CN107085207A - A kind of 360 ° of scanning probe laser radar apparatus - Google Patents
A kind of 360 ° of scanning probe laser radar apparatus Download PDFInfo
- Publication number
- CN107085207A CN107085207A CN201710213213.6A CN201710213213A CN107085207A CN 107085207 A CN107085207 A CN 107085207A CN 201710213213 A CN201710213213 A CN 201710213213A CN 107085207 A CN107085207 A CN 107085207A
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- China
- Prior art keywords
- laser
- light path
- mechanical
- optical setup
- ranging module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- 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
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
Abstract
The invention discloses a kind of 360 ° of scanning probe laser radar apparatus, described device includes centrosymmetric mechanical-optical setup component, laser ranging module and 360 ° of turntable driving modules, and the mechanical-optical setup component further comprises shafting structure and the optical window completely or partially covered around mechanical-optical setup component;The laser ranging module includes transmitting light path, receiving light path, Laser emission component and laser signal receiving unit, and the transmitting light path and receiving light path are designed using parallel light path;360 ° of turntable driving modules include sweep mechanism, turntable driving and control circuit, the scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module to be rotated around the shafting structure, realize 360 ° of laser scanning, detectings.Said apparatus integrated level is high, small volume, suitable for the application in terms of the pilotless automobile of laser radar, robot navigation and avoidance.
Description
Technical field
The present invention relates to technical field of laser detection, more particularly to a kind of 360 ° of scanning probe laser radar apparatus.
Background technology
Traditional scanning probe laser radar apparatus, using unit Laser emission and receiving module, is driven by sweep mechanism
Dynamic tilting mirror rotation or pendulum mirror motion, realize the two-dimensional scan of laser radar apparatus;Further driven and swashed by turntable transmission mechanism
Optical scanning module integral-rotation, realizes the 3-D scanning of target.
Laser radar system and device with Detection Techniques is launched using many element laser, generally by motion parts and fixed part
It is grouped into, indicative of local optical window rotates with motion parts relative to fixed part, using multiple unit Laser emissions and reception mould
Block, realizes the 3-D scanning of target, the prior art scheme rotation axis system is easily by environmental pollution, and device miniaturization is limited, technology
Using there is limitation.
The content of the invention
It is an object of the invention to provide a kind of 360 ° of scanning probe laser radar apparatus, the device integrated level is high, small volume,
Suitable for the application in terms of the pilotless automobile of laser radar, robot navigation and avoidance.
A kind of 360 ° of scanning probe laser radar apparatus, described device includes centrosymmetric mechanical-optical setup component, laser
Range finder module and 360 ° of turntable driving modules, wherein:
The mechanical-optical setup component further comprises shafting structure and optical window, and the optical window surrounds the ray machine
Construction package realizes all or part of covering, and the shafting structure is the rotary shaft of the laser ranging module;
The laser ranging module includes transmitting light path, receiving light path, Laser emission component and laser signal receiving unit,
Wherein:
The transmitting light path and receiving light path are designed using parallel light path;
The laser direct projection of one or more luminescence units transmitting of the Laser emission component simultaneously passes through the transmitting light path
Outgoing, then laser echo signal is received by the receiving light path, and the laser echo signal is focused on into laser signal reception
On the photoelectric signal transformation sensor array of component;
360 ° of turntable driving modules include sweep mechanism, turntable driving and control circuit, wherein:
The scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module around described
Shafting structure is rotated, and realizes 360 ° of laser scanning, detectings.
The mechanical-optical setup component is cylinder or round platform frame structure, or designs quadrangularly or polygonal cross-section framework knot
Structure, the mechanical-optical setup component and its circular optical window, form the overall sealing structure of laser radar apparatus.
The Laser emission component includes one or more laser emitting modules, laser emitting module include one or
Multiple luminescence units and corresponding process circuit, multiple luminescence units constitute array of light emitting cells;
The laser signal receiving unit includes one or more laser pick-off modules, and a laser pick-off module includes one
Individual or multiple photoelectric signal transformation sensor units and corresponding process circuit, multiple photoelectric signal transformation sensor unit compositions
Sensor array.
The stationary part of the sweep mechanism is connected firmly with the mechanical-optical setup component;
The rotor portion of the sweep mechanism is connected firmly with the laser ranging module.
