CN107085207B - 360 scanning detection laser radar device - Google Patents
360 scanning detection laser radar device Download PDFInfo
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- CN107085207B CN107085207B CN201710213213.6A CN201710213213A CN107085207B CN 107085207 B CN107085207 B CN 107085207B CN 201710213213 A CN201710213213 A CN 201710213213A CN 107085207 B CN107085207 B CN 107085207B
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- laser
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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
- G01S7/481—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
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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
- G01S7/481—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 360-degree scanning detection laser radar device, which comprises a central symmetrical optical mechanical structure component, a laser ranging module and a 360-degree scanning driving module, wherein the optical mechanical structure component further comprises a shafting structure and an optical window which is completely or partially covered around the optical mechanical structure component; the laser ranging module comprises a transmitting light path, a receiving light path, a laser transmitting component and a laser signal receiving component, wherein the transmitting light path and the receiving light path are designed in a parallel light path mode; the 360-degree scanning driving module comprises a scanning mechanism and a scanning driving and control circuit, a scanning shaft of the scanning mechanism is coaxial with the shaft system structure, and the laser ranging module is driven to rotate around the shaft system structure, so that 360-degree laser scanning detection is realized. The device has high integration level and small volume, and is suitable for the application of laser radar in the aspects of unmanned vehicles, robot navigation, obstacle avoidance and the like.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a 360-degree scanning detection laser radar device.
Background
In the traditional scanning detection laser radar device, a unit laser transmitting and receiving module is adopted, and a scanning mechanism drives a rotating mirror to rotate or a swinging mirror to move, so that the two-dimensional scanning of the laser radar device is realized; and further, the rotary table transmission mechanism drives the laser scanning module to integrally rotate, so that the three-dimensional scanning of the target is realized.
The laser radar system and the laser radar device adopting the multi-element laser emission and detection technology generally comprise a moving part and a fixed part, a local optical window rotates relative to the fixed part along with the moving part, a plurality of unit laser emission and receiving modules are adopted, and the three-dimensional scanning of a target is realized.
Disclosure of Invention
The invention aims to provide a 360-degree scanning detection laser radar device which is high in integration level, small in size and suitable for application of laser radar in aspects of unmanned automobiles, robot navigation, obstacle avoidance and the like.
The utility model provides a 360 scanning detection laser radar device, the device includes central symmetry's ray apparatus structure subassembly, laser rangefinder module and 360 scanning drive module, wherein:
the optical mechanical structure assembly further comprises a shafting structure and an optical window, the optical window surrounds the optical mechanical structure assembly to realize complete or partial coverage, and the shafting structure is a rotating shaft of the laser ranging module;
the laser ranging module comprises a transmitting light path, a receiving light path, a laser transmitting assembly and a laser signal receiving assembly, wherein:
the transmitting light path and the receiving light path adopt a parallel light path design;
laser emitted by one or more light-emitting units of the laser emitting assembly is directly emitted and is emitted through the emitting light path, then a laser echo signal is received through the receiving light path, and the laser echo signal is focused on a photoelectric signal conversion sensor array of the laser signal receiving assembly;
the 360-degree scanning driving module comprises a scanning mechanism, a scanning driving circuit and a control circuit, wherein:
the scanning shaft of the scanning mechanism is coaxial with the shaft system structure and drives the laser ranging module to rotate around the shaft system structure, so that 360-degree laser scanning detection is realized.
The optical mechanical structure assembly is of a cylindrical or round platform frame structure or is designed into a quadrilateral or polygonal section frame structure, and the optical mechanical structure assembly and the surrounding optical window thereof form an integral sealing structure of the laser radar device.
The laser emission assembly comprises one or more laser emission modules, each laser emission module comprises one or more light-emitting units and corresponding processing circuits, and the light-emitting units form a light-emitting unit array;
the laser signal receiving assembly comprises one or more laser receiving modules, each laser receiving module comprises one or more photoelectric signal conversion sensor units and corresponding processing circuits, and the plurality of photoelectric signal conversion sensor units form a sensor array.
The stator part of the scanning mechanism is fixedly connected with the optical mechanical structure component;
and the rotor part of the scanning mechanism is fixedly connected with the laser ranging module.
