CN210487977U - 360-degree scanning laser radar device - Google Patents
360-degree scanning laser radar device Download PDFInfo
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- CN210487977U CN210487977U CN201822099195.6U CN201822099195U CN210487977U CN 210487977 U CN210487977 U CN 210487977U CN 201822099195 U CN201822099195 U CN 201822099195U CN 210487977 U CN210487977 U CN 210487977U
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Abstract
A360-degree scanning laser radar device comprises a scanning unit, a coaxial transmitting and receiving unit, a main control ranging unit, a filter cover and a shell, wherein the scanning unit consists of a hollow shaft motor, a load and a 45-degree reflector; the transmitting light path and the receiving light path of the transmitting unit and the receiving unit both pass through the center of a hollow shaft of the hollow shaft motor, and the optical axes of the transmitting light path and the receiving light path are superposed with the rotating central axis of the hollow shaft motor; the main control ranging unit controls the hollow shaft motor to drive the load and the 45-degree reflector to rotate for a circle, and the transmitting and receiving unit performs 360-degree scanning ranging on the periphery. The utility model discloses a laser radar, load only need rotate 45 degrees speculum and just realized 360 degrees scanning range finding, have avoided wireless power supply or have led electrical slip ring and data wireless data transmission's design, have reduced laser radar's cost, increase laser radar's reliability.
Description
Technical Field
The utility model relates to a laser technical field specifically, relates to a 360 degree scanning laser radar device.
Background
In recent years, laser detection technology has been widely used in the industrial fields of measurement, protection, and the like due to the advantages of high detection precision, strong environmental anti-interference capability, and the like.
Because the mature laser radar with a large receiving field of view at present adopts a mechanical rotating structure, the light path design mostly adopts a coaxial and parallel shaft design. The general laser radar with coaxial design is SICK represented by manufacturers, one end of the general laser radar with coaxial design is provided with a motor which rotates with a load, the other end of the general laser radar with coaxial design is provided with a coaxial optical structure, and a connecting beam always exists between the general laser radar with coaxial design, so that the laser radar with coaxial design can not scan for 360 degrees. The laser radar of parallel axis design is Velodyne for representative producer, and transmitting element and receiving element are all on rotary platform, and the motor drives whole rotary platform scanning range finding, and the base is responsible for the power supply and external data transmission, and supplies power through wireless power supply or conductive slip ring between base and the rotary platform, and data pass through wireless data transmission's design, and whole laser instrument design is complicated, and the motor load is very heavy, and the relatively poor and expensive of reliability of laser instrument.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a main objective provides a 360 degrees scanning laser radar device, rotate the load and only need drive the rotation of 45 degrees speculum and just realized 360 degrees scanning range finding, realized 360 degrees omnidirectional angle scanning range finding of laser radar of coaxial optical design, avoided wireless power supply or the complicated design of leading electrical slip ring and data wireless data transmission simultaneously, reduced laser radar's cost, increase laser radar's reliability.
In order to achieve the above object, an embodiment of the present invention provides a 360 degree scanning laser radar device, including: the scanning unit comprises a hollow shaft motor, a load and a 45-degree reflector, the hollow shaft motor comprises a hollow rotor and a stator, the 45-degree reflector is installed on the load, and the load is installed on the rotor through screws.
And the transmitting light path and the receiving light path of the transmitting unit and the receiving unit both penetrate through the inside of the hollow shaft motor, and the optical axes of the transmitting unit and the receiving unit are superposed with the rotating central axis of the hollow shaft motor.
The scanning unit further comprises a code disc, a photoelectric detection device and a counterweight module, the receiving unit is composed of a receiving lens, a signal processing circuit and an internal mounting support, the internal mounting support is used for mounting and adjusting the signal processing circuit, the code disc is mounted on the side, far away from a load, of a rotor of the hollow shaft motor, the counterweight module is used for carrying out counterweight on the load through a dynamic balance adjusting method and is also mounted on the same side, where the code disc is mounted, of the rotor, and the photoelectric detection device is matched with the code disc to form an encoder which is mounted on the internal mounting support.
