall of the end seat 213 through some connecting sleeve structures.

[0057] In a preferred embodiment, the second bearing seat 212 is opened on one side away from the first connecting shaft 202 and is provided with an internal threaded portion 218, and a threaded pressure ring 217 is also provided in the internal threaded portion 218. A first corrugated spring 216 is provided between the pressure ring 217 and the second bearing seat 212, and the pressure ring 217 is rotated to tighten the second bearing seat 212.

[0058] The back side of the bearing of the second bearing seat 212 is hollowed out, and the first corrugated spring 216 can be inserted. The pressure ring 217 is then installed and screwed in from the hollowed-out part to gradually compress the first corrugated spring 216. The first corrugated spring 216 applies continuous squeezing force to the second bearing seat 212 to maintain a reasonable bearing clearance.

[0059] In a preferred solution, an annular code disk 215 is provided at one end of the hollow main shaft 207 close to the end seat 213 , and a reader 214 is provided inside the end seat 213 , and the reader 214 is aligned with the code disk 215 .

[0060] The reader 214 and the code disk 215 form an encoder. After power is turned on, the reader 214 reads the code disk 215 to obtain the real-time rotation angle of the third reflector 201 .

[0061] In the preferred embodiment, a laser module 9 is provided at the first side cavity 102, and the laser 8 is placed in the laser module 9. The laser module 9 includes a heat dissipation shell 901, and an outer convex concave cavity 902 with an opening on one side is provided in the heat dissipation shell 901. The side of the opening of the outer convex concave cavity 902 on the heat dissipation shell 901 is used to connect with the laser radar substrate 1. A laser housing 903 is provided at the bottom of the outer convex concave cavity 902, and a laser cover 904 is provided at one end of the laser housing 903. A second cavity 907 is provided in the laser housing 903, and the second cavity 907 is used to place the laser element. A plurality of heat dissipation fins 905 are provided on the side of the heat dissipation shell 901 away from the laser radar substrate 1.

[0062] A concave cavity is provided on the side of the laser radar substrate 1, a sealing groove is provided at the concave cavity opening, a sealing strip is provided in the sealing groove, and a side of the heat dissipation shell 901 is a flat structure except for the convex concave cavity 902. The heat dissipation shell 901 is buckled at the concave cavity opening and presses the sealing strip. The structure of the laser module 9 protruding from the end face of the heat dissipation shell 901 is placed in the concave cavity.

[0063] Each heat dissipation fin 905 is a vertical structure and is arranged in parallel and spaced apart. The adjacent area is a streamlined groove structure to facilitate air flow. The heat dissipation fin 905 in the central area of ​​the heat dissipation shell 901 is high, and the outer side is low and chamfered to prevent cutting hands and improve aesthetics.

[0064] The height of the second cavity 907 is lower than the depth of the outer convex concave cavity 902. The heat dissipation shell 901 and the laser housing 903 are made of heat-conducting metal. Since the height of the second cavity 907 is lower than the installation side end face of the heat dissipation shell 901, it is convenient to adopt CNC integrated processing and molding. In this integrated structure, there is no seam between the second cavity 907 and the heat dissipation shell 901, so the heat conduction efficiency is high.

[0065] A component mounting plate 910 is provided near the bottom end of the second cavity 907 , and an avoidance groove 908 is provided on the heat dissipation shell 901 near the component mounting plate 910 .

[0066] After the second cavity 907 is processed, the avoidance groove 908 is processed at the bottom, and then the component mounting plate 910 that has been manufactured in advance is buckled at the avoidance groove 908 and connected to the heat dissipation shell 901 by welding or screws. Part of the component mounting plate 910 is hollowed out to serve as the installation base of the component, and the avoidance groove 908 provides an avoidance space for the component with a partial cylindrical outer surface.