As seen from the above technical solution provided by the invention, said apparatus integrated level height, small volume, suitable for laser thunder
Application in terms of the pilotless automobile, robot navigation and the avoidance that reach.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
The structural representation for 360 ° of scanning probe laser radar apparatus that Fig. 1 is provided by the embodiment of the present invention;
Fig. 2 is the different structure block schematic illustration of mechanical-optical setup component described in the embodiment of the present invention;
The schematic diagram that Fig. 3 designs for parallel light path described in the embodiment of the present invention;
Fig. 4 is the schematic diagram that example of the present invention launches light path using the device;
Fig. 5 is the schematic diagram that example of the present invention utilizes the device receiving light path.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, is as shown in Figure 1 present invention implementation
The structural representation for 360 ° of scanning probe laser radar apparatus that example is provided, described device includes centrosymmetric mechanical-optical setup
Component 1, laser ranging module 2 and 360 ° of turntable driving modules 3, wherein:
The mechanical-optical setup component 1 further comprises that shafting structure 1-1 and optical window 1-2, the optical window 1-2 enclose
All or part of covering is realized around the mechanical-optical setup component 1, the shafting structure 1-1 is the rotation of the laser ranging module 2
Rotating shaft;During implementing, the part associated with shafting structure 1-1 of mechanical-optical setup component 1 can be integrally machined shaping,
Installation positioning can be debug by high accuracy;
The laser ranging module 2 includes transmitting light path 2-1, receiving light path 2-2, Laser emission component and laser signal and connect
Component is received, Laser emission component and laser signal receiving unit are arranged at the inside of the laser ranging module 2, wherein:
The transmitting light path 2-1 and receiving light path 2-2 is designed using parallel light path;
The laser direct projection of one or more luminescence units transmitting of the Laser emission component simultaneously passes through the transmitting light path
2-1 outgoing, then laser echo signal is received by the receiving light path 2-2, and the laser echo signal is focused on into laser letter
On the photoelectric signal transformation sensor array of number receiving unit;
360 ° of turntable driving modules 3 include sweep mechanism, turntable driving and control circuit, wherein:
The scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module around described
Shafting structure is rotated, and realizes 360 ° of laser scanning, detectings.Further, the stationary part of above-mentioned sweep mechanism and the light
Machine construction package is connected firmly;The rotor portion of sweep mechanism is connected firmly with the laser ranging module.
In the specific implementation, above-mentioned mechanical-optical setup component can be designed to different shape, implementation of the present invention is illustrated in figure 2
Mechanical-optical setup component 1 in the different structure block schematic illustration of the example mechanical-optical setup component, Fig. 2 is cylinder or round platform framework knot
Structure, accordingly, optical window 1-2 also according to mechanical-optical setup component 1 form design into different profiles, as shown in Figure 2.
Further, in addition to above-mentioned shape and structure, mechanical-optical setup component may be designed to quadrangle or polygonal cross-section
Frame structure;Above-mentioned mechanical-optical setup component and its circular optical window, form the overall sealing structure of laser radar apparatus.
In addition, above-mentioned Laser emission component includes one or more laser emitting modules, a laser emitting module includes
One or more luminescence units and corresponding process circuit, multiple luminescence units constitute array of light emitting cells;Laser signal is received
Component includes one or more laser pick-off modules, and a laser pick-off module is sensed including one or more photoelectric signal transformations
Device unit and corresponding process circuit, multiple photoelectric signal transformation sensor units constitute sensor array.
The schematic diagram that parallel light path described in the embodiment of the present invention is designed is illustrated in figure 3, with reference to Fig. 3:
One or more luminescence units of laser emitting module launch laser under the control of its alignment processing circuit, pass through
Collimation and shaping, laser beam is sent with certain angle of divergence;
The parallel light path of transmitting-receiving, makes the laser echo signal in certain field of view of receiver angle, is received by receiving light path, and focus on
Onto corresponding photoelectric signal transformation sensor unit.
Above-mentioned parallel light path design can effectively shield transmitting-receiving crosstalk, isolation laser emitting module back scattering veiling glare letter
Number, and make transmitting-receiving light path closely and remote while realizing that visual field is covered.
The light path transmitting-receiving process of said apparatus is described in detail with specific example below, this hair is illustrated in figure 4
Bright example launches the schematic diagram of light path using the device, the schematic diagram of receiving light path is illustrated in figure 5, with reference to Figure 4 and 5:
One or more luminescence units of Laser emission component launch laser respectively under laser transmission circuit control, light
The emitted lens group outgoing of laser (1 in such as Fig. 4) that unit 1 is launched, the received lens group of target echo signal is focused on pair
On the photosurface for the photoelectric signal transformation sensor unit 1 answered (1 in such as Fig. 5).
In turn, the laser of luminescence unit n transmittings, emitted and receiving lens group is by correspondence photoelectric signal transformation sensor
Unit n is received, and is formed the transmitting correspondingly of multiple luminescence units and multiple photoelectric signal transformation sensor units and is received and closes
System.
In addition, described device is luminous and receives the control logic of control circuit, it can be arranged according to the line number of laser radar, device
Cloth and the demand of application are different, form different Laser emissions and echo reception mode.
In summary, the embodiment of the present invention is provided device integrated level is high, small volume, is driven suitable for nobody of laser radar
Sail the application in terms of automobile, robot navigation and avoidance;Parallel light path design simultaneously can effectively shield transmitting-receiving crosstalk, isolate
The spuious optical signal of Laser emission component back scattering, and make transmitting-receiving light path closely and remote while realizing that visual field is covered.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (4)
1. a kind of 360 ° of scanning probe laser radar apparatus, it is characterised in that described device includes centrosymmetric mechanical-optical setup
Component, laser ranging module and 360 ° of turntable driving modules, wherein:
The mechanical-optical setup component further comprises shafting structure and optical window, and the optical window surrounds the mechanical-optical setup
Component realizes all or part of covering, and the shafting structure is the rotary shaft of the laser ranging module;
The laser ranging module includes transmitting light path, receiving light path, Laser emission component and laser signal receiving unit, its
In:
The transmitting light path and receiving light path are designed using parallel light path;
The laser direct projection of one or more luminescence units transmitting of the Laser emission component simultaneously launches light path outgoing by described,
Laser echo signal is received by the receiving light path again, and the laser echo signal is focused on into laser signal receiving unit
On photoelectric signal transformation sensor array;
360 ° of turntable driving modules include sweep mechanism, turntable driving and control circuit, wherein:
The scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module to surround the shafting
Structure is rotated, and realizes 360 ° of laser scanning, detectings.
