CN108663670B - Laser radar optical-mechanical device - Google Patents
Laser radar optical-mechanical device Download PDFInfo
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- CN108663670B CN108663670B CN201810459535.3A CN201810459535A CN108663670B CN 108663670 B CN108663670 B CN 108663670B CN 201810459535 A CN201810459535 A CN 201810459535A CN 108663670 B CN108663670 B CN 108663670B
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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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
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- Engineering & Computer Science (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar optical-mechanical device, wherein the transmitting optical axis of a laser light source in a laser transmitting assembly and the receiving optical axis of a laser receiving assembly are coaxially arranged, the receiving assembly is arranged on one side departing from the transmitting end of a laser diode, and emergent laser emitted by the laser light source is reflected by a reflecting assembly and then emitted by a protective cover assembly; and the signal laser reflected by the target object enters from the protective cover assembly, is reflected by the reflecting assembly and is received by the laser receiving assembly. The laser emitting assembly in the laser radar optical-mechanical device provided by the invention has small influence on the laser receiving assembly, improves the receiving capacity of signal laser, improves the precision of a laser radar, has a simple structure, does not need to form holes on the laser receiving assembly, and reduces the processing difficulty and cost.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar optical-mechanical device.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The laser radar detection has the characteristics of long distance, high precision, good concealment and strong anti-interference capability, so that the laser radar detection is widely applied. The laser radar is mainly divided into a coaxial system and a parallel system, and the coaxial laser radar system has the characteristics of small blind area, simple structure and the like compared with the parallel system.
However, in order to ensure that the transmission and the reception are coaxial, the traditional coaxial laser radar system usually performs hole opening processing in the center of the receiving lens, and the laser light source emits outgoing laser light from the hole opening, so that the processing difficulty and the cost are increased, and the receiving capability of signal laser light reflected by a target object is also reduced.
Disclosure of Invention
The invention provides a laser radar optical-mechanical device, which aims to reduce the processing difficulty and cost and improve the receiving capability of signal laser.
The invention provides a laser radar optical-mechanical device, comprising: the laser protection device comprises a protection cover assembly, a laser emitting assembly, a laser receiving assembly and a reflecting assembly, wherein the laser emitting assembly, the laser receiving assembly and the reflecting assembly are all arranged in the protection cover assembly;
the laser emission assembly comprises a laser light source, and emergent laser emitted by the laser light source is reflected by the reflection assembly and then is emitted by the protective cover assembly;
the laser receiving assembly is arranged on one side departing from the emitting end of the laser diode, a receiving optical axis of the laser receiving assembly is coaxial with an emitting optical axis of the laser light source, and the laser receiving assembly is used for receiving signal laser which enters from the protective cover assembly and is reflected by the reflecting assembly;
the reflection assembly can rotate around the emission optical axis of the laser light source.
Furthermore, the reflection assembly comprises a reflector and a rotating motor, the mirror surface of the reflector is obliquely arranged, and the rotating motor drives the reflector to rotate around the emission optical axis of the laser light source.
Further, the laser emitting assembly further includes: a collimating lens barrel and a collimating lens.
The collimating lens barrel is arranged between the reflector and the protective cover component and fixedly connected with the reflector, the optical axis of the collimating lens barrel is coaxial with the optical axis of the emergent laser reflected by the reflector component, and an opening is arranged at the position, close to the reflector, of the collimating lens barrel so that the laser light source extends into the collimating lens barrel and the emergent laser emitted by the laser light source is emitted out of the collimating lens barrel after being reflected by the part, located in the collimating lens barrel, of the reflector;
and the collimating lens is arranged in the collimating lens barrel and is used for collimating the emergent laser.
Further, the collimating lens barrel is a barrel with the taper larger than the divergence angle of the emergent laser.
Furthermore, the emission optical axis of laser light source is along vertical direction, the speculum with laser light source's emission optical axis is 45 degrees contained angles.
