Laser radar scanning system

Abstract

The utility model provides a laser radar scanning system which comprises a scanning assembly and a receiving and emitting light adjusting device, the receiving and emitting light adjusting device comprises a main shell frame, the main shell frame is provided with a collimator, the front end of the collimator is provided with a first reflector, the center of the main shell frame is provided with a hollow space, the center of the hollow space is provided with a collecting lens, and the collecting lens faces the scanning assembly. A second reflecting mirror is arranged on one side, close to the scanning assembly, of the collecting lens, a detector is arranged on the other side of the light receiving and emitting adjusting device, the scanning assembly comprises a rotatable third reflecting mirror, and a rotating shaft of the third reflecting mirror is parallel to the optical axis of the collecting lens; laser emitted by the laser device is collimated by the collimator, then is reflected by the first reflector and the second reflector in sequence, reaches the third reflector and is reflected to the outside, and the outside reflected light is reflected to the condenser through the scanning assembly and is converged to the detector. And the optical axis of the laser reflected to the third reflector by the second reflector is parallel to the rotating shaft of the third reflector, so that the problem that the far end of the cantilever rotary scanning mirror swings is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of laser radar, especially to a laser radar scanning system. BACKGROUND

[0002] Laser radar is a complex system integrating multiple technologies, such as global positioning system, inertial navigation system, laser scanning system, central control unit, data processing software, multi-sensor fusion technology, etc.

[0003] In the online laser scanner, the laser radar images on the high-speed moving object. In order to reduce the blurring effect of imaging, the speed of the scanning mirror is usually high. In order to improve the efficiency of the laser radar to obtain point cloud, the scanning mirror and the window mirror are as large as possible. However, in the case of high rotation speed and large scanning mirror, the volume, weight and stability of the device are great challenges. Therefore, the lightweight and stability of the laser radar scanning device are particularly important.

[0004] In the existing laser radar, one side of the scanning mirror is used for reflecting the light path, so only the rotating shaft is arranged 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 with a large amplitude, which will affect the light emitting and light receiving accuracy of the laser radar. SUMMARY

[0005] The utility model provides a kind of laser radar scanning system, solve the problem of cantilever rotation type scanning mirror far end swing.

[0006] To solve the above technical problems, the utility model adopts the following technical scheme: a kind of laser radar scanning system, including scanning component and transceiver light adjustment device, transceiver light adjustment device includes main shell frame, and the collimator is arranged on main shell frame, and the first reflector is arranged at the front end of collimator, and the hollow space is arranged in the center of main shell frame, and the condenser is arranged in the center of hollow space, and the condenser is towards scanning component, and the second reflector is arranged on the side of condenser close to scanning component, and the detector is arranged on the other side of transceiver light adjustment device, and scanning component includes rotatable third reflector, and the rotation shaft of third reflector is parallel to the optical axis of condenser, and further including laser, and laser emits laser, and laser is reflected to third reflector after collimating by collimator, and the laser optical axis reflected to third reflector by second reflector is parallel to the rotation shaft of third reflector.

[0007] In the preferred scheme, the adjustment seat is movably sleeved in the main shell frame, and the adjustment seat is threadedly connected with the inner wall of the main shell frame. The condenser is arranged on one side of the adjustment seat, and the light receiving plate is arranged on the other side of the adjustment seat. The detector is arranged in the center of the light receiving plate. One end of the adjustment seat abuts against the light receiving plate. The adjustment seat is moved to change the relative distance between the light receiving plate and the condenser.

[0008] In the preferred scheme, the main shell frame is provided with a stop shoulder, and a second wave spring is further provided, one end of the second wave spring abutting against the stop shoulder, and the other end of the second wave spring abutting against the end of the adjusting seat, the side wall of the main shell frame is provided with a plurality of limiting screws in screw connection in the circumferential direction, and the light collecting plate is provided with a plurality of adjusting holes in the circumferential direction, one end of each limiting screw penetrating through each adjusting hole and pressing the light collecting plate tightly on the adjusting seat.

[0009] In the preferred scheme, the inner diameter of the adjusting hole is larger than the outer diameter of the limiting screw, and a first translation adjusting group and a second translation adjusting group are further vertically arranged, the first translation adjusting group and the second translation adjusting group each include a first ear seat and a second ear seat oppositely arranged at the outer edge of the main shell frame, the first ear seat is provided with an adjusting screw in screw connection, one end of the adjusting screw abutting against the side wall of one end of the light collecting plate, and the second ear seat is provided with a third wave spring abutting against the side wall of the other end of the light collecting plate.