The main control range unit links to each other with transmitting unit, receiving element and scanning unit, and the main control range unit is through the rotational speed signal closed loop control scanning unit of encoder feedback with fixed rotational speed scan range finding, and the simultaneous control transmitting unit carries out the pulse with fixed angle and gives out light, and the light that transmitting unit launches passes hollow shaft center, passes filter cover parallel ejection after reflecting through 45 degrees speculum, and the reflection light becomes received light after measuring the reflection of object, and received light passes behind the filter cover, passes through 45 degrees speculum reflection back passes hollow shaft center entering receiving element, and the receiving element sends into the main control range unit after becoming the electric pulse signal with received light pulse signal, and the main control range unit calculates the distance of testee by the time flight method. The main control distance measuring unit controls the hollow shaft motor to drive the load and the 45-degree reflector to rotate for a circle, and the transmitting unit and the receiving unit perform 360-degree scanning distance measurement on the periphery.
The preferential emission unit consists of an L-shaped collimation cylinder, an emission circuit board, a semiconductor laser diode and a collimation light path, wherein the semiconductor laser diode is positioned in the center of an optical axis and welded on the emission circuit board, the L-shaped collimation cylinder is sleeved on the outer edge, the vertical outer corner of the L-shaped collimation cylinder is cut off at 45 degrees and is just fixed on the 45-degree reflector, the collimation light path just wraps the internal 45-degree reflector part at the vertical corner of the L-shaped collimation cylinder to be emitted in parallel, a black flexible heat-shrinkable tube is sleeved at the bottom of the L-shaped collimation cylinder, and the other end of the black flexible heat-shrinkable tube covers the semiconductor laser diode to avoid light leakage.
Preferably, the whole transmitting unit is located above the receiving unit, the receiving lens is installed at the center of the internal installation support, the hollow shaft motor drives the L-shaped collimating cylinder, the 45-degree reflecting mirror and the load to rotate together, in order to avoid excessive shielding of a receiving light path, the part of the transmitting circuit board, which shields the light path, is of a thin and long strip structure, the position of the transmitting circuit board is adjusted and fixed, and the coaxial receiving and transmitting light paths are achieved.
The receiving lens can also be arranged at the center of a rotor of the hollow shaft motor, the hollow shaft motor drives the L-shaped collimating barrel, the 45-degree reflector and the receiving lens to rotate together with the load, the center of the receiving lens is perforated, the aperture of the receiving lens is larger than the diameter of the L-shaped collimating barrel, the L-shaped collimating barrel is arranged inside the receiving lens, the collimating light path penetrates through the receiving lens, the position of the transmitting circuit board is adjusted and fixed, and the receiving and transmitting light paths are coaxial.
The transmitting unit can also be composed of a cylindrical collimating barrel, a transmitting circuit board, a semiconductor laser diode and a collimating light path, wherein the semiconductor laser diode is positioned in the center of an optical axis and welded on the transmitting circuit board, the collimating barrel is sleeved on the outer side of the transmitting circuit board and is installed on the transmitting circuit board, and the hollow shaft motor drives the 45-degree reflector to rotate together with the load. Preferably, the transmitting unit is located entirely above the receiving unit, and the receiving lens is mounted centrally on the inner mounting bracket.
The receiving lens can also be arranged at the center of a rotor of the hollow shaft motor, the hollow shaft motor drives the 45-degree reflector, the receiving lens and the load to rotate together, the center of the receiving lens is perforated, the aperture of the receiving lens is larger than the diameter of the collimating cylinder, and the collimating light path penetrates through the receiving lens.
The diameter of the hollow shaft motor is larger than or equal to the effective light-passing caliber of the receiving lens, so that the shielding of the hollow shaft motor on a light path is avoided.
By means of the technical scheme, the rotary load only needs to drive the 45-degree reflector to rotate so as to realize 360-degree scanning ranging, 360-degree omnidirectional scanning ranging of the laser radar with coaxial optical design is realized, meanwhile, complex design of wireless power supply or conductive slip rings and data wireless data transmission is avoided, the cost of the laser radar is reduced, and the reliability of the laser radar is improved.
