CN209400692U - A kind of laser radar optical system - Google Patents
A kind of laser radar optical system Download PDFInfo
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- CN209400692U CN209400692U CN201822023341.7U CN201822023341U CN209400692U CN 209400692 U CN209400692 U CN 209400692U CN 201822023341 U CN201822023341 U CN 201822023341U CN 209400692 U CN209400692 U CN 209400692U
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Abstract
The utility model discloses a kind of laser radar optical system, which includes transmitting unit, the first reflector element, the second reflector element and receiving unit；Transmitting unit, the first reflector element, the second reflector element and receiving unit are arranged successively along light propagation path；Transmitting unit is for issuing laser beam；The relative position of transmitting unit and receiving unit is fixed；First reflector element includes the first reflecting surface, and the relative positional relationship of the first reflecting surface and transmitting unit is variable, so that laser beam completes scanning in a first direction；Second reflector element includes the second reflecting surface, and the relative positional relationship of the second reflecting surface and transmitting unit is variable, so that laser beam completes the scanning in second direction；Wherein, first direction and second direction are intersected.Laser radar optical system provided by the utility model, which may be implemented to expand, scans region, simplifies the purpose of processing circuit.
Description
Technical field
The utility model embodiment is related to optical technical field more particularly to a kind of laser radar optical system.
Background technique
Laser radar have high resolution, strong antijamming capability, can three-dimensional imaging the features such as, be suitable for it is a variety of use ring
Border.
Currently, most common laser radar includes single line laser radar optical system and multi-line laser radar optical system,
Wherein, single line laser radar optical system is sent out after laser that noise spectra of semiconductor lasers or optical fiber laser issue is collimated
Out, being rotated by motor drives transmitting, receiving optics to scan ring mirror around, and defect is that single beam scans, and is swept
It is too small to take aim at region；Multi-line laser radar optical system is will be according to certain sky using the focal length transmitting collimating optical system of big target surface
Between location layout same laser generator outgoing laser alignment launch, by motor rotation to ambient enviroment carry out
Scan, the big target surface receiving optics of focal length by shone thing return come light focusing on corresponding photoelectric sensor,
The beam emissions of multiple arrays can be gone out and be received back by such optical system to be come, and is scanned to ring mirror certain area around,
Its defect is that required laser generator is too many, and reception inductor is also corresponding more, and processing circuit is more complicated.
Utility model content
The utility model provides a kind of laser radar optical system, scans region to realize to expand, simplifies processing circuit
Purpose.
The utility model embodiment provides a kind of laser radar optical system, including transmitting unit, the first reflector element,
Second reflector element and receiving unit；
The transmitting unit, first reflector element, second reflector element and the receiving unit are passed along light
Path is broadcast to be arranged successively；
The transmitting unit, for issuing laser beam；
The relative position of the transmitting unit and the receiving unit is fixed；
First reflector element includes the first reflecting surface, the relative position of first reflecting surface and the transmitting unit
Relationship is variable, so that the laser beam completes scanning in a first direction；
Second reflector element includes the second reflecting surface, the relative position of second reflecting surface and the transmitting unit
Relationship is variable, so that the laser beam completes the scanning in second direction；
Wherein, the first direction and the second direction are intersected.
Further, the first direction is vertical with the second direction.
Further, first reflector element and/or second reflector element are rotating prism；
The shape of the rotating prism is right prism；
At least one side is provided with reflecting mirror in the right prism；
It enables the geometric center for passing through the bottom surface of the right prism and the straight line parallel with the incline of the right prism is axis；
The rotating prism can be rotated around the axis.
Further, first reflector element and/or second reflector element are the micro- galvanometer of MEMS；
The micro- galvanometer of MEMS includes reflecting mirror and microcomputer electric control system；
The microcomputer electric control system is fixedly connected with the reflecting mirror, and the reflecting mirror can be in microcomputer electric control system
Control is lower to occur relative motion.
Further, the transmitting unit includes laser, and the laser includes semiconductor laser, Single wavelength optical fiber
Laser or multi-wavelength optical fiber laser.
Further, the laser radar optical system, further includes: at least one third reflecting unit；
The reflector element is set to the path of the propagation of the light between the transmitting unit and first reflector element
On.
Further, the laser radar optical system, further includes: collimation unit；
The collimation unit is set to the path of the propagation of the light between the transmitting unit and first reflector element
On.