[0010] In the preferred scheme, the scanning assembly includes a hollow main shaft that can rotate, the hollow main shaft is provided with a third mirror inside, the hollow main shaft is provided with a hollow part in the direction of the third mirror on the side wall, the hollow main shaft is provided with a first connecting shaft and a second connecting shaft at both ends respectively, the laser radar base body is provided with a scanning assembly mounting seat and an end seat, the hollow main shaft is rotatably connected with the scanning assembly mounting seat and the end seat at both ends respectively, and the scanning assembly mounting seat and the end seat are provided with a window mirror therebetween.

[0011] In the preferred scheme, the inner wall of the end seat is provided with a stator, and the first connecting shaft is sleeved with a rotor, and the rotor and the stator are coaxially sleeved.

[0012] In the preferred scheme, the scanning assembly mounting seat is provided with a first bearing seat, the end seat is provided with a second bearing seat, the second connecting shaft is sleeved with the first bearing seat, and the first connecting shaft is sleeved with the second bearing seat.

[0013] In the preferred scheme, the second bearing seat is open on the side away from the first connecting shaft and is provided with an internal thread part, a press ring in screw connection is further provided in the internal thread part, a first wave spring is provided between the press ring and the second bearing seat, and the press ring is rotated to press the second bearing seat.

[0014] In the preferred scheme, the end of the hollow main shaft close to the end seat is provided with an annular code disc, and the end seat is provided with a reading head, and the reading head is aligned with the code disc.

[0015] In the preferred scheme, the hollow main shaft is provided with a ring piece at both ends, and the ring piece is provided with a plurality of threaded holes in the circumferential direction.

[0016] The utility model discloses an advantageous effect is: the mirror is integrated in the hollow main shaft inside, and the side wall hole is used for the light path in and out, and the hollow main shaft both ends all are provided with the pivot, makes rotation more stable, the incident optical axis of scanning subassembly mirror is parallel with the pivot, can realize all -round no -dead angle annular scanning, compared with the scanning structure of many -sided prism reflection, can obtain more continuous scanning data, need not carrying out data splicing in later period, and the difficulty of modeling is low, and scanning efficiency is high, and the overall structure is simple, and the volume is small, and the weight is light, portable and low in cost. BRIEF DESCRIPTION OF DRAWINGS

[0017] The utility model will be further explained below combining with the drawings and examples.

[0018] Figure 1 It is the sectional view of scanning system inside.

[0019] Figure 2 It is the structure sectional view of transceiving light adjustment device.

[0020] Figure 3 It is transceiving light adjustment device bottom view.

[0021] Figure 4 It is scanning subassembly sectional view.

[0022] Figure 5 It is scanning subassembly end view.

[0023] Figure 6 It is scanning subassembly drive assembly place sectional view.

[0024] In the drawing: laser radar base body 1;Scanning subassembly 2;Third mirror 201;First connecting shaft 202;Rotor 203;Stator 204;Window mirror 205;Scanning subassembly 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;Read head 214;Code disc 215;First bellows spring 216;Pressing ring 217;Internal thread part 218;Transceiving light adjustment device 3;Main shell frame 301;Adjustment seat 302;Condenser lens 303;Light receiving plate 304;Detector 305;Second bellows spring 306;First ear seat 307;Adjusting screw 308;Second ear seat 309;Third bellows spring 310;First translation adjustment group 311;Second translation adjustment group 312;Limiting screw 313;Rear cover plate 314;Stop shoulder 315;Adjusting hole 316;Hollow slot 317;Collimator 4;First mirror 5;Light hole 6;Second mirror 7;Laser 8. DETAILED DESCRIPTION

[0025] Example 1:

[0026] As Figures 1-6The application discloses a laser radar scanning system, which comprises a scanning component 2 and a transmitting and receiving light adjusting device 3, wherein the transmitting and receiving light adjusting device 3 comprises a main shell 301, a collimator 4 is arranged on the main shell 301, a first reflecting mirror 5 is arranged at the front end of the collimator 4, a hollow space is arranged at the center of the main shell 301, a condenser 303 is arranged at the center of the hollow space, the condenser 303 faces the scanning component 2, a second reflecting mirror 7 is arranged on the side of the condenser 303 close to the scanning component 2, a detector 305 is arranged on the other side of the transmitting and receiving light adjusting device 3, the scanning component 2 comprises a rotatable third reflecting mirror 201, the rotation axis of the third reflecting mirror 201 is parallel to the optical axis of the condenser 303, and the scanning component 2 further comprises a laser 8; the laser 8 emits laser light, the laser light is collimated by the collimator 4, and then is reflected by the first reflecting mirror 5 and the second reflecting mirror 7 in sequence, reaches the third reflecting mirror 201 and is reflected to the outside world, the reflected light from the outside world is reflected by the scanning component 2, is converged on the condenser 303 and reaches the detector 305, and the laser light axis reflected by the second reflecting mirror 7 to the third reflecting mirror 201 is parallel to the rotation axis of the third reflecting mirror 201.