Drawings
FIG. 1 is a diagram illustrating an exemplary internal structure of a scanning lidar;
FIG. 2 is a diagram showing an internal structure of a scanning lidar according to a second embodiment;
FIG. 3 is a diagram of an internal structure of a triple-scanning lidar according to an embodiment;
FIG. 4 is a diagram showing an internal structure of a quad scanning lidar according to an embodiment;
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Example one
The utility model provides a 360 degree scanning laser radar device, as shown in fig. 1, rotor (110) and stator (109) including the hollow shaft motor, coaxial transmitting unit (105), receiving element (107), master control ranging unit (106), filter cover (101), inner structure installed part (112), load (102), 45 degree speculum (103), encoder (104), counter weight (108), L type collimation section of thick bamboo (113) and shell (111) are constituteed, wherein, rotor (110) and stator (109) of hollow shaft motor, load (102) and 45 degree speculum (103), encoder (104), scanning unit is constituteed to counter weight (108), 45 degree speculum passes through 3M sticky paste on the load, the load passes through the mounting screw on the rotor.
The receiving unit comprises a receiving lens, a signal processing circuit board and an internal mounting bracket (112), wherein the receiving lens is fixed on the internal mounting bracket (112) through ultraviolet curing adhesive, the signal processing circuit board is fixed on the internal mounting bracket (112) through four copper columns, and a photoelectric detection element APD on the signal processing circuit board is located at the focal position of the receiving lens by adjusting the position of the signal processing circuit board. The diameter of the hollow shaft motor is equal to the effective light-passing caliber of the receiving lens, so that the shielding of the hollow shaft motor on a light path is avoided.
Emission unit (105) are by L type collimation section of thick bamboo (113), the transmission circuit board, semiconductor laser diode and collimation light path are constituteed, semiconductor laser diode is located the optical axis center, the welding is on the transmission circuit board, L type collimation section of thick bamboo (113) just is sheathe in to the outside, the outer corner department of L type collimation section of thick bamboo (113) is according to 45 degrees excision, paste at 45 degrees speculum centers through the metal glue, the collimation light path just wraps up the parallel outgoing of 45 degrees speculum parts in inside through L type collimation section of thick bamboo vertically corner, black flexible heat-shrinkable tube is sheathe in to the bottom of L type collimation section of thick bamboo, the light leak is avoided to another end cover semiconductor laser diode of black flexible heat-shrinkable tube.
The whole top that is located of receiving unit of emission unit, hollow shaft motor drive L type collimation section of thick bamboo, 45 degrees speculum and the load rotate together, in order to avoid receiving the too much sheltering from of light path, the part that shelters from the light path on the emission circuit board is thin long structure, and the position of adjusting the emission circuit board is received and is launched the light path coaxial, fixes emission circuit board on inside installing support (112), adjusts collimation light path and makes the collimation facula best.
The encoder (104) is composed of a code disc and a photoelectric detection device, the code disc is installed on one surface, far away from the load (102), of a rotor of the hollow shaft motor, a counterweight (108) is used for balancing the load through a dynamic balance adjusting method and is also installed on the same surface, where the code disc is installed, of the rotor, and the photoelectric detection device is matched with the code disc to form the encoder which is installed on the internal installation support.
The main control ranging unit (106) is connected with the emitting unit (105), the receiving unit (107) and the scanning unit, the main control ranging unit scans and ranges at a fixed rotating speed through a rotating speed signal closed-loop control scanning unit fed back by the encoder (104), the emitting unit is controlled to perform pulse light emission at a fixed angle, light emitted by the emitting unit passes through the center of the hollow shaft and is reflected by the 45-degree reflector and then passes through the filter cover to be emitted in parallel, the reflected light is changed into received light after being reflected by a measured object, the received light passes through the filter cover and then passes through the center of the hollow shaft to enter the receiving unit after being reflected by the 45-degree reflector, the received light pulse signal is changed into an electric pulse signal by the receiving unit and then is sent into the main control ranging unit, and the main control ranging unit. The main control distance measuring unit controls the hollow shaft motor to drive the load and the 45-degree reflector to rotate for a circle, and the transmitting unit and the receiving unit perform 360-degree scanning distance measurement on the periphery.