Further, the laser receiving assembly comprises a receiving lens and a photosensitive element, wherein the photosensitive element is arranged on a focal point of the receiving lens;
the laser emitting assembly further includes: and the fixing piece is used for fixing the laser light source on one side of the receiving lens, which is far away from the photosensitive element, and the emission optical axis of the laser light source is coaxial with the receiving lens.
Further, the photosensitive element is an avalanche photodiode.
Further, the protection casing subassembly including the cover body and with the casing that the cover body is connected, the cover body with the casing forms jointly and holds the laser emission subassembly, laser receiving assembly with reflection component's the chamber that holds, the cover body includes the lateral wall, so that emergent laser jets out and signal laser gets into.
Further, the cover body is a cylindrical cover body or a truncated cone-shaped cover body;
the end part of the collimating lens barrel facing the cover body is a plane, and the inclination angle of the plane is matched with the inner wall of the cover body; or the end part of the collimating lens barrel facing the cover body is a curved surface matched with the shape of the inner wall of the cover body;
the gap between the end part of the collimating lens barrel facing the cover body and the inner wall of the cover body is smaller than a preset value, so that stray light overflowing from the gap is reduced from interfering the laser receiving system. Because the end part of the collimating lens barrel facing the cover body is close to the inner wall of the cover body of the protective cover, stray light generated by the cover body of the protective cover can less enter a laser receiving system, and the precision of the laser radar is improved.
Furthermore, the laser light source is a pigtail type laser diode, and the pigtail type laser diode comprises a laser diode, an optical fiber micro lens, an optical fiber and a flange head;
wherein the laser light emitted by the laser diode enters the optical fiber through the optical fiber microlens and is emitted from the optical fiber head, thereby forming the emitted laser light; the flange head is used for fixing the optical fiber head on the end part of the fixing piece; the optical fiber penetrates through the fixing piece and extends out of the channel formed in the fixing piece.
The laser radar optical machine device provided by the invention has the advantages that the transmitting optical axis of the laser light source in the laser transmitting assembly and the receiving optical axis of the laser receiving assembly are coaxially arranged, the receiving assembly is arranged on one side away from the transmitting end of the laser diode, and emergent laser emitted by the laser light source is reflected by the reflecting assembly and then is emitted by the protective cover assembly; and the signal laser reflected by the target object enters from the protective cover assembly, is reflected by the reflecting assembly and is received by the laser receiving assembly. The laser emitting assembly in the laser radar optical-mechanical device provided by the invention has small influence on the laser receiving assembly, improves the receiving capacity of signal laser, improves the precision of a laser radar, has a simple structure, does not need to form holes on the laser receiving assembly, and reduces the processing difficulty and cost.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a laser radar optical mechanical device according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating an installation of a collimating lens barrel and a reflector in a laser radar optical machine apparatus according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a laser radar optical mechanical device according to a second embodiment of the present invention;
fig. 4 is a schematic view illustrating an installation of a collimating lens barrel and a collimating lens in a laser radar optical machine apparatus according to a second embodiment of the present invention.
Reference numerals:
1-a laser diode; 2-a fixing piece;
3-a collimating lens barrel; a 3' -collimating lens barrel;
4-a collimating lens; 5-a reflector;
6-a receiving lens; 7-a photosensitive element;
8-cover body; 8' -cover body;
9-a housing; 10-thread pressing ring.
Detailed Description
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
In the description of the present application, it is to be understood that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," and the like are used in the orientation or positional relationship indicated in the drawings for convenience and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
The first embodiment is as follows:
fig. 1 is a schematic structural diagram of a laser radar optical mechanical device according to an embodiment of the present invention. As shown in fig. 1, the present embodiment provides a laser radar optical mechanical device, including: the laser protection device comprises a protection cover component, a laser emission component, a laser receiving component and a reflection component, wherein the laser emission component, the laser receiving component and the reflection component are arranged in the protection cover component.
The laser emission assembly comprises a laser light source, and emergent laser emitted by the laser light source is emitted out of the protective cover assembly after being reflected by the reflection assembly.
The laser receiving assembly is arranged on one side of the laser receiving assembly, which is far away from the transmitting end of the laser diode 1, the receiving optical axis of the laser receiving assembly is coaxial with the transmitting optical axis of the laser light source, and the laser receiving assembly is used for receiving signal laser which enters from the protective cover assembly and is reflected by the reflecting assembly.
