CN109387822A - A kind of coaxial multiple frequence laser radar - Google Patents
A kind of coaxial multiple frequence laser radar Download PDFInfo
- Publication number
- CN109387822A CN109387822A CN201811503354.2A CN201811503354A CN109387822A CN 109387822 A CN109387822 A CN 109387822A CN 201811503354 A CN201811503354 A CN 201811503354A CN 109387822 A CN109387822 A CN 109387822A
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- China
- Prior art keywords
- reflecting mirror
- laser
- mirror
- light source
- loophole
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- 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
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
Abstract
The invention discloses a kind of higher coaxial multiple frequence laser radars of scanning accuracy, and light source, the second reflecting mirror, shaping lens and the first reflecting mirror are set gradually；Second reflecting mirror is provided with the second mirror surface, and the second reflecting mirror is provided with loophole；Light source is located at the side at the second mirror surface back side, and the measurement laser for issuing light source passes through loophole；It is parallel to primary optical axis injection after being reflected again by shaping lens, forms shaped laser；The setting coaxial with loophole of light source, shaping lens；First reflecting mirror is connected to motor, and the first reflecting mirror is rotated around axial line；First reflecting mirror has the first mirror surface, and the first reflecting mirror is positive terrace with edge structure；The axial line of first reflecting mirror and shaped laser are perpendicular；Receiving sensor is located at the top of the second reflecting mirror, and focuses on measured object reflected light in receiving sensor under the reflection of the second mirror surface.Duration is detected by reducing, increases the scan slice density in the unit time, improves measurement accuracy, it is highly reliable.
Description
Technical field
The present invention relates to a kind of laser measuring device for measuring more particularly to a kind of coaxial multiple frequence laser radars.
Background technique
Well known: laser scanner is a kind of instrument of size and shape that workpiece is measured using time flight theory etc.
Device.The time flight theory of laser are as follows: laser emitter issues laser pulse wave, and timer internal is started the clock t1, when
After laser wave encounters object, portion of energy is returned, and when laser pickoff receives return laser light, is stopped timer internal t2, is swashed
Distance of the optical radar to object are as follows: S=C × (t2-t1)/2, wherein C is the light velocity.
The measuring principle of laser scanner: laser emitter issues laser pulse wave, after laser wave encounters object, part
Energy returns, and when laser pickoff receives return laser light wave, and the energy of close echo is enough to trigger threshold value, laser scanner
Calculate the distance value that it arrives object；Laser scanner continuously ceaselessly emits laser pulse wave, and laser pulse wave is beaten to be revolved in high speed
On the mirror surface turned, laser pulse wave is emitted to the scanning that a 2 dimensional region is formed to all directions.This 2 dimensional region
Following two function may be implemented in scanning: 1) the scanning range of scanner in, protection zone of different shapes is set, when having
When object enters the region, alarm signal is issued；2) in the scanning range of scanner, scanner export each measurement point away from
From the appearance profile of object, coordinate setting can be calculated according to this range information.
Authorization Notice No. is that the patent document of CN105759253B discloses a kind of laser scanning and ranging instrument.Light source is launched
Laser is measured, measurement laser is injected into the loophole of reflecting mirror, due to being provided with reflector in loophole, measures laser
It penetrates on the reflector in loophole, measurement laser is launched in the horizontal direction by reflector reflection.When measurement laser is met
It when to testee, is reflected on measured object surface, is reflected back a branch of measured object reflected light, reflected measured object reflection
Light is radiated on the mirror surface of reflecting mirror, by mirror surface reflection change light path so that reflecting mirror reflect to
On reflecting mirror reflected light, reflecting mirror reflected light is radiated on the condenser lens above reflecting mirror, and reflecting mirror reflected light passes through poly-
On the photosensor, the optical signal that photosensors record receives converts optical signal into telecommunications to focus lens focusing illumination
Number, processing is then carried out by processing system and finally obtains the distance between measured object and datum mark.Reflecting mirror passes through rotation
Rotary device realizes rotation, carries out rotary scanning.But exist often rotate a circle can only run-down, detection duration it is longer, scanning
The not high disadvantage of precision.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of higher coaxial multiple frequence laser radars of scanning accuracy.