Example two
As shown in fig. 2, in the second embodiment, different from the first embodiment, the receiving lens is installed in the center of the rotor of the hollow shaft motor, the hollow shaft motor drives the L-shaped collimating cylinder (113), the 45-degree reflecting mirror, the receiving lens and the load to rotate together, the center of the receiving lens is perforated, the aperture of the receiving lens is larger than the diameter of the L-shaped collimating cylinder, the L-shaped collimating cylinder is installed inside the receiving lens, and the collimating optical path passes through the receiving lens.
EXAMPLE III
As shown in fig. 3, in the third embodiment, different from the first embodiment, the emission unit may further include a collimating cylinder, an emission circuit board, a semiconductor laser diode, and a collimating optical path, the semiconductor laser diode is located at the center of the optical axis and welded to the emission circuit board, the collimating cylinder is sleeved on the outer edge, the collimating cylinder is mounted on the emission circuit board, and the hollow shaft motor drives the 45-degree reflecting mirror to rotate together with the load.
The whole emitting unit is arranged above the receiving unit, the receiving lens is arranged in the center of the internal mounting support, and in order to avoid excessive shielding of a receiving light path, the part of the emitting circuit board, which shields the light path, is of a slender strip structure.
Example four
As shown in fig. 4, in the fourth embodiment, different from the third embodiment, the receiving lens may also be installed in the center of the rotor of the hollow shaft motor, the hollow shaft motor drives the 45-degree reflecting mirror, the receiving lens and the load to rotate together, the center of the receiving lens is perforated, the aperture of the receiving lens is larger than the diameter of the collimating cylinder, the collimating optical path passes through the receiving lens, and in order to avoid excessive shielding of the receiving optical path, the portion of the transmitting circuit board that shields the optical path is a long and thin strip structure.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A360-degree scanning laser radar device is characterized in that,
the device comprises a scanning unit, a coaxial transmitting unit and receiving unit, a main control ranging unit, a filter cover and a shell; wherein the content of the first and second substances,
the scanning unit comprises a hollow shaft motor, a load, a 45-degree reflector, a code disc, a photoelectric detection device and a counterweight module;
the hollow shaft motor comprises a hollow rotor and a hollow stator;
the 45-degree reflecting mirror is arranged on the load;
the load is mounted on the rotor;
the receiving unit consists of a receiving lens, a signal processing circuit and an internal mounting bracket, wherein the internal mounting bracket is used for mounting and adjusting the signal processing circuit, the coded disc is mounted on the other surface of the rotor of the hollow shaft motor, which is far away from the load, the counterweight module is used for carrying out counterweight on the load by a dynamic balance adjusting method, the surface of the rotor, which is used for mounting the coded disc, is also mounted, and the photoelectric detection device is matched with the coded disc to form an encoder which is mounted on the internal mounting bracket;
the transmitting light path and the receiving light path of the transmitting unit and the receiving unit are both positioned in the center of a hollow shaft of the hollow shaft motor, and the optical axes of the transmitting unit and the receiving unit are superposed with the rotating central axis of the hollow shaft motor;
the master control ranging unit is connected with the transmitting unit, the receiving unit and the scanning unit;
the main control ranging unit is used for controlling the emitting unit to emit light in a pulse mode;
the receiving unit is used for converting the received optical pulse signals into electric pulse signals and then sending the electric pulse signals to the main control ranging unit;
the master control ranging unit is used for controlling the hollow shaft motor;
the transmitting and receiving unit is used for scanning and ranging 360 degrees around.
2. The lidar device according to claim 1, wherein the transmitting unit comprises an L-shaped collimating barrel, a transmitting circuit board, a semiconductor laser diode, and a collimating optical path, the semiconductor laser diode is located at the center of an optical axis and is welded on the transmitting circuit board, the L-shaped collimating barrel is sleeved outside the semiconductor laser diode, the L-shaped collimating barrel is fixed on the 45-degree reflector, the collimating optical path is inside the L-shaped collimating barrel, the exit direction of the optical path is changed by the 45-degree reflector inside the L-shaped collimating barrel, and the bottom of the L-shaped collimating barrel is connected with the semiconductor laser diode through a black flexible heat-shrink tube;
the receiving lens is mounted in the center of the internal mounting bracket; the transmitting unit is positioned above the receiving unit; the rotor of the hollow shaft motor, the L-shaped collimating cylinder, the 45-degree reflecting mirror and the load form a rotating part of the scanning unit, and the part of the transmitting circuit board, which shields the light path, is of a slender strip structure.