The technical scheme provided by the invention has the advantages that the device is high in integration level and small in size, and is suitable for application in aspects of unmanned vehicles of laser radars, robot navigation, obstacle avoidance and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a 360 ° scanning detection lidar apparatus according to an embodiment of the present invention;
FIG. 2 is a block diagram of a different structural framework of an optical mechanical structure assembly according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a parallel optical path design according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the emission path using the apparatus according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic diagram of an exemplary receiving optical path using the apparatus of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the present invention will be further described in detail with reference to the accompanying drawings, and as shown in fig. 1, is a schematic structural diagram of a 360 ° scanning detection lidar apparatus provided in the embodiment of the present invention, the apparatus includes a centrosymmetric opto-mechanical structural assembly 1, a laser ranging module 2, and a 360 ° scanning driving module 3, wherein:
the optical mechanical structure assembly 1 further comprises a shafting structure 1-1 and an optical window 1-2, the optical window 1-2 surrounds the optical mechanical structure assembly 1 to realize complete or partial coverage, and the shafting structure 1-1 is a rotating shaft of the laser ranging module 2; in the specific implementation process, the part of the optical mechanical structure assembly 1, which is associated with the shafting structure 1-1, can be integrally machined and formed, and can also be installed and positioned through high-precision adjustment;
the transmitting light path 2-1 and the receiving light path 2-2 adopt a parallel light path design;
laser emitted by one or more light-emitting units of the laser emitting assembly is directly emitted and is emitted through the emitting light path 2-1, then a laser echo signal is received through the receiving light path 2-2, and the laser echo signal is focused on a photoelectric signal conversion sensor array of the laser signal receiving assembly;
the 360-degree scanning driving module 3 comprises a scanning mechanism, a scanning driving and controlling circuit, wherein:
the scanning shaft of the scanning mechanism is coaxial with the shaft system structure and drives the laser ranging module to rotate around the shaft system structure, so that 360-degree laser scanning detection is realized. Furthermore, the stator part of the scanning mechanism is fixedly connected with the optical mechanical structure component; and a rotor part of the scanning mechanism is fixedly connected with the laser ranging module.
In a specific implementation, the optical mechanical structure assembly may be designed into different shapes, as shown in fig. 2, which is a schematic diagram of different structural frames of the optical mechanical structure assembly according to the embodiment of the present invention, the optical mechanical structure assembly 1 in fig. 2 is a cylindrical or circular truncated cone frame structure, and correspondingly, the optical window 1-2 is also designed into different shapes according to the form of the optical mechanical structure assembly 1, as shown in fig. 2.
Further, besides the above shape structure, the optical mechanical structure assembly can be designed into a quadrangular or polygonal section frame structure; the optical machine structure assembly and the surrounding optical window form an integral sealing structure of the laser radar device.
In addition, the laser emission assembly comprises one or more laser emission modules, one laser emission module comprises one or more light emitting units and a corresponding processing circuit, and the light emitting units form a light emitting unit array; the laser signal receiving assembly comprises one or more laser receiving modules, one laser receiving module comprises one or more photoelectric signal conversion sensor units and corresponding processing circuits, and the plurality of photoelectric signal conversion sensor units form a sensor array.
Fig. 3 is a schematic diagram of a parallel optical path design according to an embodiment of the present invention, and referring to fig. 3:
one or more light-emitting units of the laser emitting module emit laser under the control of the corresponding processing circuit, and emit laser beams at a certain divergence angle after collimation and shaping;
and the laser echo signals within a certain receiving field angle are received by the receiving optical path and focused on the corresponding photoelectric signal conversion sensor unit.
The design of the parallel light path can effectively shield receiving and transmitting crosstalk, isolate stray light signals scattered back by the laser emission assembly, and enable the receiving and transmitting light path to realize field coverage at short distance and long distance.
The following describes in detail the optical path transceiving process of the above device by using a specific example, fig. 4 is a schematic diagram of the transmitting optical path of the device according to the example of the present invention, fig. 5 is a schematic diagram of the receiving optical path, and refer to fig. 4 and 5:
one or more light emitting units of the laser emitting assembly respectively emit laser under the control of a laser emitting circuit, the laser emitted by the light emitting unit 1 is emitted through a transmitting lens group (1 in fig. 4), and a target echo signal is focused on a photosensitive surface of a corresponding photoelectric signal conversion sensor unit 1 through a receiving lens group (1 in fig. 5).