[0067] The side wall of the second cavity 907 is provided with a positioning step 909. The laser housing 903 also includes an upper box body 911 with an opening at one end. The bottom end of the upper box body 911 is provided at the positioning step 909. The first cavity 906 is provided in the upper box body 911. The laser cover body 904 blocks the open end of the first cavity 906. The laser cover body 904 is locked at the open end of the first cavity 906 by a flat head screw. The upper box body 911 can be processed separately, and the positioning step 909 is processed at the opening of the second cavity 907. After the side of the upper box body 911 with the bottom plate is placed against the positioning step 909, it is welded or connected to the end of the second cavity 907 by screws to form the laser housing 903.

[0068] The main heating element of the laser is placed in the second cavity 907, and the first cavity 906 is used to place relatively low-heat elements such as the laser control board. Due to the obstruction of the bottom plate of the upper box body 911, the main heat is confined in the second cavity 907. Since the side wall of the second cavity 907 and the heat dissipation shell 901 are an integrated structure, the efficiency of heat transfer to the outside where the heat dissipation fins 905 are located is higher than that to the inside where the concave cavity of the laser radar substrate 1 is located. Therefore, the heat generated by the laser will be released quickly and will not accumulate inside the laser radar.

[0069] The outer edge of the heat dissipation shell 901 is provided with a plurality of through holes 912 and a plurality of connecting screws 913 . Each connecting screw 913 passes through the through hole 912 to be connected to the laser radar substrate 1 .

[0070] After the heat dissipation shell 901 and the laser element are integrated into one, the whole is buckled into the concave cavity of the laser radar substrate 1 and locked by connecting screws 913.

[0071] Embodiment 2: A laser radar device, which consists of a host module, a data processing and central control module, an analog-to-digital conversion module, a laser light source, a scanning mirror module, a light receiving module, a drive module, a power module and other main components, and the overall structure is exploded. At the same time, this laser radar system also includes self-developed control software and data processing software.

[0072] The host module integrates the body, window mirror, mounting seat, wiring, data processing and central control module, analog-to-digital conversion module, laser light source, power module, etc.

[0073] The window mirror is composed of four lenses, which can transmit light 360 degrees, providing the largest field of view for the scanning mirror. The overall structural strength of the window mirror is reliable, and combined with the mounting seat, it provides good support for the drive module, and the overall structure is compact; The data processing and central control module integrates the functions of processing point cloud data and operating control of the entire LiDAR system. The core heat generating unit of the module is in effective contact with the body through the heat sink, which efficiently conducts the heat to ensure the normal operation of the module. The analog-to-digital conversion board can realize the function of converting analog signals into digital signals; The laser is a customized high-precision laser, which matches the laser radar in terms of laser process parameters, interface, precision, etc. The laser shell is designed to match the appearance of the entire laser radar system. The laser shell is equipped with a heat sink, so that the heat inside the laser does not need to be transferred through other structures, but can be directly conducted to the heat sink of the shell, thereby improving the heat dissipation effect of the laser 3 and ensuring the integrity of the laser radar device.

[0074] The power module converts the input electrical energy into stable and reliable electrical energy suitable for the system, ensuring the stable operation and safety of the system.

[0075] The scanning mirror module is mainly composed of bearings, bearing seats, spindles, reflectors, code discs, code disc seats, motor rotors, bearings, etc.

[0076] The outer ring of the bearing is mounted on the machine body, and the outer ring of the bearing is mounted on the driving module. By driving the motor rotor through the driving module, the reflector can be rotated 360 degrees to scan.

[0077] The light receiving module is mainly composed of a light receiving plate, a mirror holder, a collimator, a plane reflector, a 45-degree reflector, a condenser, etc.

[0078] The driving module mainly consists of a motor base, a motor stator, a motor driving board, a cover plate, and a reader. The reader and the code disc form an encoder, which enables the scanning mirror module to have high rotation accuracy.

[0079] The laser radar device can be airborne or vehicle-mounted. It emits a pulsed laser beam through a high-precision laser light source. The laser beam is emitted through a collimator, passes through a plane reflector and a 45° reflector, and the light reaches the reflective surface of the reflector and is emitted through a window mirror.