[0027] The laser 8 is installed on the laser radar base 1 and is introduced into the collimator 4 through an optical fiber.

[0028] A light passing hole 6 is arranged on the side wall of the main shell 301, and the laser light is emitted from the light passing hole 6 after being reflected by the first reflecting mirror 5.

[0029] The second reflecting mirror 7 is connected to the main shell 301 through a support.

[0030] In the preferred scheme, an adjusting seat 302 which can move along the inner wall of the main shell 301 is sleeved in the main shell 301, the adjusting seat 302 is threadedly connected with the inner wall of the main shell 301, the condenser 303 is arranged on one side of the adjusting seat 302, a light collecting plate 304 is arranged on the other side of the adjusting seat 302, the detector 305 is arranged at the center of the light collecting plate 304, and one end of the adjusting seat 302 abuts against the light collecting plate 304; the adjusting seat 302 is moved to change the relative distance between the light collecting plate 304 and the condenser 303.

[0031] The light collecting plate 304 is in the shape of a disc, the axis line of the light collecting plate 304 is coincident with the condenser 303, the adjusting seat 302 is hollow at the center, and the detector 305 is arranged at the center of the light collecting plate 304, so that the light signal converged by the condenser 303 can be received.

[0032] In the preferred scheme, a stop shoulder 315 is arranged in the main shell 301, a second wave spring 306 is further arranged in the main shell 301, one end of the second wave spring 306 abuts against the stop shoulder 315, the other end of the second wave spring 306 abuts against the end of the adjusting seat 302, a plurality of limiting screws 313 are arranged on the side wall of the main shell 301 in the circumferential direction and are threadedly connected, a plurality of adjusting holes 316 are arranged on the light collecting plate 304 in the circumferential direction, and one end of each limiting screw 313 passes through each adjusting hole 316 and presses the light collecting plate 304 on the adjusting seat 302.

[0033] The rotating adjusting seat 302 is adjusted to adjust the distance between the light collecting plate 304 and the condenser 303, so that the focus of the converging light falls on the detector 305.

[0034] When the far focal plane needs to be adjusted, the rear cover plate 314 is removed, the limiting screws 313 are loosened, the equal distance is released, the adjusting seat 302 is rotated through the hollow slot hole 317 on the light collecting plate 304, the light collecting plate 304 is rotated relative to the light collecting plate 304 and is pressed, the distance between the light collecting plate 304 and the condenser 303 is adjusted, the second wave spring 306 always keeps the pressure, the threaded gap is eliminated, then the limiting screws 313 are locked again to fix the position of the light collecting plate 304. When the near focal plane needs to be adjusted, the adjusting seat 302 is rotated first, then the limiting screws 313 are tightened.

[0035] In the preferred scheme, the inner diameter of the adjusting hole 316 is greater than the outer diameter of the limiting screw 313, and the first translation adjusting group 311 and the second translation adjusting group 312 are arranged vertically, the first translation adjusting group 311 and the second translation adjusting group 312 both include the first ear seat 307 and the second ear seat 309 which are connected to the outer edge of the main shell frame 301 and are arranged oppositely, the first ear seat 307 is provided with the adjusting screw 308 which is connected in screw, one end of the adjusting screw 308 abuts against the side wall of one end of the light collecting plate 304, and the second ear seat 309 is provided with the third wave spring 310 which abuts against the side wall of the other end of the light collecting plate 304.

[0036] The adjusting screw 308 and the second ear seat 309 are respectively located at both ends of the diameter line of the light collecting plate 304, because the adjusting hole 316 has a large excess, when the limiting screw 313 is loosened, the adjusting screw 308 can be rotated to press the light collecting plate 304 to translate to the other end, and the resistance of the third wave spring 310 keeps the light collecting plate 304 and the adjusting screw 308 in contact state. The first translation adjusting group 311 and the second translation adjusting group 312 can synchronously adjust the positions in two orthogonal directions on the plane in two vertical directions, so as to adjust the position of the detector 305 at the focal point of the central axis of the condenser 303.

