CN109581394A - The measurement method of laser radar and laser radar - Google Patents
The measurement method of laser radar and laser radar Download PDFInfo
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- CN109581394A CN109581394A CN201811520691.2A CN201811520691A CN109581394A CN 109581394 A CN109581394 A CN 109581394A CN 201811520691 A CN201811520691 A CN 201811520691A CN 109581394 A CN109581394 A CN 109581394A
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- 238000000691 measurement method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000009434 installation Methods 0.000 claims description 63
- 238000003825 pressing Methods 0.000 claims description 26
- 230000001105 regulatory effect Effects 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 16
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 3
- 239000000084 colloidal system Substances 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000005474 detonation Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000009738 saturating Methods 0.000 description 4
- 230000002776 aggregation Effects 0.000 description 3
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- 208000032365 Electromagnetic interference Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
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- 238000002310 reflectometry Methods 0.000 description 1
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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
- 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
-
- 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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to the measurement method of a kind of laser radar and laser radar, laser radar includes laser body, and laser body includes laser emitter and driver；Laser pick-off mechanism, laser pick-off mechanism include laser pickoff；Control mechanism, control mechanism include launching board and reception control panel；And reflecting mechanism, reflecting mechanism includes reflecting mounting rack and the reflecting mirror set on reflection mounting rack, reflecting mirror is equipped with the first mirror surface and the second mirror surface, and the first mirror surface and the second mirror surface are arranged in angle, and driver is for driving reflection mounting rack to rotate and rotate reflecting mirror.When work, driver driving reflection mounting rack rotation, to make reflecting mirror rotate, since the laser light source of laser emitter emits to the first mirror surface, to in the rotation process of reflecting mirror, so that laser light source is emitted to the greatest extent to ambient enviroment, realize the omnidirectional detection to ambient enviroment, improves detection accuracy.
Description
Technical field
The present invention relates to the radar exploration technique fields, more particularly to the measurement side of a kind of laser radar and laser radar
Method.
Background technique
Laser radar is a kind of device that detection and ranging are carried out using laser.Its principle is similar with radar or sonar, it may be assumed that
Emit laser pulse to target object with emitter, delay and the intensity of return pulse are measured by reception device to measure mesh
Mark the distance and reflectivity of object.
Laser radar plays a crucial role in the application of unmanned, unmanned plane and self driving, provides institute
The ambient condition information detected is avoided to execution system or driver so that system or driver preferably execute or operate
Contingency occurs or deviates to operate normally track.
Summary of the invention
Based on this, it is necessary to provide the measurement method of a kind of laser radar and laser radar.The signal of the laser radar is sent out
It is wide to penetrate range, detection accuracy is high；The measurement method of the laser radar can be applied to laser radar above-mentioned.
Its technical solution is as follows:
On the one hand, a kind of laser radar, including laser body are provided, laser body includes laser emitter
And driver, laser emitter is for generating laser light source；Laser pick-off mechanism, laser pick-off mechanism include laser pickoff；
Control mechanism, control mechanism include launching board and receive control panel, and laser emitter and driver are and launching board
It is electrically connected, laser pickoff and reception control panel are electrically connected；And reflecting mechanism, reflecting mechanism include reflection mounting rack and set
In the reflecting mirror of reflection mounting rack, reflecting mirror is equipped with the first mirror surface and the second mirror surface, and the first mirror surface is set with the second mirror surface in angle
It sets, the first mirror surface is used to reflect laser light source towards target object, and the echo that the second mirror surface is used to for target object being reflected back swashs
Light is reflected towards laser pickoff, and driver is for driving reflection mounting rack to rotate and rotate reflecting mirror.
Above-mentioned laser radar, when work, driver driving reflection mounting rack rotation, to make reflecting mirror rotate, due to swashing
The laser light source of optical transmitting set emits to the first mirror surface, to keep laser light source maximum in the rotation process of reflecting mirror
The transmitting of degree realizes the omnidirectional detection to ambient enviroment, improves detection accuracy to ambient enviroment.
Technical solution is illustrated further below:
Driver includes driving stator and driving rotor in one of the embodiments, and driving stator is equipped with stator axis, drives
Turn can be rotated around stator axis, and reflection mounting rack is set to driving rotor, and stator axis is equipped with collimation cavity, and laser light source passes through
It collimates cavity and reaches the first mirror surface.
