CN210572725U - Multi-line laser radar - Google Patents
Multi-line laser radar Download PDFInfo
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- CN210572725U CN210572725U CN201920164301.6U CN201920164301U CN210572725U CN 210572725 U CN210572725 U CN 210572725U CN 201920164301 U CN201920164301 U CN 201920164301U CN 210572725 U CN210572725 U CN 210572725U
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Abstract
A multiline lidar comprising: a laser for generating a laser beam; the laser receiving device is arranged on the same side as the laser and is used for receiving echo signals; the reflecting device is used for outwards emitting the laser beam generated by the laser and projecting the echo signal reflected by the detected area to the laser receiving device; the reflecting device comprises an angle deflection component and a conical mirror which are coaxially arranged in sequence along the emergent direction of the laser; the angle deflection component is provided with a plurality of deflection states, and each deflection state can generate different deflection angles for the passing laser beams; the vertex of the conical mirror faces the angle deflection component; and the rotation driving device is connected with the angle deflection assembly and is used for driving the angle deflection assembly to rotate so as to present different deflection states. The multi-line laser radar has the advantages of being simple in structure, low in cost and high in reliability.
Description
Technical Field
The utility model relates to a laser detection technology field especially relates to a multi-line laser radar.
Background
The laser radar is a system for detecting characteristic quantities such as the position, the speed and the like of a target by emitting laser beams, and is widely applied to the field of laser detection. Rotary lidar often uses line counts to define its longitudinal angular resolution. The number of lines is the number of longitudinal transmitting and receiving directions of the laser, and the laser radar can detect targets in multiple directions by transmitting in multiple directions simultaneously. Traditional multi-line laser radar often adopts a plurality of transmission and receiving pairs to produce the laser of a plurality of directions, and relevant parts in the laser radar are all rotatory, greatly increased the complexity of system to greatly increased the cost.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide a multiline lidar in order to solve the problems of complex structure and high cost of the conventional multiline lidar.
A multiline lidar comprising:
a laser for generating a laser beam;
the laser receiving device is arranged on the same side as the laser and is used for receiving echo signals;
the reflecting device is used for outwards emitting the laser beam generated by the laser and projecting the echo signal reflected by the detected area to the laser receiving device; the reflecting device comprises an angle deflection component and a conical mirror which are coaxially arranged along the emergent direction of the laser in sequence; the angle deflection assembly is provided with a plurality of deflection states, and each deflection state can generate different deflection angles for the passing laser beams; the vertex of the conical mirror is arranged towards the compensating mirror; and
and the rotation driving device is connected with the angle deflection assembly and is used for driving the angle deflection assembly to rotate so as to present different deflection states.
In one embodiment, the angular deflection assembly includes a first optical wedge and a second optical wedge disposed opposite each other; the deflection capability of the first optical wedge to the laser is larger than that of the second optical wedge to the laser; the rotary driving device drives the first optical wedge to rotate at a first angular speed and drives the second optical wedge to rotate at a second angular speed; the first angular velocity is less than the second angular velocity; the rotation centers of the first optical wedge and the second optical wedge are both positioned on the optical axis of the laser beam generated by the laser.
In one embodiment, the wedge angle of the first optical wedge is larger than the wedge angle of the second optical wedge; or the first optical wedge and the second optical wedge have the same wedge angle, and the refractive index of the first optical wedge is greater than that of the second optical wedge.
In one embodiment, the projections of the first optical wedge and the second optical wedge on the plane of the laser are both circular.
In one embodiment, the rotary drive device comprises a motor and a transmission assembly; the transmission assembly at least comprises a first transmission piece for driving the first optical wedge and a second transmission piece for driving the second optical wedge; the motor is used for driving the transmission assembly to rotate so as to drive the first optical wedge and the second optical wedge to rotate.
In one embodiment, the reflecting device further comprises a compensation mirror; the angle deflection assembly, the compensating mirror and the conical mirror are sequentially and coaxially arranged along the emergent direction of the laser; the compensating mirror is used for compensating the light ray offset angle caused by the angle deflection component.
In one embodiment, the thickness of the compensation mirror is increased from the center to the edge.