The reflection assembly can rotate around the emission optical axis of the laser light source.
In the implementation, the transmitting optical axis of a laser light source in the laser transmitting assembly is coaxial with the receiving optical axis of the laser receiving assembly, the receiving assembly is arranged on one side departing from the transmitting end of the laser diode 1, and emergent laser emitted by the laser light source is reflected by the reflecting assembly and then emitted by the protective cover assembly; and the signal laser reflected by the target object enters from the protective cover assembly, is reflected by the reflecting assembly and is received by the laser receiving assembly. Laser emission subassembly sets up before laser receiving assembly in this embodiment, reduces the influence of laser emission subassembly to laser receiving assembly for trompil on laser receiving assembly, improves the receptivity of signal laser to simple structure need not receive the subassembly trompil to laser, thereby has reduced the processing degree of difficulty and cost.
More specifically, the reflection assembly includes a reflection mirror 5 and a rotation motor (not shown in the figure), the mirror surface of the reflection mirror 5 is obliquely arranged, and the rotation motor drives the reflection mirror 5 to rotate around the emission optical axis of the laser light source.
In this embodiment, the reflector 5 is driven to rotate around the transmitting optical axis of the laser light source by rotating the motor, so that 360-degree scanning of the laser radar optical mechanical device is realized. That is, the emergent laser can be emitted towards 360 degrees, and simultaneously can receive signal laser of 360 degrees. As shown in fig. 1, in this embodiment, the emission optical axis of the laser light source is along the vertical direction, and the reflecting mirror 5 and the emission optical axis of the laser light source form an included angle of 45 degrees, so that the emergent laser light is reflected by the reflecting mirror 5 and then emitted along the horizontal direction. Of course, if the emergent laser is reflected by the reflector 5 and then along other angles, the direction of the emission optical axis of the laser light source and the included angle between the reflector 5 and the emission optical axis of the laser light source can be set according to the requirement.
In this embodiment, the laser emitting assembly may further include: a collimator lens barrel 3 and a collimator lens 4.
As shown in fig. 1 and 2, the collimating lens barrel 3 is disposed between the reflector 5 and the protective cover assembly, and is fixedly connected to the reflector 5, the collimating lens barrel 3 and the optical axis of the emergent laser reflected by the reflector assembly are coaxial, and an opening is disposed at a position of the collimating lens barrel 3 close to the reflector 5, so that the laser light source extends into the collimating lens barrel 3, and the emergent laser emitted by the laser light source is emitted from the collimating lens barrel 3 after being reflected by a portion of the reflector 5 located in the collimating lens barrel 3; the collimating lens 4 is disposed in the collimating lens barrel 3, and is configured to collimate the emitted laser, so that the laser emitted from the laser radar optical mechanical device is parallel light.
The whole light path of the emergent laser emitted by the laser source is uniformly distributed in the collimating lens barrel 3, so that the generated stray light is prevented from overflowing into the laser receiving system, the interference of the laser emitting assembly on the laser receiving assembly is avoided, and the receiving capacity of the signal laser is further improved. Because the reflector 5 is driven by the rotating motor to rotate and simultaneously drives the collimating lens barrel 3 to rotate, and the laser source and the protective cover component do not rotate, the aperture of the opening formed in the collimating lens barrel 3 is slightly larger than the diameter of the opening part of the laser source, and the preferred aperture of the opening is larger than the diameter of the opening part of the laser source, which is 1mm larger than the diameter of the opening part of the laser source, so that the opening part of the laser source does not interfere with the rotation of the collimating lens barrel 3, and stray light can be prevented from overflowing from the opening.
Preferably, the collimating lens barrel 3 is a barrel with a taper larger than the divergence angle of the emergent laser, and the shading area is reduced according to the divergence characteristic of the light beam, so that the light emission efficiency is improved.
