CN105652261A - Laser radar optical system and laser radar - Google Patents
Laser radar optical system and laser radar Download PDFInfo
- Publication number
- CN105652261A CN105652261A CN201511018733.9A CN201511018733A CN105652261A CN 105652261 A CN105652261 A CN 105652261A CN 201511018733 A CN201511018733 A CN 201511018733A CN 105652261 A CN105652261 A CN 105652261A
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- CN
- China
- Prior art keywords
- laser radar
- optical system
- mirror
- radar optical
- light
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
Abstract
The invention discloses a laser radar optical system and a laser radar. The laser radar optical system includes an emergent light source, a first collimating mirror, a second collimating mirror, a plane mirror and a reflecting mirror; the plane mirror is provided with a reflecting region and a transmitting region; the emergent light of the emergent light source is reflected to the reflecting region through the first collimating mirror; the reflecting region is used for reflecting the emergent light to the reflecting mirror; the reflecting mirror is used for reflecting reflected light to the second collimating mirror; the first collimating mirror and the second collimating mirror are used for collimating the emergent light and irradiating the collimated emergent light to a detected object; and the second collimating mirror is used for receiving the reflected light of the detected object and reflecting the reflected light to the transmitting region through the reflecting mirror. With the laser radar optical system and the laser radar of the invention adopted, the light intensity attenuation of the emergent light and the reflected light passing through the plane mirror can be effectively reduced, and the light intensity of detected reflected light can be improved, and therefore, the measurement accuracy of the laser radar optical system can be improved.
Description
Technical field
The present invention relates to laser radar detection technical field, particularly to a kind of laser radar optical system and laser radar.
Background technology
Laser radar optical system in prior art, generally adopt one piece of half-reflection and half-transmission eyeglass that emergent light is reflected, and reflection light is carried out transmission process, but owing to emergent light and reflection light will cause light intensity attenuation through half-reflection and half-transmission eyeglass, the light intensity causing actual detection decays to about the 25% of initial beam intensity after half-reflection and half-transmission eyeglass, thus causing the reduction measuring sensitivity of laser radar optical system.
Summary of the invention
The technical problem to be solved in the present invention is to overcome in prior art emergent light and reflection light in laser radar optical system will cause light intensity attenuation through half-reflection and half-transmission eyeglass, cause reducing the defect measuring sensitivity, it is provided that a kind of laser radar optical system and laser radar.
The invention provides a kind of laser radar optical system, including outgoing light source, it is characterized in that, also includes the first collimating mirror, the second collimating mirror, plane mirror and reflecting mirror, and described plane mirror is provided with reflector space and regional transmission;
The emergent light of described outgoing light source exposes to described reflector space through described first collimating mirror, described reflector space is for reflexing to described reflecting mirror by described emergent light, described reflecting mirror is for by described reflected light back to described second collimating mirror, described first collimating mirror and described second collimating mirror are for collimating described emergent light, and the described emergent light after collimation is exposed to detected object;
Described second collimating mirror is additionally operable to receive the reflection light of described detected object, and by described reflecting mirror, described reflection light is reflexed to described regional transmission.
It is preferred that described laser radar optical system also includes photo-detector, described photo-detector is for receiving the described reflection light through described regional transmission.
It is preferred that described laser radar optical system also includes filter plate, described filter plate is for being filtered the described reflection light through described regional transmission processing, and described photo-detector is for accepting filter the described reflection light after processing.
It is preferred that the focus conjugation of described photo-detector and described second collimating mirror.
It is preferred that the described emergent light of described plane mirror reflection is coaxial with the described reflection light that described reflecting mirror reflects.
It is preferred that described reflector space is positioned at the center position of described plane mirror, described regional transmission is the region in described plane mirror except described reflector space.
It is preferred that the shape of described reflector space and size are adjustable.
It is preferred that described reflector space surface is coated with reflectance coating, and/or, the surface of described regional transmission is coated with anti-reflection film.