[0080] The emitted laser pulse passes through the atmosphere to the surface of the target object and is reflected back from there. Since laser has high directionality, it can be accurately pointed to a specific target.

[0081] When the laser pulse is reflected by the target, part of the energy will pass through the window mirror, reflector, and condenser in sequence, and finally be received by the detector (the detector is integrated on the light receiving board), and the time taken for this process is recorded. Based on the time required for the laser to go back and forth and the speed of light, the distance between the emission point and the target can be calculated.

[0082] The measured distance can be converted into three-dimensional coordinates by providing precise position, speed and attitude information through the global positioning system and inertial navigation system (both integrated in the data processing and central control module).

[0083] All the data collected, including the position and intensity of the laser point and other possible information (such as the number of echoes), will be integrated to form point cloud data. Point cloud is a collection of points in three-dimensional space, each of which represents the location information of a point in the real world.

[0084] After the point cloud is filtered and classified by data processing software, the final products are digital terrain model (DTM), digital surface model (DSM), vegetation height model (CHM), etc. These models can be used in various applications, such as urban planning, forest resource survey, disaster risk assessment, etc.

[0085] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A laser radar scanner, characterized in that: The laser radar substrate (1) comprises a central chamber (101) provided in the laser radar substrate (1), a first side chamber (102), a third side chamber (104) and a mounting base (105) respectively provided outside the central chamber (101), a laser (8) provided in the first side chamber (102), a data processing and central control module (10) and an analog-to-digital conversion module (13) provided in the third side chamber (104), a scanning component (2) and a light-receiving and light-adjusting device (3) provided in the central chamber (101), and a first end of the scanning component (2) A driving module (12) is provided, and the scanning component (2) comprises a hollow main shaft (207) supported at both ends and rotatable, a third reflector (201) is provided in the hollow main shaft (207), and a window mirror (205) is provided on the outer side of the third reflector (201) on the laser radar substrate (1); laser light emitted by the laser (8) is transmitted to the third reflector (201) through the light receiving and adjusting device (3) and emitted from the window mirror (205) to the outside, and the external reflected light is reflected by the third reflector (201) and recovered by the light receiving and adjusting device (3).

2. The laser radar scanner according to claim 1, characterized in that: The light receiving and adjusting device (3) comprises a main housing (301), a collimator (4) is provided on the main housing (301), a first reflector (5) is provided at the front end of the collimator (4), a hollow space is provided in the center of the main housing (301), a condenser (303) is provided in the center of the hollow space, the condenser (303) faces the scanning component (2), a second reflector (7) is provided on the side of the condenser (303) close to the scanning component (2), a detector (305) is provided on the other side of the light receiving and adjusting device (3), and a third reflector (201) is provided. The rotating axis of the laser beam is parallel to the optical axis of the condenser mirror (303), and also includes a laser (8). The laser beam emitted by the laser beam (8) is collimated by the collimator (4) and then reflected by the first reflector (5) and the second reflector (7) in sequence. The laser beam reaches the third reflector (201) and is reflected to the outside. The reflected light from the outside is reflected by the scanning component (2) to the condenser mirror (303) and converged to the detector (305). The optical axis of the laser beam reflected by the second reflector (7) to the third reflector (201) is parallel to the rotating axis of the third reflector (201).

3. The laser radar scanner according to claim 2 is characterized in that: An adjustment seat (302) is sleeved inside the housing (301) and is movable along the inner wall of the main housing (301). The adjustment seat (302) is threadedly connected to the inner wall of the main housing (301). A condenser (303) is provided on one side of the adjustment seat (302). A light receiving plate (304) is provided on the other side of the adjustment seat (302). A detector (305) is provided in the center of the light receiving plate (304). One end of the adjustment seat (302) abuts against the light receiving plate (304). The adjustment seat (302) moves to change the relative distance between the light receiving plate (304) and the condenser (303).