In one embodiment, the projection of the compensation mirror on the plane of the laser is circular, and the projection area covers the projection area of the angular deflection component on the plane; and/or
The projection area of the conical mirror on the plane of the laser covers the projection area of the compensating mirror on the plane.
In one embodiment, the device further comprises a shell; the laser, the laser receiving device, the rotary driving device, the compensating mirror and the conical mirror are all fixed in the shell; the shell comprises a transmission area positioned around the conical mirror; the transmission area inclines towards one side of the conical mirror.
In one embodiment, the laser receiving device comprises a focusing lens and a detector; the laser is fixed at the center of the focusing lens; the focusing lens is used for focusing the echo signal reflected by the reflecting device and then projecting the focused echo signal to the detector.
In the multi-line laser radar, the angle deflection component in the reflecting device has a plurality of deflection states, and each deflection state has a different deflection angle and/or deflection direction. The rotary driving device can drive the angle deflection assembly to change between different deflection states, so that laser beams emitted by the laser can be projected to different areas of the conical mirror after passing through the angle deflection assembly, and then are reflected to the surrounding area by the conical mirror, and the scanning process of the beams is realized. In the scanning process, the angle deflection assembly can be accurately scanned and controlled through the rotary driving device, so that higher longitudinal and angular resolution can be achieved. Above-mentioned multi-line laser radar adopts laser one way transmission one way to receive and can realize, and only angle deflection subassembly is rotary part, and simple structure has reduceed laser radar's cost greatly to laser radar's reliability has been promoted.
Drawings
Fig. 1 is a schematic cross-sectional view of a laser radar in an embodiment.
Fig. 2 a-2 b are schematic diagrams of a light beam reflected by a cone mirror in an embodiment.
FIG. 3 is a schematic diagram of an embodiment of an angle deflection assembly deflecting laser light.
FIG. 4 is a schematic diagram of a first wedge optic according to an embodiment.
Fig. 5 is a schematic diagram illustrating a track distribution of a laser beam after passing through an angle deflection assembly in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the description of the present application, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application. Further, when an element is referred to as being "formed on" another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present.
Fig. 1 is a schematic cross-sectional view of a multi-line lidar in an embodiment. Referring to fig. 1, the multiline lidar includes a laser 100, a laser receiving device 200, a transmitting device 300, and a rotation driving device 400.
The laser 100 is used to generate a laser beam. In the present embodiment, the laser 100 is a single laser for generating a laser beam, that is, the multiline lidar in the present embodiment does not adopt multi-path transmission as in the conventional multiline lidar, but adopts a single-path transmission structure. The frequency of the laser beam generated by the laser 100 may be set as desired. For example, a laser beam having a corresponding frequency is generated according to the distance to be detected. That is, the generated laser beam may be a visible light beam, an infrared laser beam, or the like, and the present disclosure is not limited in particular. It will be appreciated that in other embodiments, corresponding processing means may be provided to process the beam of laser light generated by the laser 100 to meet the requirements of use.
The laser receiving device 200 is configured to receive an echo signal and convert the received echo signal into an electrical signal that can be recognized by a processor or a processing chip. In the present embodiment, the laser receiving device 200 is disposed coaxially with the laser 100 on the same side, so as to form a coaxial transceiver structure. The coaxial receiving and transmitting can avoid system ranging errors brought by the structure and can also avoid radar blind areas. In addition, only one receiver is correspondingly disposed in the laser receiving device 200 to receive the echo signal, that is, the multi-line laser radar in this embodiment is a single-path transmitting and receiving structure, and has a relatively simple structure.
The reflecting means 300 is used to effect deflection of the optical signal. Specifically, the reflection device 300 is configured to project a laser beam generated by the laser 100 outward, and project an echo signal reflected by the detected region to the laser receiving device 200 for receiving and detecting. In the present embodiment, the reflection device 300 includes an angle deflection component 310, a compensation mirror 320 and a cone mirror 330 coaxially arranged in sequence along the emitting direction of the laser 100. Coaxial means that the central axes of the angular deflection element 310, the compensation mirror 320 and the cone mirror 330 are collinear and coaxial with the optical axis of the laser beam emitted by the laser 100. The apex of the conical mirror 330 is disposed toward the compensating mirror 320, i.e., the conical mirror 330 is disposed in an inverted cone shape.