Further, the protection casing subassembly including the cover body 8 and with casing 9 that cover body 8 is connected, cover body 8 with casing 9 forms jointly and holds the laser emission subassembly laser receiving component with the chamber that holds of reflection component, cover body 8 includes the lateral wall, so that emergent laser emits and signal laser gets into. In this embodiment, the cover 8 is a cylindrical cover, that is, the cover 8 is cylindrical in shape, and its inner cavity is also a cylindrical inner cavity.
The end part of the collimating lens barrel 3 facing the cover body 8 can be a plane, the inclination angle of the plane is matched with the inner wall of the cover body 8, namely the normal direction of the plane is perpendicular to the axis of the cylindrical cover body 8, and the emergent end of the collimating lens barrel 3 is smaller relative to the inner wall of the cover body 8, so that stray light overflowing from the emergent end of the collimating lens barrel 3 is less due to the plane, and the interference on a laser receiving system is reduced. Optionally, the end of the collimating lens barrel 3 facing the cover 8 may also be a curved surface matching the shape of the inner wall of the cover 8, that is, the gap between the edge of the exit end of the collimating lens barrel 3 and the inner wall of the cover 8 is equal everywhere, so that stray light overflowing from the exit end of the collimating lens barrel 3 is less, and interference to the laser receiving system is reduced. Furthermore, a gap between the end of the collimating lens barrel 3 facing the cover 8 and the inner wall of the cover 8 is smaller than a predetermined value, wherein the predetermined value is preferably 2mm, which can further reduce interference of stray light overflowing from the gap between the exit end of the collimating lens barrel 3 and the inner wall of the cover 8 on the laser receiving system, and also avoid interference between the collimating lens barrel 3 and the inner wall of the cover 8 when rotating along with the reflector 5.
In this embodiment, the laser receiving assembly includes a receiving lens 6 and a photosensitive element 7, the photosensitive element 7 is disposed at a focus of the receiving lens 6, and the signal laser reflected by the target enters from the protective cover assembly, is reflected by the reflecting mirror 5, is received by the receiving lens 6, and then converges on the photosensitive element 7. Wherein the photosensitive element 7 may be an avalanche photodiode having a high sensitivity and response speed.
The laser emitting assembly may further include: and the fixing piece 2 is used for fixing the laser light source on one side of the receiving lens 6, which is far away from the photosensitive element 7, and the emission optical axis of the laser light source is coaxial with the receiving lens 6. Wherein fixed mode is not limited to gluing or threaded connection, need not receive the opening on the lens 6 again in this embodiment to processing degree of difficulty and cost have been reduced, and mounting 2 and laser light source are less and the shielding part is located receiving lens 6 preceding to receiving lens 6 the shielding part of receiving lens 6, and is less for opening the influence to signal laser on receiving lens 6, thereby also improves the receptivity of signal laser.
More specifically, the fixing member 2 may be a tube, the laser light source is a pigtail type laser diode, and the pigtail type laser diode includes a laser diode, a fiber microlens, a fiber, and a flange head; wherein the laser light emitted by the laser diode enters the optical fiber through the optical fiber microlens and is emitted from the optical fiber head, thereby forming the emitted laser light; the flange head is used for fixing the optical fiber head part on the end part of the fixing part 2; the optical fiber penetrates through the fixing part 2 and extends out of a channel formed in the fixing part 2, so that the shielding area of the receiving lens 6 is reduced. Of course, the laser light source may also adopt other types of laser emitting devices.
The laser radar optical machine device provided in the embodiment has the following advantages:
the center of a receiving lens of the laser receiving assembly does not need to be provided with a hole, so that the processing difficulty and cost are reduced; the shape of the emergent end face of the collimating lens barrel is matched with the inner wall of the cover body of the protective cover, and the gap between the emergent end face of the collimating lens barrel and the inner wall of the cover body is smaller than a preset value, so that the emergent end of the collimating lens barrel is close to the inner wall of the cover body of the protective cover as much as possible, stray light generated by the cover body of the protective cover can enter a laser receiving system less, and the precision of a laser radar is improved; meanwhile, the shielding area of the laser transmitting system to the receiving lens is reduced, and the signal receiving capacity is also improved.