In turn, the laser light emitted by the light emitting unit n is received by the corresponding photoelectric signal conversion sensor unit n through the emitting and receiving lens group, forming an emitting and receiving relationship in which the plurality of light emitting units and the plurality of photoelectric signal conversion sensor units correspond one to one.
In addition, the control logic of the device light-emitting and receiving control circuit can form different laser emission and echo receiving modes according to different requirements of line number, device arrangement and application of the laser radar.
In conclusion, the device provided by the embodiment of the invention has high integration level and small volume, and is suitable for application in the aspects of unmanned vehicles of laser radars, robot navigation, obstacle avoidance and the like; meanwhile, the design of the parallel light path can effectively shield receiving and transmitting crosstalk, isolate stray light signals scattered back by the laser emission assembly and enable the receiving and transmitting light path to simultaneously realize field coverage at a short distance and a long distance.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. The utility model provides a 360 scanning detection laser radar device, its characterized in that, the device includes central symmetry's ray apparatus structure subassembly, laser rangefinder module and 360 scanning drive module, wherein:
the optical mechanical structure assembly further comprises a shafting structure and an optical window, the optical window surrounds the optical mechanical structure assembly to realize complete or partial coverage, the shafting structure is a rotating shaft of the laser ranging module, and the optical mechanical structure assembly and the part associated with the shafting structure are integrally processed and formed;
the laser ranging module comprises a transmitting light path, a receiving light path, a laser transmitting assembly and a laser signal receiving assembly, wherein:
the transmitting light path and the receiving light path adopt a parallel light path design;
laser emitted by one or more light-emitting units of the laser emitting assembly is directly emitted and is emitted through the emitting light path, then a laser echo signal is received through the receiving light path, and the laser echo signal is focused on a photoelectric signal conversion sensor array of the laser signal receiving assembly;
the 360-degree scanning driving module comprises a scanning mechanism, a scanning driving circuit and a control circuit, wherein:
the scanning shaft of the scanning mechanism is coaxial with the shaft system structure and drives the laser ranging module to rotate around the shaft system structure, so that 360-degree laser scanning detection is realized; the stator part of the scanning mechanism is fixedly connected with the optical mechanical structure component; and the rotor part of the scanning mechanism is fixedly connected with the laser ranging module.
2. The 360 ° scanning detection lidar apparatus of claim 1,
the optical mechanical structure assembly is of a cylindrical or round table frame structure or is designed into a quadrangular or polygonal section frame structure;
and the optical mechanical structure assembly and the surrounding optical window form an integral sealing structure of the laser radar device.
3. The 360 ° scanning detection lidar apparatus of claim 1,
the laser emission assembly comprises one or more laser emission modules, each laser emission module comprises one or more light-emitting units and corresponding processing circuits, and the light-emitting units form a light-emitting unit array;
the laser signal receiving assembly comprises one or more laser receiving modules, each laser receiving module comprises one or more photoelectric signal conversion sensor units and corresponding processing circuits, and the plurality of photoelectric signal conversion sensor units form a sensor array.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710213213.6A CN107085207B (en) | 2017-04-01 | 2017-04-01 | 360 scanning detection laser radar device |
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| Publication Number | Publication Date |
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| CN107085207A CN107085207A (en) | 2017-08-22 |
| CN107085207B true CN107085207B (en) | 2020-05-01 |
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| CN201710213213.6A Active CN107085207B (en) | 2017-04-01 | 2017-04-01 | 360 scanning detection laser radar device |
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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 |
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
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| US10481269B2 (en) * | 2017-12-07 | 2019-11-19 | Ouster, Inc. | Rotating compact light ranging system |
| 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 |
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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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| CN117665753A (en) * | 2022-08-30 | 2024-03-08 | 上海禾赛科技有限公司 | Laser radar |
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Effective date of registration: 20211021 Address after: 100094 Beijing Haidian District Yongfeng Road No.5 Courtyard No.1 Building 502 Patentee after: BEIJING SURESTAR TECHNOLOGY Co.,Ltd. Address before: 100094 Beijing Haidian District Yongfeng Road No.5 Courtyard No.1 Building 502 Patentee before: BEIJING TOOLIGHT TECHNOLOGY Co.,Ltd. Patentee before: BEIJING SURESTAR TECHNOLOGY Co.,Ltd. |