The utility model issues laser beam by transmitting unit, and the first reflecting surface and transmitting in the first reflector element are single
The relative positional relationship of member is variable so that the laser beam completes scanning in a first direction, in the second reflector element the
The relative positional relationship of two reflectings surface and transmitting unit is variable, so that the laser beam completes the scanning in second direction, solution
Single line laser radar of having determined optical system scans that region is too small, and the processing circuit of multi-line laser radar optical system is more complicated
The problem of, reach expansion scanning area, simplifies the purpose of processing circuit.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of laser radar optical system provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of another laser radar optical system provided by the embodiment of the utility model.
Fig. 3 is a kind of flow chart of laser radar scanning method provided by the embodiment of the utility model.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant to the utility model is illustrated only for ease of description, in attached drawing rather than entire infrastructure.
Fig. 1 is a kind of structural schematic diagram of laser radar optical system provided by the embodiment of the utility model, laser radar
Optical system includes transmitting unit 1, the first reflector element 2, the second reflector element 3 and receiving unit 4；Transmitting unit 1, first
Reflector element 2, the second reflector element 3 and receiving unit 4 are arranged successively along light propagation path；Transmitting unit 1, it is sharp for issuing
Light light beam；The relative position of transmitting unit 1 and receiving unit 4 is fixed；First reflector element 2 includes the first reflecting surface, and first is anti-
The relative positional relationship for penetrating face and transmitting unit 1 is variable, so that laser beam completes scanning in a first direction；Second reflection is single
Member 3 includes the second reflecting surface, and the relative positional relationship of the second reflecting surface and transmitting unit 1 is variable, so that laser beam is completed to exist
The scanning of second direction；Wherein, first direction and second direction are intersected.
After laser beam is emitted by transmitting unit 1, successively pass through the first reflector element 2 and the second reflector element 3, finally
After being reflected into receiving unit 4, promote to generate electric current in receiving unit 4, and then complete scanning.
The technical solution of the present embodiment, issues laser beam by transmitting unit, the first reflection in the first reflector element
The relative positional relationship of face and transmitting unit is variable, so that the laser beam completes scanning in a first direction, the second reflection
The relative positional relationship of the second reflecting surface and transmitting unit in unit is variable, so that the laser beam is completed in second direction
Scanning, solve single line laser radar optical system scans that region is small, and multi-line laser radar optical system is because of transmitting unit
With receiving unit Numerous, the more complicated problem of processing circuit has achieved the effect that scanning area is big, and has reduced transmitting
The usage quantity of unit and receiving unit simplifies processing circuit.
Optionally, which further includes motor 5 and electrode 6, and motor 5 is connected with the first reflector element 2,
To drive the movement of the first reflector element 2, make the first reflecting surface of the first reflector element 2 and the relative positional relationship of transmitting unit 1
Variation；Motor 6 is connected with the second reflector element 3, to drive the movement of the second reflector element 3, keeps the second of the second reflector element 3 anti-
The relative positional relationship for penetrating face and transmitting unit 1 changes.The technical program is anti-by the first reflector element of motor control 2 and second
The rotation speed for penetrating unit 3 keeps laser beam scanning speed uniform, and periodically stablizes, convenient to sample to scanning region.
In addition, above-mentioned technical proposal, only needs motor control the first reflector element 2 and the second reflector element 3 to move, transmitting is single
Member, receiving unit and relevant processing circuit are without movement, so need to only be powered to motor, more other radars are in electricity
Road conducts electricity simple in processing system, and stability will be got well.
Optionally, transmitting unit 1 can issue a branch of or multiple laser light beam.If transmitting unit 1 issues multiple laser light
The wavelength of beam, multiple laser may be the same or different.Optionally, the angled distribution of multiple laser receives single in this way
The light beam that different angle emits can be received back by member by its angular distribution, and the focus point after each beam reception is returned can be arranged orderly
Column, are independent of each other.
Based on the above technical solution, optionally, first direction is vertical with second direction.Illustratively, referring to figure
1, the first reflector element 2 of setting is rotated in vertical direction (i.e. Y-direction in Fig. 1), and the second reflector element 3 is in the horizontal direction (i.e.
X-direction in Fig. 1) rotation, it realizes and is periodically scanned in vertical and horizontal direction certain angle.Optionally, can also be arranged
First reflector element 2 rotates in the horizontal direction, and the second reflector element 3 is rotated in vertical direction, realizes in vertical and horizontal direction
Certain angle periodically scans.