The technical solution adopted by the present invention to solve the technical problems is: a kind of coaxial multiple frequence laser radar, including light
Source, the second reflecting mirror, shaping lens and receiving sensor；It further include the first reflecting mirror；
The light source, the second reflecting mirror, shaping lens and the first reflecting mirror are set gradually；
Second reflecting mirror is provided with the second mirror surface, and second reflecting mirror is provided with loophole；
The light source is located at the side at the second mirror surface back side, and the measurement laser for issuing the light source passes through light transmission
Hole；It is parallel to primary optical axis injection after being reflected again by shaping lens, forms shaped laser；
The setting coaxial with loophole of the light source, shaping lens；
First reflecting mirror is connected to motor, and first reflecting mirror is rotated around axial line；
First reflecting mirror has the first mirror surface, and first reflecting mirror is positive terrace with edge structure；Described first is anti-
Axial line and the shaped laser for penetrating mirror are perpendicular；
The receiving sensor is located at the top of the second reflecting mirror, and makes measured object reflected light in the anti-of the second mirror surface
It penetrates down and focuses in receiving sensor.
Further, the axial line of first reflecting mirror is vertically vertically arranged with shaped laser.
Further, the axial line of first reflecting mirror is laterally vertically arranged with shaped laser.
Further, the first reflecting mirror shell is structure as a whole with rotor.
Further, first reflecting mirror is positive triangular platform.
Further, the loophole is set to the middle position of the second reflecting mirror.
Further, second reflecting mirror is plane mirror.
Compared with prior art, the beneficial effects of the present invention are: the present invention to provide a kind of scanning accuracy higher coaxial more
Double-frequency laser radar.Its structure is simple, easy to operate, reduces detection duration, increases the scan slice density in the unit time, mention
High measurement accuracy, it is highly reliable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the first specific embodiment of the invention；
Fig. 2 is the structural schematic diagram of second of specific embodiment of the invention；
Fig. 3 is the structural schematic diagram of second of specific embodiment of motor and the first reflecting mirror of the invention；
Appended drawing reference: 1- light source；11- measures laser；The second reflecting mirror of 2-；The second mirror surface of 21-；22- loophole；3-
Receiving sensor；4- shaping lens；41- shaped laser；42- shaped laser reflected light；The first reflecting mirror of 5-；51- measured object is anti-
Penetrate light；The first mirror surface of 52-；6- axial line；7- motor.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in the picture, a kind of coaxial multiple frequence laser radar, including light source 1, the second reflecting mirror 2, shaping lens 4 and connect
Receive sensor 3；It further include the first reflecting mirror 5；The light source 1, the second reflecting mirror 2, shaping lens 4 and the first reflecting mirror 5 are successively
Setting；Second reflecting mirror 2 is provided with the second mirror surface 21, and second reflecting mirror 2 is provided with loophole 22；The light
Source 1 is located at the side at 21 back side of the second mirror surface, and the measurement laser 11 for issuing the light source 1 passes through loophole 22；Again
It is parallel to primary optical axis after being reflected by shaping lens 4 to project, forms shaped laser 41；The light source 1, shaping lens 4 and loophole
22 coaxial settings；First reflecting mirror 5 is connect with motor 7, and first reflecting mirror 5 is rotated around axial line 6；Described first is anti-
Mirror 5 is penetrated with the first mirror surface 52, first reflecting mirror 5 is positive terrace with edge structure；The axial line 6 of first reflecting mirror 5
It is perpendicular with shaped laser 41；The receiving sensor 3 is located at the top of the second reflecting mirror 2, and measured object reflected light 51 is made to exist
It is focused in receiving sensor 3 under the reflection of second mirror surface 21.
