Research On Linear Array Lidar Based On 45° Scanning Rotating Mirror

Vehicle borne ladar,a key sensor of pilotless automobile vehicle,is one of the most prospective applications of the ladar.To optimize the construction of the vehicle linear array laser radar,we apply the 45 degree rotating mirror scanning mode and then propose a novel vehicle linear array ladar system for scanning imaging combined with Pechan prism image derotating.Moreover,researches about characteristics of the scanning and the design and experiment of the principle prototype are done.A thorough investigation shows the newest progresses of ladar products and the basic scheme of ladar imaging.Then the image rotation properties of the 45 degree rotating mirror scanning is discussed theoretically and shown in the form of visual,the relevance of the beam and the mirror rotation angle and the beam scanning trajectory equation are deduced.Combined with the imaging rules of the Pechan prism,the theoretical modeling and numerical simulation of the-45 degree mirror system of the Pecban prism are carried out to obtain a circumferential sweep characteristic curve of the system and a reliable eperimental verification.On this basis,the system integration design of 45 degree scan rotating mirror linear array ladar is carried out,and the experimental device is made.The scanning wire harness is 6,the frame frequency is lHz,the distance is no less than 100 meters and the detection axis is adjustable within the range of 4 degrees.In the experiment,3D scanning and imaging of typical scenes of building corridor and underground garage are conducted.The three-dimensional contour map which is consistent with the actual scene is obtained by the reconstruction of point cloud data verifying the three-dimensional imaging ability of the experimental device.The research provides a novel idea for the design of a new vehicle ladar.