3. The lidar apparatus of claim 2, wherein the receiving lens is mounted at the center of the rotor of the hollow shaft motor, the L-shaped collimating cylinder, the 45-degree mirror, the receiving lens and the load constitute a rotating portion of the scanning unit, the receiving lens is perforated at the center thereof with an aperture larger than the diameter of the L-shaped collimating cylinder, and the L-shaped collimating cylinder is mounted at the perforated center of the receiving lens.
4. The lidar apparatus of claim 1, wherein the transmitting unit comprises a cylindrical collimating barrel, a transmitting circuit board, a semiconductor laser diode and a collimating optical path, the semiconductor laser diode is located at the center of the optical axis and is soldered on the transmitting circuit board, the cylindrical collimating barrel is mounted on the transmitting circuit board, the collimating barrel is mounted on the transmitting circuit board, and the rotor of the hollow shaft motor, the 45-degree mirror and the load constitute a rotating portion of the scanning unit; the transmitting unit may be located above the receiving unit, and the receiving lens may be installed at the center of the internal mounting bracket.
5. The lidar apparatus of claim 1, wherein the transmitting unit may be located at a center of the receiving unit, and the receiving lens may be provided with a hole at a center thereof, the hole having an aperture larger than a diameter of the cylindrical collimating cylinder;
the cylindrical collimating cylinder is arranged in the receiving lens, the receiving lens is arranged in the center of the rotor of the hollow shaft motor, and the rotor of the hollow shaft motor, the 45-degree reflecting mirror, the receiving lens and the load form a rotating part of the scanning unit.
6. The lidar apparatus of claim 1, wherein a diameter of a hollow shaft of the hollow shaft motor is equal to or greater than an effective clear aperture of the receive lens.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822099195.6U CN210487977U (en) | 2018-12-13 | 2018-12-13 | 360-degree scanning laser radar device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822099195.6U CN210487977U (en) | 2018-12-13 | 2018-12-13 | 360-degree scanning laser radar device |
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| CN210487977U true CN210487977U (en) | 2020-05-08 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113156402A (en) * | 2021-05-14 | 2021-07-23 | 上海思岚科技有限公司 | Light source device, distance measuring equipment and mounting method |
| CN113281767A (en) * | 2021-07-19 | 2021-08-20 | 上海思岚科技有限公司 | Narrow-window coaxial single-line laser scanning range finder |
| CN114636984A (en) * | 2020-12-15 | 2022-06-17 | 武汉万集信息技术有限公司 | Laser radar |
| CN115755085A (en) * | 2022-11-21 | 2023-03-07 | 深圳市意普兴科技有限公司 | Laser radar |
| US11774586B2 (en) | 2017-07-10 | 2023-10-03 | 3D at Depth, Inc. | Underwater optical metrology system |
-
2018
- 2018-12-13 CN CN201822099195.6U patent/CN210487977U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11774586B2 (en) | 2017-07-10 | 2023-10-03 | 3D at Depth, Inc. | Underwater optical metrology system |
| CN114636984A (en) * | 2020-12-15 | 2022-06-17 | 武汉万集信息技术有限公司 | Laser radar |
| CN113156402A (en) * | 2021-05-14 | 2021-07-23 | 上海思岚科技有限公司 | Light source device, distance measuring equipment and mounting method |
| CN113281767A (en) * | 2021-07-19 | 2021-08-20 | 上海思岚科技有限公司 | Narrow-window coaxial single-line laser scanning range finder |
| CN115755085A (en) * | 2022-11-21 | 2023-03-07 | 深圳市意普兴科技有限公司 | Laser radar |
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