Laser body further includes collimator lens assembly in one of the embodiments, and collimator lens assembly includes the
Collimating lens and the second collimation lens, the first collimation lens and the second collimation lens are arranged in spacing and are set to collimation cavity
Interior, collimator lens assembly further includes space ring and collimation pressing ring, space ring be set to the first collimation lens and the second collimation lens it
Between, collimation pressing ring is for compressing the second collimation lens, the second collimation lens being made to compress space ring.
Laser radar further includes installing mechanism in one of the embodiments, and installing mechanism includes outer cover body, first
Frame and the second support connecting with first support, first support and second support are set to the interior intracavitary of outer cover body, laser hair
Emitter and driver are set to first support, and laser pickoff is set to second support, and installing mechanism further includes being equipped with installation through-hole
Every light part, reflect mounting rack and protrude into installation through-hole setting, be located at the first mirror surface and the second mirror surface every the two sides of light part.
Second support, which is equipped with, in one of the embodiments, receives cavity, and the cavity wall for receiving cavity is equipped with installation step, peace
Fill step and be equipped with multiple, laser pick-off mechanism further includes receiving lens component, receiving lens component include receiving lens unit and
Receiving lens pressing ring, receiving lens unit be equipped with it is multiple, receiving lens unit be set to corresponding installation step, receiving lens pressing ring
It is correspondingly arranged with receiving lens unit and is equipped with multiple, receiving lens pressing ring is for compressing corresponding receiving lens unit.
Second support is equipped with telescopic hole in one of the embodiments, and telescopic hole is provided in spacing, and installing mechanism is also
Including multiple adjustable columns, adjustable column is correspondingly arranged with telescopic hole and can be along corresponding telescopic hole telescopic moving, the end of adjustable column
Portion is additionally provided with supporting element, receives control panel and is equipped with regulating tank, regulating tank is equipped with multiple and is correspondingly arranged with supporting element, regulating tank
Area of section be greater than the area of section of supporting element, the end of supporting element can extend into or across regulating tank and be fixedly arranged on adjusting
In slot.
First support is equipped with the first mounting groove in one of the embodiments, and the slot bottom of the first mounting groove is logical equipped with laser
Chamber, laser cavity are correspondingly arranged with collimation cavity, and laser body further includes adjustment seat and installation pad, and adjustment seat is set to first
In mounting groove, adjustment seat is additionally provided with the second mounting groove, and the slot bottom of the second mounting groove, which is equipped with, adjusts through-hole, and laser emitter is set to peace
Dress pads and the emission port of laser emitter is arranged towards laser cavity, and the area of section of the second mounting groove is greater than cutting for installation pad
Face area and the area of section for adjusting through-hole are greater than the area of section of laser emitter.
Laser body further includes code-disc and angle detecting device in one of the embodiments, and code-disc is set to driving and turns
Between son and reflection mounting rack and multiple measurement portions can be laid in spacing, are measured with driving rotor rotation, the circumference of code-disc
Portion and angle detecting device are correspondingly arranged and are used to measure the rotational angle of driving rotor.
Launching board is equipped with the first shielding case in one of the embodiments,；Or it receives control panel and is equipped with secondary shielding
Cover.
On the other hand, a kind of measurement method of laser radar is additionally provided, comprising the following steps:
Launching board controls laser emitter according to preset requirement and issues laser light source；
Laser light source reaches the first mirror surface and is reflected by the first mirror surface towards target object and issued；
Second mirror surface receives the echo laser that target object is reflected back and reflects echo laser towards laser pickoff；
Laser pickoff receives the echo laser of the second mirror-reflection, receives control panel according to preset requirement and obtains measurement
As a result.
The measurement method of above-mentioned laser radar can be applied to laser radar described in any of the above-described a technical solution.
Detailed description of the invention
Fig. 1 is the overall structure diagram of laser radar in embodiment；
Fig. 2 is the overlooking structure figure of laser radar in Fig. 1 embodiment；
Fig. 3 is the Section A-A figure of laser radar in Fig. 2 embodiment；
Fig. 4 is the internal structure chart of laser radar in Fig. 1 embodiment；
Fig. 5 is the detonation configuration figure of Fig. 1 embodiment laser emitter；
Fig. 6 is the detonation configuration figure of reflecting mechanism in Fig. 1 embodiment；
Fig. 7 is the overall structure figure that Fig. 1 embodiment reflects mounting rack；
Fig. 8 is the detonation configuration figure of Fig. 1 embodiment laser pickoff；
Fig. 9 is the detonation configuration figure of outer cover body in Fig. 1 embodiment.