[0037] After the adjustment is completed, the adjusting screw 308 and the third wave spring 310 can be removed.

[0038] The hollow slot hole 317 is arranged on the light collecting plate 304, and the rear cover plate 314 is arranged on the side of the light collecting plate 304 away from the condenser 303.

[0039] The rear cover plate 314 is arranged on the outside of the light collecting plate 304, and can shield the hollow slot hole 317.

[0040] In the preferred scheme, the scanning assembly 2 comprises a rotatable hollow main shaft 207, the third mirror 201 is arranged in the hollow main shaft 207, the hollow main shaft 207 is provided with a hollow part 208 on the side wall in the direction of the third mirror 201, the hollow main shaft 207 is respectively provided with a first connecting shaft 202 and a second connecting shaft 210 at both ends, the laser radar base 1 is provided with a scanning assembly mounting seat 206 and an end seat 213, the hollow main shaft 207 is rotatably connected with the scanning assembly mounting seat 206 and the end seat 213 at both ends, and the window mirror 205 is arranged between the scanning assembly mounting seat 206 and the end seat 213.

[0041] The scanning assembly 2 is integrally mounted on the laser radar base 1, and the hollow main shaft 207 is provided with a hollow hole in the side wall for weight reduction.

[0042] The first connecting shaft 202 is a stepped shaft, one end of which is provided with a flange structure for connecting the end face of the third mirror 201 through screws.

[0043] The window mirror 205 has a certain structural strength and connects the laser radar base 1 and the end seat 213 integrally. Therefore, the rotating shafts at both ends of the hollow main shaft 207 can be made, and the structure is more stable than the cantilever type structure.

[0044] The window mirror 205 is a regular polygon ring or a circular ring, and the window mirror 205 is made of transparent material.

[0045] In the preferred scheme, the end seat 213 is provided with a stator 204 on the inner wall, the first connecting shaft 202 is provided with a rotor 203, and the rotor 203 and the stator 204 are coaxially sleeved.

[0046] A small gap is arranged between the rotor 203 and the stator 204. After being electrified, the end seat 213 is stationary, the hollow main shaft 207 and the third mirror 201 rotate under the action of electromagnetic force, laser is emitted from the central cavity of the laser radar base 1 to the third mirror 201, the reflected light is emitted to the outside through the window mirror 205, and a ring-shaped scanning line is formed.

[0047] In the preferred scheme, the scanning assembly mounting seat 206 is provided with a first bearing seat 211, the end seat 213 is provided with a second bearing seat 212, 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.

[0048] The end seat 213 is provided with an open end cover, and the second bearing seat 212 is connected to the inner wall of the end seat 213 through some linking sleeve structures.

[0049] In the preferred embodiment, the second bearing seat 212 is open on the side away from the first connecting shaft 202 and is provided with an internally threaded portion 218, and a threaded compression ring 217 is arranged in the internally threaded portion 218, and a first corrugated spring 216 is arranged between the compression ring 217 and the second bearing seat 212, and the compression ring 217 is rotated to compress the second bearing seat 212.

[0050] The bearing back side of the second bearing seat 212 is hollow, the first corrugated spring 216 can be inserted, and the compression ring 217 is screwed in from the hollow part to gradually compress the first corrugated spring 216, and the first corrugated spring 216 provides continuous extrusion force to the second bearing seat 212 to maintain a reasonable bearing clearance.

[0051] In the preferred embodiment, the hollow spindle 207 is provided with an annular code disc 215 at one end close to the end seat 213, and the end seat 213 is provided with a reading head 214, and the reading head 214 is aligned with the code disc 215.

[0052] The reading head 214 and the code disc 215 form an encoder, and after being powered on, the reading head 214 reads the code disc 215 to obtain the real-time rotation angle of the third reflecting mirror 201.

[0053] In the preferred embodiment, the hollow spindle 207 is provided with a ring piece 209 at both ends, and the ring piece 209 is provided with a plurality of threaded holes in the circumferential direction.

[0054] During debugging, according to the dynamic balance condition, a weight is installed in the corresponding threaded hole to improve the dynamic balance.

[0055] Embodiment 2:

[0056] A laser radar device is composed of a main machine module, a data processing and central control module, an analog-digital conversion module, a laser light source, a scanning mirror module, a light receiving module, a driving module, a power supply module and other main components, and the overall assembly drawing. At the same time, the laser radar system also includes self-developed operation software and data processing software.