Example two:
fig. 3 is a schematic structural diagram of a laser radar optical mechanical device according to a second embodiment of the present invention. As shown in fig. 3, the present embodiment provides a laser radar optical mechanical device, including: the laser protection device comprises a protection cover component, a laser emission component, a laser receiving component and a reflection component, wherein the laser emission component, the laser receiving component and the reflection component are arranged in the protection cover component.
The laser emission assembly comprises a laser light source, and emergent laser emitted by the laser light source is emitted out of the protective cover assembly after being reflected by the reflection assembly.
The laser receiving assembly is arranged on one side of the laser receiving assembly, which is far away from the transmitting end of the laser diode 1, the receiving optical axis of the laser receiving assembly is coaxial with the transmitting optical axis of the laser light source, and the laser receiving assembly is used for receiving signal laser which enters from the protective cover assembly and is reflected by the reflecting assembly.
The reflection assembly can rotate around the emission optical axis of the laser light source.
In the implementation, the transmitting optical axis of a laser light source in the laser transmitting assembly is coaxial with the receiving optical axis of the laser receiving assembly, the receiving assembly is arranged on one side departing from the transmitting end of the laser diode 1, and emergent laser emitted by the laser light source is reflected by the reflecting assembly and then emitted by the protective cover assembly; and the signal laser reflected by the target object enters from the protective cover assembly, is reflected by the reflecting assembly and is received by the laser receiving assembly. Laser emission subassembly sets up before laser receiving assembly in this embodiment, reduces the influence of laser emission subassembly to laser receiving assembly for trompil on laser receiving assembly, improves the receptivity of signal laser to simple structure need not receive the subassembly trompil to laser, thereby has reduced the processing degree of difficulty and cost.
Different from the above-mentioned embodiment, protection casing subassembly reflection assembly can only contain speculum 5 in this embodiment, and laser radar ray apparatus is whole can rotate or laser emission subassembly, laser receiving element and the reflection component in the protection casing subassembly can rotate to realize 360 degrees scans of laser radar ray apparatus. Of course, the laser radar optical-mechanical device can also only emit laser and receive signal laser towards a certain direction, that is, the laser radar optical-mechanical device does not comprise a rotating structure.
In this embodiment, the laser emitting assembly may further include: a collimating lens barrel 3' and a collimating lens 4. The collimating lens barrel 3 'is arranged between the reflector 5 and the protective cover assembly and fixedly connected with the reflector 5, the optical axis of the collimating lens barrel 3' and the optical axis of the emergent laser reflected by the reflector assembly are coaxial, and an opening is arranged at the position of the collimating lens barrel 3 'close to the reflector 5, so that the laser light source extends into the collimating lens barrel 3' and the emergent laser emitted by the laser light source is emitted out of the collimating lens barrel 3 'after being reflected by the part of the reflector 5 positioned in the collimating lens barrel 3'; the collimating lens 4 is disposed in the collimating lens barrel 3' and is configured to collimate the emitted laser, so that the laser emitted from the laser radar optical mechanical device is parallel light. The collimating lens barrel 3' is preferably a barrel with a taper larger than the divergence angle of the emergent laser, reduces the shading area according to the divergence characteristic of the light beam, improves the emission efficiency of the light, and can be a cylindrical barrel.
In this embodiment, an installation manner of the collimating lens 4 is further provided, as shown in fig. 4, a boss is disposed on an inner wall of the collimating lens barrel 3 ', the collimating lens 4 abuts against the boss, and the collimating lens 4 is compressed by the threaded pressing ring 10, so that the collimating lens 4 is fixed in the collimating lens barrel 3'. Of course, other mounting manners may be adopted in other examples, and are not described herein again.
The protection casing subassembly include the cover body 8 'and with casing 9 that cover body 8' is connected, cover body 8 'with casing 9 forms jointly and holds the laser emission subassembly, laser receiving component with the chamber that holds of reflection component, cover body 8' includes the lateral wall, so that emergent laser is jetted out and signal laser gets into. Different from the above embodiments, the cover body 8 'of the present embodiment is a truncated cone-shaped cover body, that is, the shape of the cover body 8' is truncated cone-shaped, and the inner cavity thereof is also truncated cone-shaped. The truncated cone-shaped cover body can be in a truncated cone shape with a large upper part and a small lower part as shown in figure 2, and can also be in a truncated cone shape with a small upper part and a large lower part.