The angular deflection assembly 310 has a plurality of deflection states. Each deflection state can generate different deflection angles and/or deflection directions for the passing laser beam. That is, different deflection angles or different deflection directions may exist in the two deflection states, and the deflection angle and the deflection direction may be different. The angle deflection component 310 can adjust the longitudinal position of the laser beam projected onto the conical mirror 330 after passing through the compensation mirror 320 (as shown in fig. 2 a) by controlling the deflection angle of the laser beam, and further the laser beam is reflected to different longitudinal directions by the conical mirror 330, thereby realizing the detection of targets in multiple directions, achieving the purpose and effect of multi-line detection, and achieving higher longitudinal resolution. The angle deflection component 320 can adjust the horizontal position of the laser beam projected onto the conical mirror 330 after passing through the compensation mirror 320 by controlling the deflection direction of the laser beam (as shown in fig. 2 b), so that the peripheral area is emitted by the conical mirror 330, thereby realizing the transverse scanning of the beam and achieving higher angular resolution. The compensating mirror 320 is used for compensating the light beam deviation angle caused by the angle deflection component 320 to restore the direction of the laser beam emitted by the laser 100. In other embodiments, the angular deflection assembly 320 and the conical mirror 330 may be included in the reflective device 300 instead of the compensator mirror 320.
The rotational driving device 400 is connected to the angular deflection assembly 310. The rotation driving device 400 is used for driving the angular deflection component 310 to rotate so as to present different deflection states, so that the laser beam can be deflected under the action of the angular deflection component 310 to realize the scanning process of the laser radar in the longitudinal direction and the transverse direction. In this embodiment, the rotation driving device 400 only drives the angular deflection assembly 310 to rotate, and other components are all in a fixed state, so that a simpler structure can be adopted.
In the multi-line lidar, the angular deflection element 310 of the reflection device 300 has a plurality of deflection states, each having a different deflection angle and/or deflection direction. The rotation driving device 400 can drive the angle deflection component 310 to change between different deflection states, so that the laser beam emitted by the laser can be projected to different areas of the conical mirror after compensation of the compensation mirror, and then reflected to the surrounding area by the conical mirror, thereby realizing the scanning process of the beam. Above-mentioned multi-line laser radar adopts laser one way transmission one way to receive and can realize, and only angle deflection subassembly 310 is rotary part, and simple structure has reduceed laser radar's cost greatly to laser radar's reliability has been promoted. The light source is the very important part among the multi-thread laser radar, and some have the modulation function, and some need enlarge or control the frequency, if adopt a plurality of light sources then greatly increased the cost, also improved the degree of difficulty for the ray apparatus design, above-mentioned multi-thread laser radar can overcome this problem well, and can realize higher resolution ratio. And this angle deflection subassembly 310 belongs to passive lens, has also further increased the reliability when reducing cost, has reduced the degree of difficulty on optics and the mechanical design.
In one embodiment, angular deflection assembly 310 includes a first optical wedge 312 and a second optical wedge 314 disposed opposite each other, as shown in FIGS. 1 and 3. The first optical wedge 312 and the second optical wedge 314 are wedge plates made of glass or other transparent materials, the upper surface and the lower surface of which are not parallel, and the emergent light beam has a deflection angle due to the non-parallel upper surface and lower surface after passing through the wedge plates, and two deflection angles are generated after passing through the two optical wedges. FIG. 4 is a schematic diagram of first wedge optic 312 in one embodiment. In this embodiment, the projection of the first optical wedge 312 on the plane where the laser 100 is located is a circular shape, that is, it is a circular truncated cone or a cylindrical structure with one inclined surface. In one embodiment, the first wedge optic 312 has a greater deflection capability for the laser light than the second wedge optic 314. The positional relationship of first wedge optic 312 and second wedge optic 314 may be interchanged. Specifically, the first optical wedge 312 may have a larger wedge angle 312a, and the second optical wedge 314 may have a smaller wedge angle 314a, so as to adjust the deflection capability of the laser light. In other embodiments, first wedge optic 312 and second wedge optic 314 may be fabricated from materials having different refractive indices, such as by fabricating first wedge optic 312 from a light transmissive material having a high refractive index and fabricating second wedge optic 314 from a light transmissive material having a relatively low refractive index. In one embodiment, there is a gap between first wedge optic 312 and second wedge optic 314 that ensures that first wedge optic 312 and second wedge optic 314 can move relative to each other.