In the above-mentioned technical solutions, there are many plans of establishment of the first reflector element and the second reflector element, optionally, the
One reflector element and/or the second reflector element are rotating prism；The shape of rotating prism is right prism；At least one in right prism
Side is provided with reflecting mirror；It enables the geometric center for passing through the bottom surface of right prism and the straight line parallel with the incline of right prism is axis
Line；The rotating prism can be rotated around the axis.Alternatively, the first reflector element and/or the second reflector element are the micro- vibration of MEMS
Mirror；The micro- galvanometer of MEMS includes reflecting mirror and microcomputer electric control system；Microcomputer electric control system is fixedly connected with reflecting mirror, reflecting mirror
Relative motion can occur under the control of microcomputer electric control system.
Typical case is described in detail below, but does not constitute the limitation to the application.
With continued reference to Fig. 1, the first reflector element and the second reflector element in Fig. 1 are rotating prism, and the first reflection is single
First 2 corresponding rotating prisms are the first rotating prism, and the first rotating prism is 12 prisms, at least one side in 12 prisms
It is provided with reflecting mirror, for this reflecting mirror as the first reflecting surface, the corresponding rotating prism of the second reflector element 3 is the second rotation rib
Mirror, the first rotating prism are pentagonal prism, at least one side is provided with reflecting mirror in pentagonal prism, this reflecting mirror is as the second reflection
Face, and the mutually placement in 90 ° of the first rotating prism and the second rotating prism.Enable the geometric center of the bottom surface by the first rotating prism
And the straight line parallel with the incline of the first rotating prism be first axle, by the bottom surface of the second rotating prism geometric center and
The straight line parallel with the incline of the second rotating prism is second axis, wherein the first rotating prism can be rotated around first axle, the
Two rotating prisms can be rotated around second axis.The central axes (i.e. optical axis) of the reception camera lens of receiving unit 4 are located at the first rotation rib
In the middle vertical plane of 12 sides of mirror, and perpendicular to first axle.
Transmitting unit 1 issues laser beam, is irradiated on the first reflecting surface of the first rotating prism, anti-through the first reflecting surface
It is incident on after penetrating on the second reflecting surface, is received being received unit after the second reflective surface.In this process, motor 5
It drives the first rotating prism to rotate around first axle, and then forms certain scanning angle in a first direction, realize first direction
Scanning, motor 6 drives the second rotating prism to rotate around second axis, and then forms certain scanning angle in second direction,
Realize the scanning of second direction.
Fig. 2 is the structural schematic diagram of another laser radar optical system provided by the embodiment of the utility model, referring to figure
2, the first reflector element 2 is the micro- galvanometer of MEMS, and the second reflector element 3 is rotating prism, and transmitting unit 1 issues laser beam, is shone
It is mapped on the first reflecting surface of the first rotating prism, is incident on after the first reflective surface on the second reflecting surface, through second
Unit reception is received after reflective surface.In this process, the micro- galvanometer of MEMS passes through rotary reflection under internal electromagnetic action
Mirror 7, and then certain scanning angle is formed in a first direction, realize the scanning of first direction, motor 6 drives rotating prism to turn
It is dynamic, and then certain scanning angle is formed in second direction, realize the scanning of second direction.
Based on the above technical solution, optionally, transmitting unit 1 includes laser, and laser includes that semiconductor swashs
Light device, single-wavelength light fibre laser or multi-wavelength optical fiber laser.
Wherein, transmitting unit 1 includes multi-wavelength optical fiber laser, and multi-wavelength optical fiber laser can be with time division emission difference wave
Long laser beam, this multiwavelength laser send out the laser beam timesharing subangle of different wave length by a laser transmitting
It shoots out, increases the measurement points of laser radar, that is, increase angular resolution.
Based on the above technical solution, optionally, laser radar optical system further include: at least one third reflection
Unit 8；
Third reflecting unit 8 is set on the path of the propagation of the light between transmitting unit 1 and the first reflector element 2.
Wherein, the laser beam that transmitting unit 1 emits emits to third reflecting unit 8, and anti-by third reflecting unit 8
It is mapped on the first reflecting surface of the first reflector element 2, changes the direction of propagation of laser beam.
Based on the above technical solution, optionally, laser radar optical system further include: collimation unit 9；Collimation
Unit 9 is set on the path of the propagation of the light between transmitting unit 1 and the first reflector element 2.
Wherein, the laser beam that transmitting unit 1 issues is the light beam of diverging, and collimation unit 9 is for issuing transmitting unit 1
Laser beam collimation, while controlling the size of laser beam hot spot, illustratively, collimation unit 9 can be such that transmitting unit 1 sends out
Spot diameter of the laser beam out at 100 meters is less than 200mm.Collimation unit 9 is by the light of the diverging issued by transmitting unit 1
Shu Jinhang collimation, laser beam is brought together, laser beam energy is concentrated, and is irradiated to first instead after forming collimated light beam
It penetrates on the first reflecting surface of unit 2, and then improves the intensity of the signal of the laser beam issued by transmitting unit 1, so as to
Realize remote laser scanning, it is easy to use, and cost is not high.