Second mirror surface, 21 back side, refer to the second mirror surface 21 to side.Shaping lens 4 are convex lens.Specifically
When implementation, coaxial multiple frequence laser radar is arranged on the carrier of movement, such as: unmanned plane, the current of traffic of flight
One or both sides.Light source 1 is located at the side at 21 back side of the second 2 second mirror surface of reflecting mirror, the measurement laser that light source 1 issues
11 pass through the loophole 22 on the second reflecting mirror 2, and by the refraction of shaping lens 4, the measurement laser 11 of diverging passes through whole originally
It is parallel to primary optical axis injection after shape lens 4, forms shaped laser 41.First reflecting surface of the shaped laser 41 in the first reflecting mirror 5
It is reflected on 52, forms shaped laser reflected light 42.When shaped laser reflected light 42 encounters testee, from measured object body surface
Face is reflected, and measured object reflected light 51 is formed.A portion measured object reflected light 51 is scattered in the sky, separately due to diffusing reflection
A part of measured object reflected light 51 is reflected back the first reflecting surface 52 along the opposite direction of shaped laser reflected light 42, anti-by first
The reflex for penetrating face 52, the opposite direction along shaped laser 41 emit to shaping lens 4.Made by the convergence of shaping lens 4
With measured object reflected light 51 converges on the second mirror surface 21 of the second reflecting mirror 2, eventually by the second mirror surface 21
Reflex focuses in receiving sensor 3.Measurement laser 11 is realized in the setting coaxial with loophole 22 of light source 1, shaping lens 4
It is all located on primary optical axis with the testee reflected light 51 after being converged by shaping lens 4.First reflecting mirror 5 one of them
The rotation of one mirror surface 52,1 emission measurement laser 11 of light source, pre-set timer record time started t1, measured object are anti-
It penetrates light 51 and reaches receiving sensor 3, timer record arrival time t2.Coaxial multiple frequence is calculated eventually by range formula
Laser radar is the distance between to testee.The above implementation process realizes the one-shot measurement to testee.First reflecting mirror 5
It is rotated around its axial line 6, axial line 6 and shaped laser 41 are perpendicular, and can be realized the first mirror surface of the latter 52 can transport
Move the position to coincide with previous first mirror surface 52.Each first mirror surface 52 is turned to and can be received
The place that 52 position of the first mirror surface of shaped laser 41 coincides, then single pass is carried out, the first constantly rotation of reflecting mirror 5
Turn, to continually scan for, realizes multiple frequence.The positive terrace with edge structure of first reflecting mirror 5 detects duration by reducing, increases frequency sweep
Speed, and then increase the scan slice density in the unit time, improve scanning accuracy.The rib number of positive terrace with edge is more, the first reflection
The number that mirror 5 rotates scanning in one week is more, and the precision of scanning is higher, but the range scanned can be narrower.It therefore, can be according to not
The first reflecting mirror 5 of different rib numbers is arranged in same use occasion.Motion carrier carries coaxial multiple frequence laser radar persistent movement,
Realize to testee the direction of motion lasting scanning.The axial line 6 and shaped laser 41 of first reflecting mirror 5 are perpendicular, because
This, scanning direction is perpendicular with heading.
The present invention includes two kinds of specific embodiments:
The first specific embodiment: as shown in Figure 1, the axial line 6 of first reflecting mirror 5 and shaped laser 41 are vertical
It is vertically arranged.On the basis of three-dimensional cartesian coordinate system, axial line 6 and the shaped laser 41 of the first reflecting mirror 5 are vertically vertically arranged,
That is the first reflecting mirror 5 is rotated around y-axis, therefore realizes scanning in the z-axis direction.
Second of specific embodiment: as shown in Fig. 2, the axial line 6 of first reflecting mirror 5 and shaped laser 41 are laterally
It is vertically arranged.On the basis of three-dimensional cartesian coordinate system, the axial line 6 of the first reflecting mirror 5 is laterally vertically arranged with shaped laser 41,
That is the first reflecting mirror 5 is rotated around z-axis, therefore realizes scanning in the direction of the x axis.
Motor 7 and the first reflecting mirror 5 can be there are two types of connection types: the first connection type, motor 7 and the first reflecting mirror
5 be to be detachably connected.Firstly, since there is installation gap, relative position is easy to produce between motor 7 and the first reflecting mirror 5
Offset；Secondly, mechanical connection is repeated and is also easy to appear relatively in the case where the first reflecting mirror 5 or motor 7 need replacing
The offset of position, above-mentioned two situations all be easy to cause the precision of reception and the reflection of the first reflecting mirror 5 to reduce.On solving
State technical problem, it is preferred that second of connection type, as shown in figure 3,5 shell of the first reflecting mirror and 7 rotor of motor are one
Body structure.Firstly, being mended by computer system to the turned position deviation generated by installation gap when installing for the first time
It repays, guarantees precision；Secondly, can be subtracted by the first reflecting mirror of integral replacing 5 and motor 7 when needing replacing the case where
The positional shift generated due to installation again after replacing the first reflecting mirror 5 or motor 7 less, guarantees precision.
The rib number of positive terrace with edge is more, and the range that can be scanned is smaller, and the scanning frequency is higher.In order to realize within the scope of 70 °
Scanning, it is preferred that first reflecting mirror 5 is positive triangular platform.The normal of first mirror surface 52 is in the first mirror surface 52
It is swung when rotation, using normal as benchmark line, the range of scanning is identical in two side direction of normal, 35 ° of every side, and summation is 70 °.
Measured object reflected light 51 is received for the ease of the second reflecting mirror 2, it is preferred that it is anti-that the loophole 22 is set to second
Penetrate the middle position of mirror 2.It is positioned at the middle position of the second reflecting mirror 2 that measurement laser 11 is projected from loophole 22, and measured object is anti-
It penetrates light 51 to reflect when converging on the second mirror surface 21 of the second reflecting mirror 2, measured object reflected light can be received to greatest extent
51, improve measurement accuracy.