[0057] The main machine module integrates the body, the window mirror, the mounting seat, the wire, the data processing and central control module, the analog-digital conversion module, the laser light source, the power supply module and the like.

[0058] The window mirror is composed of four lenses and can transmit light in 360 degrees, providing the largest field of view for the scanning mirror. The overall structural strength of the window mirror is reliable, and the combination with the mounting seat provides good support for the driving module, and the overall structure is compact.

[0059] The data processing and central control module integrates the functions of processing point cloud data and running control of the entire laser radar system. The core heating unit of the module is in effective contact with the body through the heat sink to efficiently conduct heat and ensure the normal operation of the module.

[0060] The analog-digital conversion board can realize the function of converting analog signals into digital signals.

[0061] The laser is a customized high-precision laser, which is matched with the laser radar in laser process parameters, interface, precision, etc. The shell of the laser is matched with the whole laser radar system in shape design. The shell of the laser is provided with cooling fins, so that the heat in the laser can be directly conducted to the cooling fins of the shell without being transferred through other structures, thereby improving the heat dissipation effect of the laser 3 and ensuring the integrity of the laser radar device.

[0062] The power module converts the input electric energy into stable and reliable electric energy suitable for the system, thereby ensuring the stable operation and safety of the system.

[0063] The scanning mirror module mainly comprises a bearing, a bearing seat, a spindle, a mirror, a code disc, a code disc seat, a motor rotor and a bearing.

[0064] The bearing outer ring is mounted on the machine body, and the bearing outer ring is mounted on the driving module. The motor rotor is driven by the driving module, so that the mirror can rotate and scan 360 degrees.

[0065] The light receiving module mainly comprises a light receiving plate, a mirror seat, a collimator, a plane mirror, a 45-degree mirror and a condenser.

[0066] The driving module mainly comprises a motor seat, a motor stator, a motor driving board, a cover plate and a read head. The read head and the code disc form an encoder, so that the scanning mirror module has high rotation accuracy.

[0067] The laser radar device can be airborne or vehicle-mounted. A high-precision laser light source emits a pulsed laser beam. The laser beam is emitted through a collimator, passes through a plane mirror and a 45-degree mirror, and is emitted through a window mirror after being reflected by the mirror.

[0068] The emitted laser pulse passes through the atmosphere to the surface of the target object and is reflected therefrom. Since the laser has high directivity, it can accurately point to a specific target.

[0069] When the laser pulse is reflected by the target, part of the energy passes through the window mirror, the mirror and the condenser, and is finally received by the detector (which is integrated on the light receiving plate), and the time taken for this process is recorded. According to the time required for the laser to return and the speed of light, the distance between the emission point and the target can be calculated.

[0070] By means of the global positioning system and the inertial navigation system (both of which are integrated on the data processing and central control module), accurate position, speed and attitude information can be provided, so that the measured distance can be converted into three-dimensional coordinates.

[0071] All the collected data, including the position of laser points, intensity, and other possible information such as the number of echoes, are integrated to form point cloud data. Point cloud is a collection of points in three-dimensional space, each point representing the position information of a point in the actual world.

[0072] After filtering and classification of point cloud by data processing software, digital terrain model (DTM), digital surface model (DSM), and canopy height model (CHM) can be obtained. These models can be used for various applications such as urban planning, forest resource survey, and disaster risk assessment.

[0073] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as limiting the present application. The protection scope of the present application should be based on the technical solutions claimed in the claims, including equivalent replacement schemes of the technical features in the claimed technical solutions. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. A laser radar scanning system characterized by: The application relates to a laser radar, which comprises a scanning assembly (2) and a light receiving and emitting adjusting device (3) and a laser (8), wherein the light receiving and emitting adjusting device (3) comprises a main shell frame (301), the main shell frame (301) is provided with a collimator (4), the scanning assembly (2) comprises a rotatable hollow main shaft (207), the hollow main shaft (207) is internally provided with a third reflector (201), a hollow part (208) is arranged on the side wall of the hollow main shaft (207) in the direction where the third reflector (201) faces, the two ends of the hollow main shaft (207) are respectively provided with a first connecting shaft (202) and a second connecting shaft (210), the laser radar base (1) is provided with a scanning assembly mounting seat (206) and an end seat (213), the two ends of the hollow main shaft (207) are rotatably connected with the scanning assembly mounting seat (206) and the end seat (213), and a window mirror (205) is arranged between the scanning assembly mounting seat (206) and the end seat (213).