Fig. 3 is a kind of flow chart of laser radar scanning method provided by the embodiment of the utility model, which sweeps
Retouching method, any one laser radar optical system is realized based on the above embodiment；
Laser radar scanning method includes:
S110, transmitting unit is opened, to form laser beam；
The relative positional relationship of S120, the first reflecting surface for adjusting the first reflector element and transmitting unit complete first party
To scanning；
The relative positional relationship of S130, the second reflecting surface for adjusting the second reflector element and transmitting unit complete second party
To scanning.
The technical solution of the present embodiment, issues laser beam by transmitting unit, the first reflection in the first reflector element
The relative positional relationship of face and transmitting unit is variable, so that the laser beam completes scanning in a first direction, the second reflection
The relative positional relationship of the second reflecting surface and transmitting unit in unit is variable, so that the laser beam is completed in second direction
Scanning, solve single line laser radar optical system scans that region is too small, the processing electricity of multi-line laser radar optical system
The more complicated problem in road, has achieved the effect that scanning area is big, and reduces the usage quantity of transmitting unit and receiving unit,
Simplify the purpose of processing circuit.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (7)
1. a kind of laser radar optical system, which is characterized in that including transmitting unit, the first reflector element, the second reflector element
And receiving unit；
The transmitting unit, first reflector element, second reflector element and the receiving unit propagate road along light
Diameter is arranged successively；
The transmitting unit, for issuing laser beam；
The relative position of the transmitting unit and the receiving unit is fixed；
First reflector element includes the first reflecting surface, the relative positional relationship of first reflecting surface and the transmitting unit
It is variable, so that the laser beam completes scanning in a first direction；
Second reflector element includes the second reflecting surface, the relative positional relationship of second reflecting surface and the transmitting unit
It is variable, so that the laser beam completes the scanning in second direction；
Wherein, the first direction and the second direction are intersected.
2. laser radar optical system according to claim 1, which is characterized in that the first direction and the second party
To vertical.
3. laser radar optical system according to claim 1, which is characterized in that first reflector element and/or institute
Stating the second reflector element is rotating prism；
The shape of the rotating prism is right prism；
At least one side is provided with reflecting mirror in the right prism；
It enables the geometric center for passing through the bottom surface of the right prism and the straight line parallel with the incline of the right prism is axis；It is described
Rotating prism can be rotated around the axis.
4. laser radar optical system according to claim 1, which is characterized in that first reflector element and/or institute
Stating the second reflector element is the micro- galvanometer of MEMS；
The micro- galvanometer of MEMS includes reflecting mirror and microcomputer electric control system；
The microcomputer electric control system is fixedly connected with the reflecting mirror, and the reflecting mirror can be in the control of microcomputer electric control system
Lower generation relative motion.
5. laser radar optical system according to claim 1, which is characterized in that the transmitting singly includes laser, institute
Stating laser includes semiconductor laser, single-wavelength light fibre laser or multi-wavelength optical fiber laser.
6. laser radar optical system according to claim 1, which is characterized in that further include: the reflection of at least one third
Unit；
The third reflecting unit is set to the path of the propagation of the light between the transmitting unit and first reflector element
On.
7. laser radar optical system according to claim 1, which is characterized in that further include: collimation unit；
The collimation unit is set on the path of the propagation of the light between the transmitting unit and first reflector element.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822023341.7U CN209400692U (en) | 2018-12-04 | 2018-12-04 | A kind of laser radar optical system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822023341.7U CN209400692U (en) | 2018-12-04 | 2018-12-04 | A kind of laser radar optical system |
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| CN209400692U true CN209400692U (en) | 2019-09-17 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343029A (en) * | 2018-12-04 | 2019-02-15 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system and scan method |
| CN113030909A (en) * | 2019-12-09 | 2021-06-25 | 觉芯电子(无锡)有限公司 | Laser radar system based on micro-mirror array |
| CN113030909B (en) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | Laser radar system based on micromirror array |
-
2018
- 2018-12-04 CN CN201822023341.7U patent/CN209400692U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343029A (en) * | 2018-12-04 | 2019-02-15 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system and scan method |
| CN113030909A (en) * | 2019-12-09 | 2021-06-25 | 觉芯电子(无锡)有限公司 | Laser radar system based on micro-mirror array |
| CN113030909B (en) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | Laser radar system based on micromirror array |
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