2. 360 ° of scanning probe laser radar apparatus according to claim 1, it is characterised in that
The mechanical-optical setup component is cylinder or round platform frame structure, or designs quadrangularly or polygonal cross-section frame structure;
And the mechanical-optical setup component and its circular optical window, form the overall sealing structure of laser radar apparatus.
3. 360 ° of scanning probe laser radar apparatus according to claim 1, it is characterised in that
The Laser emission component includes one or more laser emitting modules, and a laser emitting module includes one or more
Luminescence unit and corresponding process circuit, multiple luminescence units constitute array of light emitting cells;
The laser signal receiving unit includes one or more laser pick-off modules, laser pick-off module include one or
Multiple photoelectric signal transformation sensor units and corresponding process circuit, multiple photoelectric signal transformation sensor unit composition sensings
Device array.
4. 360 ° of scanning probe laser radar apparatus according to claim 1, it is characterised in that
The stationary part of the sweep mechanism is connected firmly with the mechanical-optical setup component;
The rotor portion of the sweep mechanism is connected firmly with the laser ranging module.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN201710213213.6A CN107085207B (en) | 2017-04-01 | 2017-04-01 | 360 scanning detection laser radar device |
PCT/CN2018/000123 WO2018176972A1 (en) | 2017-04-01 | 2018-03-30 | Laser radar device and channel gating method thereof |
US16/589,078 US20200033450A1 (en) | 2017-04-01 | 2019-09-30 | Lidar device and channel gating method thereof |
Applications Claiming Priority (1)
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CN201710213213.6A CN107085207B (en) | 2017-04-01 | 2017-04-01 | 360 scanning detection laser radar device |
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CN107085207B CN107085207B (en) | 2020-05-01 |
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Cited By (21)
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CN107643516A (en) * | 2017-09-27 | 2018-01-30 | 北京因泰立科技有限公司 | A kind of 3-D scanning laser radar based on MEMS micromirror |
CN108226946A (en) * | 2018-01-23 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | Laser range finder and its signal element pedestal |
CN108226945A (en) * | 2018-01-15 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
WO2018176972A1 (en) * | 2017-04-01 | 2018-10-04 | 北科天绘(苏州)激光技术有限公司 | Laser radar device and channel gating method thereof |
CN109683145A (en) * | 2018-12-14 | 2019-04-26 | 中国航空工业集团公司北京航空精密机械研究所 | The stage body of large scale edge driving revolving-turret |
CN109814168A (en) * | 2017-11-22 | 2019-05-28 | 长沙行深智能科技有限公司 | The scanning detection method and scanning sensor of scanning sensor |
CN109917348A (en) * | 2019-01-25 | 2019-06-21 | 上海禾赛光电科技有限公司 | A kind of laser radar system |
US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
CN110832345A (en) * | 2019-04-15 | 2020-02-21 | 深圳市速腾聚创科技有限公司 | Laser radar |
WO2020062114A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Distance measurement apparatus, distance detection device and mobile platform |
CN111381241A (en) * | 2020-03-31 | 2020-07-07 | 深圳市银星智能科技股份有限公司 | Laser radar and cleaning robot |
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CN111781578A (en) * | 2020-06-09 | 2020-10-16 | 北京因泰立科技有限公司 | Two-dimensional scanning long-distance laser radar and working method thereof |
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WO2018176972A1 (en) * | 2017-04-01 | 2018-10-04 | 北科天绘(苏州)激光技术有限公司 | Laser radar device and channel gating method thereof |
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US10816647B2 (en) | 2017-06-19 | 2020-10-27 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
CN107643516A (en) * | 2017-09-27 | 2018-01-30 | 北京因泰立科技有限公司 | A kind of 3-D scanning laser radar based on MEMS micromirror |
CN109814168A (en) * | 2017-11-22 | 2019-05-28 | 长沙行深智能科技有限公司 | The scanning detection method and scanning sensor of scanning sensor |
CN113311447A (en) * | 2017-12-07 | 2021-08-27 | 奥斯特公司 | Rotary compact optical ranging system |
CN108226945A (en) * | 2018-01-15 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
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US20200400791A1 (en) * | 2018-03-13 | 2020-12-24 | Omron Corporation | Light detection device, light detection method, and lidar device |
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CN109683145A (en) * | 2018-12-14 | 2019-04-26 | 中国航空工业集团公司北京航空精密机械研究所 | The stage body of large scale edge driving revolving-turret |
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