The end of the collimating lens barrel 3 'facing the cover body 8' may be a plane, and the inclination angle of the plane is matched with the inner wall of the cover body 8 ', that is, as shown in fig. 2, the inclination angle of the plane of the exit end of the collimating lens barrel 3' is the same as the inclination angle of the side surface of the truncated cone-shaped cover body 8 ', so that stray light overflowing from the exit end of the collimating lens barrel 3' is less, and interference to the laser receiving system is reduced. Optionally, the end of the collimating lens barrel 3 'facing the cover 8' may also be a curved surface matching the shape of the inner wall of the cover 8 ', that is, the gap between the edge of the exit end of the collimating lens barrel 3' and the inner wall of the cover 8 'is equal everywhere, so that stray light overflowing from the exit end of the collimating lens barrel 3' is less, and interference to the laser receiving system is reduced. Furthermore, a gap existing between the end of the collimating lens barrel 3 ' facing the cover 8 ' and the inner wall of the cover 8 ' is smaller than a predetermined value, for example, the gap may be 1mm, so as to further reduce interference of stray light overflowing from the gap between the exit end of the collimating lens barrel 3 ' and the inner wall of the cover 8 ' on the laser receiving system, and simultaneously avoid interference between the collimating lens barrel 3 ' and the inner wall of the cover 8 ' when rotating along with the reflector 5.
In this embodiment, the laser receiving assembly includes a receiving lens 6 and a photosensitive element 7, the photosensitive element 7 is disposed at a focus of the receiving lens 6, and the signal laser reflected by the target enters from the protective cover assembly, is reflected by the reflecting mirror 5, is received by the receiving lens 6, and then converges on the photosensitive element 7. Wherein the photosensitive element 7 can be a phototriode or a photomultiplier tube, etc.
The laser emitting assembly further includes: and the fixing piece 2 is used for fixing the laser light source on one side of the receiving lens 6, which is far away from the photosensitive element 7, and the emission optical axis of the laser light source is coaxial with the receiving lens 6. The fixing member 2 may be a bracket fixed to the receiving lens 6 by adhesion, and the laser light source is fixed to an end of the bracket. In addition, the laser light source may be a pigtail type laser diode as in the above embodiments, and may also be other types of laser light sources, such as a gas laser, a solid laser, etc., which are not described herein again.
The laser radar optical machine device provided in the embodiment has the following advantages:
the center of a receiving lens of the laser receiving assembly does not need to be provided with a hole, the processing difficulty and cost are reduced, the shape of the emergent end face of the collimating lens barrel is matched with the inner wall of the cover body of the protective cover, and the gap from the emergent end face of the collimating lens barrel to the inner wall of the cover body is smaller than a preset value, so that the emergent end of the collimating lens barrel is close to the inner wall of the cover body of the protective cover as much as possible, stray light generated by the cover body of the protective cover can enter a laser receiving system less, and the precision of; meanwhile, the shielding area of the laser transmitting system to the receiving lens is reduced, and the signal receiving capacity is also improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A laser radar opto-mechanical device, comprising: the laser protection device comprises a protection cover assembly, a laser emitting assembly, a laser receiving assembly and a reflecting assembly, wherein the laser emitting assembly, the laser receiving assembly and the reflecting assembly are all arranged in the protection cover assembly;
the laser emission assembly comprises a laser light source, and emergent laser emitted by the laser light source is reflected by the reflection assembly and then is emitted by the protective cover assembly;
the laser receiving assembly is arranged on one side departing from the emitting end of the laser diode, a receiving optical axis of the laser receiving assembly is coaxial with an emitting optical axis of the laser light source, and the laser receiving assembly is used for receiving signal laser which enters from the protective cover assembly and is reflected by the reflecting assembly; the laser receiving assembly comprises a receiving lens and a photosensitive element, and the photosensitive element is arranged on the focal point of the receiving lens;
the reflecting component comprises a reflecting mirror which can rotate around the emission optical axis of the laser light source;
the laser emitting assembly further includes:
the fixing piece is used for fixing the laser light source on one side of the receiving lens, which is far away from the photosensitive element, and enabling the emission optical axis of the laser light source to be coaxial with the receiving lens, so that the receiving lens does not need to be provided with a hole;
the collimating lens barrel is arranged between the reflector and the protective cover assembly and fixedly connected with the reflector, and the collimating lens barrel is coaxial with an optical axis of the emergent laser reflected by the reflector assembly; a collimating lens is arranged in the collimating lens barrel; an opening is formed in the position, close to the reflector, of the collimation lens barrel, so that the laser light source extends into the collimation lens barrel, emergent laser emitted by the laser light source is reflected by the part, located in the collimation lens barrel, of the reflector, is collimated by the collimation lens, and then is emitted from the emergent end of the collimation lens barrel.