It is preferred that described laser radar optical system also includes motor, described reflecting mirror is fixing with described second collimating mirror to be connected, and described motor is used for driving described reflecting mirror to rotate.
It is preferred that described outgoing light source is laser diode.
It is an object of the invention to additionally provide a kind of laser radar, it is characterized in that, it includes above-mentioned laser radar optical system.
The actively progressive effect of the present invention is in that: the present invention adopts the plane mirror with special reflector space and regional transmission to replace the half-reflection and half-transmission eyeglass in existing laser radar optical system, thus effectively reducing emergent light and the reflection light light intensity attenuation through plane mirror, improve the light intensity of the reflection light detected, and then improve the certainty of measurement of laser radar optical system.
Accompanying drawing explanation
Fig. 1 is the light channel structure schematic diagram of the laser radar optical system of embodiments of the invention 1.
Fig. 2 is the light channel structure schematic diagram of the laser radar optical system of embodiments of the invention 2.
Fig. 3 is the structural representation of the plane mirror of the laser radar optical system of embodiments of the invention 3.
Detailed description of the invention
Mode by the examples below further illustrates the present invention, but does not therefore limit the present invention among described scope of embodiments.
Embodiment 1
As it is shown in figure 1, the laser radar optical system of the present embodiment includes outgoing light source the 1, first collimating mirror 2, plane mirror 3, reflecting mirror 4 and the second collimating mirror 5, wherein, described plane mirror 3 is provided with reflector space and regional transmission.
In the present embodiment, the emergent light of described outgoing light source 1 can pass through described first collimating mirror 2 and expose to the reflector space on described plane mirror 3, described emergent light is then reflexed to described reflecting mirror 4 by described reflector space, described reflecting mirror 4 is then by described reflected light back to described second collimating mirror 5, described emergent light can be collimated by described first collimating mirror 2 and described second collimating mirror 5, and exposes on detected object 6 by the described emergent light after collimation;
Described detected object 6 reflects due to the irradiation of described emergent light, described second collimating mirror 5 also receives the reflection light of described detected object 6, and described reflection light is reflexed to the regional transmission of described plane mirror 3 by described reflecting mirror 4, thereby through described regional transmission, described reflection light transmission is gone out. Wherein, the optical transmission path of concrete emergent light and reflection light is referring to dotted line in Fig. 1 and shown in arrow.
In the laser radar optical system of the present embodiment, by adopting the plane mirror 3 with special reflector space and regional transmission to replace the half-reflection and half-transmission eyeglass in existing laser radar optical system, thus effectively reducing emergent light and reflection light light intensity attenuation when plane mirror 3, improve the light intensity of the reflection light detected, and then improve the certainty of measurement of laser radar optical system.
Embodiment 2
As shown in Figure 2, the laser radar optical system of the present embodiment is essentially identical with embodiment 1, it is distinctive in that: in the present embodiment, described laser radar optical system also includes photo-detector 7, described photo-detector 7 is for receiving the described reflection light transmitted after the regional transmission of described plane mirror 3, and described photo-detector 7 specifically may be provided on the propagation path of the described reflection light after transmission.
Preferably, it is additionally provided with filter plate 8 between described plane mirror 3 and described photo-detector 7, the described reflection light of the regional transmission through described plane mirror 3 can be filtered processing by described filter plate 8, and then described photo-detector 7 receives the described reflection light after described filter plate 8 Filtering Processing.
In the present embodiment by described filter plate 8 just can wiping out background light, such that it is able to improve described photo-detector 7 to the collection of described reflection light and detection accuracy, the frequency filtering of wherein said filter plate 8 can carry out selecting and arranging according to actual needs.
In the present embodiment, described outgoing light source 1 is preferably the laser diode that can launch pulse laser, and described photo-detector 7 can preferably be APD detector (photodetector).