Second reflecting mirror 2 can be plane mirror, in order to guarantee that it is reflected tested that the second reflecting mirror 2 can be received uniformly
Object reflected light 51, it is preferred that second reflecting mirror 2 is plane mirror.Second reflecting mirror 2 can according to need be arranged to it is round,
Rectangular equal arbitrary shapes.
The above are a specific embodiment of the invention, from implementation process as can be seen that the present invention provides a kind of scanning accuracy
Higher coaxial multiple frequence laser radar.Its structure is simple, easy to operate, reduces detection duration, increases sweeping in the unit time
Slice density is retouched, measurement accuracy is improved, it is highly reliable.
Claims (7)
1. a kind of coaxial multiple frequence laser radar, including light source (1), the second reflecting mirror (2), shaping lens (4) and reception sensing
Device (3)；It is characterized by also including the first reflecting mirror (5)；
The light source (1), the second reflecting mirror (2), shaping lens (4) and the first reflecting mirror (5) are set gradually；
Second reflecting mirror (2) is provided with the second mirror surface (21), and second reflecting mirror (2) is provided with loophole
(22)；
The light source (1) is located at the side at the second mirror surface (21) back side, and the measurement laser for issuing the light source (1)
(11) loophole (22) are passed through；It is projected, is formed shaped laser (41) by being parallel to primary optical axis after shaping lens (4) refraction again；
The light source (1), shaping lens (4) setting coaxial with loophole (22)；
First reflecting mirror (5) connect with motor (7), and first reflecting mirror (5) rotates around axial line (6)；
First reflecting mirror (5) has the first mirror surface (52), and first reflecting mirror (5) is positive terrace with edge structure；It is described
The axial line (6) and shaped laser (41) of first reflecting mirror (5) are perpendicular；
The receiving sensor (3) is located at the top of the second reflecting mirror (2), and makes measured object reflected light (51) in the second reflecting mirror
It is focused under the reflection in face (21) on receiving sensor (3).
2. coaxial multiple frequence laser radar as described in claim 1, it is characterised in that: the axle center of first reflecting mirror (5)
Line (6) is vertically vertically arranged with shaped laser (41).
3. coaxial multiple frequence laser radar as described in claim 1, it is characterised in that: the axle center of first reflecting mirror (5)
Line (6) is laterally vertically arranged with shaped laser (41).
4. the coaxial multiple frequence laser radar as described in any one of claim 1-3 claim, it is characterised in that: described
First reflecting mirror (5) shell is structure as a whole with motor (7) rotor.
5. the coaxial multiple frequence laser radar as described in any one of claim 1-3 claim, it is characterised in that: described
First reflecting mirror (5) is positive triangular platform.
6. the coaxial multiple frequence laser radar as described in any one of claim 1-3 claim, it is characterised in that: described
Loophole (22) is set to the middle position of the second reflecting mirror (2).
7. the coaxial multiple frequence laser radar as described in any one of claim 1-3 claim, it is characterised in that: described
Second reflecting mirror (2) is plane mirror.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503354.2A CN109387822A (en) | 2018-12-10 | 2018-12-10 | A kind of coaxial multiple frequence laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503354.2A CN109387822A (en) | 2018-12-10 | 2018-12-10 | A kind of coaxial multiple frequence laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109387822A true CN109387822A (en) | 2019-02-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811503354.2A Pending CN109387822A (en) | 2018-12-10 | 2018-12-10 | A kind of coaxial multiple frequence laser radar |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814087A (en) * | 2019-03-11 | 2019-05-28 | 上海禾赛光电科技有限公司 | Laser transmitting-receiving module and laser radar system |
| WO2021128239A1 (en) * | 2019-12-27 | 2021-07-01 | 华为技术有限公司 | Ranging system and mobile platform |
-
2018
- 2018-12-10 CN CN201811503354.2A patent/CN109387822A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814087A (en) * | 2019-03-11 | 2019-05-28 | 上海禾赛光电科技有限公司 | Laser transmitting-receiving module and laser radar system |
| WO2020182024A1 (en) * | 2019-03-11 | 2020-09-17 | 上海禾赛光电科技有限公司 | Laser transceiving module and lidar system |
| WO2021128239A1 (en) * | 2019-12-27 | 2021-07-01 | 华为技术有限公司 | Ranging system and mobile platform |
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