2. The apparatus of claim 1,
the reflecting assembly comprises a rotating motor, the mirror surface of the reflecting mirror is arranged in an inclined mode, and the rotating motor drives the reflecting mirror to rotate around the transmitting optical axis of the laser light source.
3. The device of claim 1, wherein the collimating barrel is a barrel with a taper greater than the exit laser divergence angle.
4. The device according to any one of claims 1-3, wherein the emission optical axis of the laser light source is vertical, and the reflector and the emission optical axis of the laser light source form an included angle of 45 degrees.
5. The apparatus of claim 1, wherein the photosensitive element is an avalanche photodiode.
6. The apparatus of claim 1 or 3, wherein the protective cover assembly comprises a cover body and a housing connected to the cover body, the cover body and the housing together forming a receiving cavity for receiving the laser emitting assembly, the laser receiving assembly and the reflecting assembly, the cover body comprising side walls for emitting the outgoing laser light and for receiving the signal laser light.
7. The apparatus of claim 6, wherein the cover is a cylindrical cover or a truncated cone cover;
the end part of the collimating lens barrel facing the cover body is a plane, and the inclination angle of the plane is matched with the inner wall of the cover body; or the end part of the collimating lens barrel facing the cover body is a curved surface matched with the shape of the inner wall of the cover body;
the gap between the end part of the collimating lens barrel facing the cover body and the inner wall of the cover body is smaller than a preset value, so that stray light overflowing from the gap is reduced from interfering the laser receiving system.
8. The apparatus of claim 4, wherein the laser light source is a pigtail type laser diode comprising a laser diode, a fiber microlens, an optical fiber, and a flange tip;
wherein the laser light emitted by the laser diode enters the optical fiber through the optical fiber microlens and is emitted from the optical fiber head, thereby forming the emitted laser light; the flange head is used for fixing the optical fiber head on the end part of the fixing piece; the optical fiber penetrates through the fixing piece and extends out of the channel formed in the fixing piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459535.3A CN108663670B (en) | 2018-05-15 | 2018-05-15 | Laser radar optical-mechanical device |
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| CN111665485B (en) * | 2019-03-07 | 2024-05-31 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN109991588A (en) * | 2019-04-29 | 2019-07-09 | 北京握奇数据股份有限公司 | A kind of laser radar scanning device |
| US11681019B2 (en) * | 2019-09-18 | 2023-06-20 | Apple Inc. | Optical module with stray light baffle |
| CN110988893B (en) * | 2019-12-11 | 2022-04-12 | 武汉万集信息技术有限公司 | Laser radar device |
| CN113687367A (en) * | 2020-05-16 | 2021-11-23 | 北醒（北京）光子科技有限公司 | Double-emission laser radar |
| CN112986956B (en) * | 2021-02-04 | 2024-02-13 | 广州市慧建科技有限公司 | Laser radar light wave receiving and transmitting control method and laser radar |
| WO2024031905A1 (en) * | 2022-08-10 | 2024-02-15 | 杭州宇树科技有限公司 | Laser radar and robot |
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