2. The lidar scanning system of claim 1, wherein: The front end of the collimator (4) is provided with a first reflector (5), the central part of the main shell frame (301) is provided with a hollow space, the central part of the hollow space is provided with a condenser lens (303), the condenser lens (303) faces the scanning assembly (2), the side of the condenser lens (303) close to the scanning assembly (2) is provided with a second reflector (7), the other side of the light receiving and emitting adjusting device (3) is provided with a detector (305), the scanning assembly (2) comprises a rotatable third reflector (201), the rotation shaft of the third reflector (201) is parallel to the optical axis of the condenser lens (303), the laser (8) emits laser light, the laser light is collimated through the collimator (4), and then is reflected through the first reflector (5) and the second reflector (7) in sequence, reaches the third reflector (201) and is reflected to the outside, the reflected light from the outside is reflected to the condenser lens (303) through the scanning assembly (2), is converged on the detector (305) and is reflected to the detector (305), and the laser light axis reflected to the third reflector (201) by the second reflector (7) is parallel to the rotation shaft of the third reflector (201).

3. The laser radar scanning system of claim 1 wherein the main The hollow space is provided with the condenser lens (303), the condenser lens (303) faces the scanning assembly (2), the side of the condenser lens (303) close to the scanning assembly (2) is provided with the second reflector (7), the other side of the light receiving and emitting adjusting device (3) is provided with the detector (305), the scanning assembly (2) comprises a rotatable third reflector (201), the rotation shaft of the third reflector (201) is parallel to the optical axis of the condenser lens (303), the laser (8) emits laser light, the laser light is collimated through the collimator (4), and then is reflected through the first reflector (5) and the second reflector (7) in sequence, reaches the third reflector (201) and is reflected to the outside, the reflected light from the outside is reflected to the condenser lens (303) through the scanning assembly (2), is converged on the detector (305) and is reflected to the detector (305), and the laser light axis reflected to the third reflector (201) by the second reflector (7) is parallel to the rotation shaft of the third reflector (201).

4. The laser radar scanning system of claim 3 wherein the main The main shell frame (301) is internally provided with a stop shoulder (315) and a second wave spring (306), one end of the second wave spring (306) abuts against the stop shoulder (315), the other end of the second wave spring (306) abuts against the end part of the adjusting seat (302), the side wall of the main shell frame (301) is circumferentially provided with a plurality of limiting screws (313) which are screw-connected, the light receiving plate (304) is circumferentially provided with a plurality of adjusting holes (316), and one end of each limiting screw (313) penetrates through each adjusting hole (316) and presses the light receiving plate (304) on the adjusting seat (302).

5. The lidar scanning system of claim 4, wherein: The inner diameter of the adjusting hole (316) is larger than the outer diameter of the limiting screw (313), and the first and second translation adjustment groups (311 and 312) are arranged vertically, each of which comprises a first and second ear seat (307 and 309) arranged oppositely at the outer edge of the main shell frame (301), the first ear seat (307) is provided with a threaded adjusting screw (308) abutting against one end of the sidewall of the light collecting plate (304), and the second ear seat (309) is provided with a third wave spring (310) abutting against the sidewall of the other end of the light collecting plate (304).

6. The lidar scanning system of claim 2, wherein: The inner wall of the end seat (213) is provided with a stator (204), and the first connecting shaft (202) is sleeved with a rotor (203), and the rotor (203) and the stator (204) are coaxially sleeved.

7. The lidar scanning system of claim 1, wherein: The first bearing seat (211) is arranged at the scanning assembly mounting seat (206), and the second bearing seat (212) is arranged 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).

8. The lidar scanning system of claim 7, wherein: The second bearing seat (212) is away from the first connecting shaft (202) and is provided with an inner threaded part (218), and the inner threaded part (218) is further provided with a threaded compression ring (217), and the first wave spring (216) is arranged between the compression ring (217) and the second bearing seat (212), and the rotation of the compression ring (217) is used to compress the second bearing seat (212).

9. The lidar scanning system of claim 6, wherein: The hollow spindle (207) is provided with an annular code disc (215) at one end close to the end seat (213), and the end seat (213) is provided with a reading head (214) arranged in alignment with the code disc (215).

10. The lidar scanning system of claim 1, wherein: The hollow spindle (207) is provided with a ring piece (209) at both ends, and the ring piece (209) is provided with a plurality of threaded holes in the circumferential direction.

Images