In one embodiment, the rotational drive 400 includes a motor 410 and a transmission assembly 420. The transmission assembly 420 includes at least a first transmission member and a second transmission member (not shown). The first transmission member is directly or indirectly connected to the first optical wedge 312 to drive the first optical wedge 312 to rotate. The second transmission member is directly or indirectly connected to the second optical wedge 314 to drive the second optical wedge 314 to rotate. Control of angular velocity during operation of first wedge optic 312 and second wedge optic 314 may be achieved by setting the number of teeth in the first transmission member and the second transmission member. In other embodiments, two motors may be used to drive the first transmission member and the second transmission member respectively, so as to generate different angular velocities. It is understood that the motor 410 may also drive the angular deflection assembly 310 to rotate via other transmission mechanisms. In one embodiment, the transmission assembly 420 may be a gear set. In an embodiment, the rotation driving apparatus 400 further includes a decoder 430. The decoder 430 is used to measure the rotational position of the motor 410.
In one embodiment, the projection of compensator 320 onto the plane of laser 100 is also circular and its projection area can cover the projection area of first wedge optic 312 onto the plane. That is, the diameter of the outermost periphery of the compensating mirror 320 is greater than the diameter of the outermost periphery of the first optical wedge 312, so that it is ensured that the compensating mirror 320 can also compensate all the light beams deflected by the angle deflection assembly 300 and project the light beams onto the conical mirror 330, thereby improving the energy utilization rate. In an embodiment, the thickness of the compensation mirror 320 is increased from the center to the edge area, that is, both surfaces of the compensation mirror 320 are tapered surfaces, so that the compensation of the beam offset angle can be realized.
The projection area of the conical mirror 300 on the plane of the laser 100 covers the projection area of the compensator mirror 320 on this plane. That is, the diameter of the bottom circle of the conical mirror 300 is larger than the diameter of the outermost circumference of the compensating mirror 320, thereby ensuring that the laser beam passing through the compensating mirror 320 can be reflected by the conical mirror 300. In this case, the parameters (such as the respective taper settings) related to the angular deflection element 310, the compensation mirror 320 and the tapered mirror 330 can be set according to the required longitudinal resolution and angular resolution, and are not limited to specific values in a certain state.
In one embodiment, the multiline lidar further includes a housing 500. The housing 500 serves to house and protect the components in the lidar. The laser 100, the laser receiver 200, the rotary drive 400, the compensator mirror 320 and the cone mirror 330 are all fixed to the housing 500. Specifically, the above components may be directly fixed on the housing 500, or may be fixed on the housing 500 through other intermediate connectors, so that the entire laser radar has only one rotating component, i.e., the angular deflection assembly 310, and the structure is simple and the cost is low.
In one embodiment, the housing 500 includes a transmissive region 510 surrounding the conical mirror 330. The transmissive region 510 may be transmissive to outgoing laser light and reflective laser light. Optionally, the transmission region 510 is inclined toward the side where the conical mirror 330 is located, that is, the transmission region 510 forms a structure that is gradually tapered along the optical axis direction of the laser beam emitted from the laser 100. In other embodiments, the transmissive region 510 may not be limited.
The laser light receiving device 200 includes a focusing lens 210 and a detector 220. In this embodiment, the focusing lens 210 is used to focus the echo signal reflected by the reflection device 300 and project the focused echo signal onto the detector 220. In one embodiment, the laser 100 is fixed at the center of the focusing lens 210, for example, the laser 100 may be fixed at the center of the focusing lens 210 in a mosaic manner. The detector 220 is also located on the central axis of the focusing lens 210 so that the transmission and reception are coaxial. The receiving and sending are coaxial, the system ranging error caused by the structure can be avoided, and the occurrence of radar blind areas can also be avoided.