4. The laser radar scanner according to claim 3 is characterized in that: A stop shoulder (315) is provided in the housing (301), and a second corrugated spring (306) is also provided, one end of the second corrugated spring (306) abuts against the stop shoulder (315), and the other end of the second corrugated spring (306) abuts against the end of the adjustment seat (302); a plurality of threaded limit screws (313) are provided along the circumferential direction on the side wall of the main housing (301); a plurality of adjustment holes (316) are provided along the circumferential direction on the light receiving plate (304); one end of each limit screw (313) passes through each adjustment hole (316) and presses the light receiving plate (304) against the adjustment seat (302).

5. The laser radar scanner according to claim 4, characterized in that: The inner diameter of the adjustment hole (316) is larger than the outer diameter of the limit screw (313), and the adjustment hole (316) further comprises a first translation adjustment group (311) and a second translation adjustment group (312) arranged vertically, the first translation adjustment group (311) and the second translation adjustment group (312) both comprising a first ear seat (307) and a second ear seat (309) connected to the outer edge of the main housing (301) and arranged opposite to each other, the first ear seat (307) being provided with a threaded adjustment screw (308), one end of the adjustment screw (308) being against a side wall of one end of the light receiving plate (304), and the second ear seat (309) being provided with a third corrugated spring (310), the third corrugated spring (310) being against a side wall of the other end of the light receiving plate (304).

6. The laser radar scanner according to claim 4, characterized in that: A hollow portion (208) is provided on the side wall of the hollow main shaft (207) in the direction of the third reflector (201); a first connecting shaft (202) and a second connecting shaft (210) are respectively provided at two ends of the hollow main shaft (207); a scanning component mounting seat (206) and an end seat (213) are provided on the laser radar base (1); two ends of the hollow main shaft (207) are respectively rotatably connected to the scanning component mounting seat (206) and the end seat (213); and a window mirror (205) is provided between the scanning component mounting seat (206) and the end seat (213).

7. The laser radar scanner according to claim 2, characterized in that: A stator (204) is provided on the inner wall of the end seat (213); a rotor (203) is sleeved on the first connecting shaft (202); the rotor (203) and the stator (204) are coaxially sleeved; the end seat (213), the first connecting shaft (202), the rotor (203) and the stator (204) form a drive module (12); an annular code disk (215) is provided at one end of the hollow main shaft (207) close to the end seat (213); a reader (214) is provided in the end seat (213); and the reader (214) is aligned with the code disk (215).

8. The laser radar scanner according to claim 6, characterized in that: A first bearing seat (211) is provided at the scanning component mounting seat (206), a second bearing seat (212) is provided on the end seat (213), the second connecting shaft (210) is sleeved with the first bearing seat (211), and the first connecting shaft (202) is sleeved with the second bearing seat (212).

9. The laser radar scanner according to claim 8, characterized in that: The second bearing seat (212) is opened on one side away from the first connecting shaft (202) and is provided with an internal threaded portion (218). A threaded pressure ring (217) is also provided in the internal threaded portion (218). A first corrugated spring (216) is provided between the pressure ring (217) and the second bearing seat (212). The pressure ring (217) is rotated to press the second bearing seat (212).

10. The laser radar scanner according to claim 1, characterized in that: A laser module (9) is provided at the first side cavity (102), the laser (8) is placed in the laser module (9), the laser module (9) comprises a heat dissipation shell (901), an outer convex concave cavity (902) with an opening on one side is provided in the heat dissipation shell (901), the side of the opening of the outer convex concave cavity (902) on the heat dissipation shell (901) is used to connect with the laser radar substrate (1), a laser housing (903) is provided at the bottom end of the outer convex concave cavity (902), a laser cover (904) is provided at one end of the laser housing (903), a second cavity (907) is provided in the laser housing (903), the second cavity (907) is used to place a laser element, and a plurality of heat dissipation fins (905) are provided on a side of the heat dissipation shell (901) away from the laser radar substrate (1).

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