Embodiment 3
The present embodiment is essentially identical with the laser radar optical system structure of embodiment 2, differ primarily in that: in the present embodiment, the focus conjugation of described photo-detector 7 and described second collimating mirror 5, and the described emergent light of described plane mirror 3 reflection is coaxial with the described reflection light that described reflecting mirror 4 reflects, thus being effectively improved the laser radar optical system of the present embodiment detection angle when actual detection and investigative range.
Simultaneously, in the present embodiment, also specifically described reflector space 31 is set at the center position of described plane mirror 3, and outer peripheral areas except described reflector space in described plane mirror 3 is set to described regional transmission 32, specifically can at the plated surface reflectance coating of described reflector space to realize the reflection to described emergent light, and at the plated surface anti-reflection film of described regional transmission to realize transmission to described reflection light, the concrete structure schematic diagram of the described plane mirror 3 of the present embodiment is referring to Fig. 3, the described plane mirror 3 utilizing the present embodiment can collect the reflection light of detected object effectively, improve the light intensity that described photo-detector is collected, enhance detection range and the investigative range of the laser radar optical system of the present invention, and improve scanning angle and laser resolution capability.
It addition, the shape of described reflector space 31 in plane mirror 3 described in the present embodiment and size are adjustable, and by regulating shape and the size of described reflector space 31, and then just the shape of the hot spot being subsequently formed and size accurately can be controlled.
In the present embodiment, described laser radar optical system also includes motor, described reflecting mirror 4 is also fixing with described second collimating mirror 5 to be connected, described motor is then used for driving described reflecting mirror 4 to rotate, so described second collimating mirror 5 rotates together as well as described reflecting mirror 4, detect thus the laser radar optical system of the present embodiment can realize 360 �� without dead angle, it is ensured that the investigative range of the maximum angle of laser radar optical system.
The laser radar optical system of the present embodiment can also increase substantially the reception light intensity of laser radar detection and detection range and scope while keeping laser firing pulses, detected object and receiving optics device coaxial, and each optics is also more easily processed and debugs simultaneously.
Present invention also offers a kind of laser radar including above-mentioned laser radar optical system, described laser radar can be applied in robot, mobile routing inspection trolley etc. to be needed to carry out on the product of laser radar detection, and such product can be realized real-time search obstructing objects by the laser radar of the present invention and be realized automatic obstacle-avoiding.
Although the foregoing describing the specific embodiment of the present invention, it will be appreciated by those of skill in the art that these are merely illustrative of, protection scope of the present invention is defined by the appended claims. Those skilled in the art is under the premise without departing substantially from principles of the invention and essence, it is possible to these embodiments are made various changes or modifications, but these change and amendment each falls within protection scope of the present invention.
Claims (11)
1. a laser radar optical system, including outgoing light source, it is characterised in that also including the first collimating mirror, the second collimating mirror, plane mirror and reflecting mirror, described plane mirror is provided with reflector space and regional transmission;
The emergent light of described outgoing light source exposes to described reflector space through described first collimating mirror, described reflector space is for reflexing to described reflecting mirror by described emergent light, described reflecting mirror is for by described reflected light back to described second collimating mirror, described first collimating mirror and described second collimating mirror are for collimating described emergent light, and the described emergent light after collimation is exposed to detected object;
Described second collimating mirror is additionally operable to receive the reflection light of described detected object, and by described reflecting mirror, described reflection light is reflexed to described regional transmission.
2. laser radar optical system as claimed in claim 1, it is characterised in that described laser radar optical system also includes photo-detector, and described photo-detector is for receiving the described reflection light through described regional transmission.
3. laser radar optical system as claimed in claim 2, it is characterized in that, described laser radar optical system also includes filter plate, described filter plate is for being filtered the described reflection light through described regional transmission processing, and described photo-detector is for accepting filter the described reflection light after processing.
4. laser radar optical system as claimed in claim 2, it is characterised in that the focus conjugation of described photo-detector and described second collimating mirror.
5. laser radar optical system as claimed in claim 1, it is characterised in that the described emergent light of described plane mirror reflection is coaxial with the described reflection light that described reflecting mirror reflects.