It will be appreciated that the multiline lidar further includes a number of circuit boards, which may be disposed on the bottom of the multiline lidar, i.e., the detector 220 is disposed directly on the circuit board at the bottom.
The multi-line laser radar is simple in structure, only one pair of receiving and transmitting parts are provided, the rotating part is only provided with the angle deflection assembly 310, the cost is low, the reliability is high, high longitudinal and angular resolution can be achieved, and the multi-line laser radar can be widely applied to various fields of laser detection.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A multiline lidar comprising:
a laser for generating a laser beam;
the laser receiving device is arranged on the same side as the laser and is used for receiving echo signals;
the reflecting device is used for outwards emitting the laser beam generated by the laser and projecting the echo signal reflected by the detected area to the laser receiving device; the reflecting device comprises an angle deflection component and a conical mirror which are coaxially arranged along the emergent direction of the laser in sequence; the angle deflection assembly is provided with a plurality of deflection states, and each deflection state can generate different deflection angles and/or deflection directions for the passing laser beams; the vertex of the conical mirror faces the angle deflection component; and
and the rotation driving device is connected with the angle deflection assembly and is used for driving the angle deflection assembly to rotate so as to present different deflection states.
2. The multiline lidar of claim 1 wherein said angular deflection assembly includes first and second oppositely disposed optical wedges; the deflection capability of the first optical wedge to the laser is larger than that of the second optical wedge to the laser; the rotary driving device drives the first optical wedge to rotate at a first angular speed and drives the second optical wedge to rotate at a second angular speed; the first angular velocity is less than the second angular velocity; the rotation centers of the first optical wedge and the second optical wedge are both positioned on the optical axis of the laser beam generated by the laser.
3. The multiline lidar of claim 2 wherein the wedge angle of the first optical wedge is greater than the wedge angle of the second optical wedge; or the first optical wedge and the second optical wedge have the same wedge angle, and the refractive index of the first optical wedge is greater than that of the second optical wedge.
4. The multiline lidar of claim 2 wherein the projections of said first and second wedges onto the plane of said laser are both circular.
5. Multiline lidar according to claim 2 wherein said rotary drive includes a motor and a transmission assembly; the transmission assembly at least comprises a first transmission piece for driving the first optical wedge and a second transmission piece for driving the second optical wedge; the motor is used for driving the transmission assembly to rotate so as to drive the first optical wedge and the second optical wedge to rotate.
6. Multiline lidar according to any of claims 1 to 5, wherein the reflecting means further comprises a compensator; the angle deflection assembly, the compensating mirror and the conical mirror are sequentially and coaxially arranged along the emergent direction of the laser; the compensating mirror is used for compensating the light ray offset angle caused by the angle deflection component.
7. Multiline lidar according to claim 6, wherein the thickness of the compensator mirror increases in order from the center to the edge.
8. Multiline lidar according to claim 6, wherein a projection of said compensator on a plane of said laser is circular and a projection area covers a projection area of said angular deflection assembly on said plane; and/or
The projection area of the conical mirror on the plane of the laser covers the projection area of the compensating mirror on the plane.
9. The multiline lidar of claim 6 further comprising a housing; the laser, the laser receiving device, the rotary driving device, the compensating mirror and the conical mirror are all fixed in the shell; the shell comprises a transmission area positioned around the conical mirror; the transmission area inclines towards one side of the conical mirror.
10. Multiline lidar according to claim 1, wherein said laser receiving means includes a focusing lens and a detector; the laser is fixed at the center of the focusing lens; the focusing lens is used for focusing the echo signal reflected by the reflecting device and then projecting the focused echo signal to the detector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920164301.6U CN210572725U (en) | 2019-01-30 | 2019-01-30 | Multi-line laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920164301.6U CN210572725U (en) | 2019-01-30 | 2019-01-30 | Multi-line laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765542A (en) * | 2019-01-30 | 2019-05-17 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN109765542B (en) * | 2019-01-30 | 2024-05-31 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
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2019
- 2019-01-30 CN CN201920164301.6U patent/CN210572725U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765542A (en) * | 2019-01-30 | 2019-05-17 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN109765542B (en) * | 2019-01-30 | 2024-05-31 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
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