6. laser radar optical system as claimed in claim 1, it is characterised in that described reflector space is positioned at the center position of described plane mirror, and described regional transmission is the region in described plane mirror except described reflector space.
7. laser radar optical system as claimed in claim 6, it is characterised in that the shape of described reflector space and size are adjustable.
8. laser radar optical system as claimed in claim 6, it is characterised in that described reflector space surface is coated with reflectance coating, and/or, the surface of described regional transmission is coated with anti-reflection film.
9. laser radar optical system as claimed in claim 1, it is characterised in that described laser radar optical system also includes motor, described reflecting mirror is fixing with described second collimating mirror to be connected, and described motor is used for driving described reflecting mirror to rotate.
10. laser radar optical system as described in any one in claim 1-9, it is characterised in that described outgoing light source is laser diode.
11. a laser radar, it is characterised in that it includes in claim 1-10 the laser radar optical system as described in any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511018733.9A CN105652261A (en) | 2015-12-29 | 2015-12-29 | Laser radar optical system and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511018733.9A CN105652261A (en) | 2015-12-29 | 2015-12-29 | Laser radar optical system and laser radar |
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| Publication Number | Publication Date |
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| CN105652261A true CN105652261A (en) | 2016-06-08 |
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| CN201511018733.9A Pending CN105652261A (en) | 2015-12-29 | 2015-12-29 | Laser radar optical system and laser radar |
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| CN (1) | CN105652261A (en) |
Cited By (8)
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|---|---|---|---|---|
| CN106707289A (en) * | 2016-11-08 | 2017-05-24 | 上海禾赛光电科技有限公司 | Quasi-solid-state single line laser radar based on MEMS-like galvanometer, and operating method thereof |
| CN107153181A (en) * | 2017-02-24 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107422473A (en) * | 2017-08-31 | 2017-12-01 | 南京理工大学 | MEMS micromirror two-dimensional scan for laser radar collimates optical transmitting system |
| CN107526071A (en) * | 2017-02-24 | 2017-12-29 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109164465A (en) * | 2018-08-29 | 2019-01-08 | 西安电子科技大学 | Coaxial optical system based on the micro-pulse lidar measurement cloud level |
| CN110146899A (en) * | 2019-05-28 | 2019-08-20 | 许灵男 | A kind of terminal radar barrier sensory perceptual system |
| CN110622031A (en) * | 2017-05-12 | 2019-12-27 | 罗伯特·博世有限公司 | Lidar device and method with simplified detection |
| WO2023103728A1 (en) * | 2021-12-08 | 2023-06-15 | 陈家梁 | Laser radar probe and laser radar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707289A (en) * | 2016-11-08 | 2017-05-24 | 上海禾赛光电科技有限公司 | Quasi-solid-state single line laser radar based on MEMS-like galvanometer, and operating method thereof |
| CN106707289B (en) * | 2016-11-08 | 2023-08-29 | 上海禾赛科技有限公司 | Quasi-solid single-line laser radar based on MEMS-like galvanometer and working method thereof |
| CN107153181A (en) * | 2017-02-24 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107526071A (en) * | 2017-02-24 | 2017-12-29 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN110622031A (en) * | 2017-05-12 | 2019-12-27 | 罗伯特·博世有限公司 | Lidar device and method with simplified detection |
| CN107422473A (en) * | 2017-08-31 | 2017-12-01 | 南京理工大学 | MEMS micromirror two-dimensional scan for laser radar collimates optical transmitting system |
| CN109164465A (en) * | 2018-08-29 | 2019-01-08 | 西安电子科技大学 | Coaxial optical system based on the micro-pulse lidar measurement cloud level |
| CN110146899A (en) * | 2019-05-28 | 2019-08-20 | 许灵男 | A kind of terminal radar barrier sensory perceptual system |
| WO2023103728A1 (en) * | 2021-12-08 | 2023-06-15 | 陈家梁 | Laser radar probe and laser radar |
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