Attached drawing mark explanation:
110, laser emitter, 111, launching board, the 112, first shielding case, 121, driving stator, 122, driving turn
Son, the 131, first collimation lens, the 132, second collimation lens, 133, space ring, 134, collimation pressing ring, 140, adjustment seat, 150,
Installation pad, 160, code-disc, 170, angle detecting device, 210, laser pickoff, 211, reception control panel, 212, secondary shielding cover,
213, regulating tank, 310, reflecting mirror, the 311, first mirror surface, the 312, second mirror surface, 320, reflection mounting rack, 321, injection through-hole,
322, counterweight, 410, outer cover body, the 411, first shell, 412, second housing, 413, third shell, the 414, first sealing
Circle, the 415, second sealing ring, 416, light-transmitting plate, 417, baffle, 420, first support, 421, bracket shielding case, 430, the
Two brackets, 431, reception cavity, 432, receiving lens unit, 433, receiving lens pressing ring, 434, adjustable column, 4341, supporting element,
435, filter is received, 440, every light part, 450, support column, 510, plug socket, 520, switching circuit board, 530, power supply circuit board,
540, main control board, 550, detection circuit plate, the 551, first detector shield cover, the 552, second detector shield cover, 560, instruction
Circuit board.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing:
It should be noted that it can be directly in another element when alleged element is with another element " fixation " in text
Above or there may also be elements placed in the middle.When an element is considered as with another element " connection ", it be can be directly
It is connected to another element in succession or may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element
When "upper", intermediary element is not present.Term as used herein "vertical", "horizontal", "left" and "right" and similar table
It states for illustrative purposes only, is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Embodiment as shown in Figures 1 to 9 provides a kind of laser radar, including laser body, laser transmitter
Structure includes laser emitter 110 and driver, and laser emitter 110 is for generating laser light source；Laser pick-off mechanism, laser connect
Receiving mechanism includes laser pickoff 210；Control mechanism, control mechanism include launching board 111 and receive control panel 211, swash
Optical transmitting set 110 and driver are electrically connected with launching board 111, and laser pickoff 210 and reception control panel 211 are electrically
Connection；And reflecting mechanism, reflecting mechanism include reflecting mirror 310 and reflection mounting rack 320, reflecting mirror 310 is equipped with the first mirror surface 311
With the second mirror surface 312, the first mirror surface 311 and the second mirror surface 312 are arranged in angle, and the first mirror surface 311 is used for laser light source court
Target object reflection, the second mirror surface 312 drive for reflecting the echo laser that target object is reflected back towards laser pickoff 210
Dynamic device is for driving reflection mounting rack 320 to rotate and rotating reflecting mirror 310.
When work, driver driving reflection mounting rack 320 is rotated, to make reflecting mirror 310 rotate, due to laser emitter
110 laser light source emits to the first mirror surface 311, to keep laser light source maximum in the rotation process of reflecting mirror 310
The transmitting of degree realizes the omnidirectional detection to ambient enviroment, improves detection accuracy to ambient enviroment.
Further, trigger mechanism further includes the first convered structure, and the first convered structure is set to reflecting mirror 310 and reflection mounting rack
Between 320 and for reflecting mirror 310 to be fixedly arranged on reflection mounting rack 320.First convered structure can be colloid, be also possible to it
He can satisfy the convered structure of bonding requirements.
When carrying out the installation of reflecting mirror 310, adjusts the installation site of reflecting mirror 310, ensures the first mirror surface 311 and the second mirror
Face 312 is in preset angle, then, reflecting mirror 310 is fixed on reflection installation by the first convered structure and the second convered structure
On frame 320, when driver driving reflection mounting rack 320 rotates, reflecting mirror 310 is driven to realize the multi-faceted hair to laser signal
It penetrates and receives, to improve signal launch accuracy and Receiver Precision, and further promote the reliability of measurement result.
Reflection mounting rack 320 is typically provided with the first mounting surface and the second mounting surface for installing reflecting mirror 310, reflecting mirror
310 are equipped with the installation section with the first mounting surface and the second mounting surface corresponding matching, so that reflecting mirror 310 can be with the first installation
Face and the cooperation of the second mounting surface are fixed.Since the first mounting surface and the second mounting surface can be influenced due to various factors such as mismachining tolerances
Not can guarantee enough accuracy, back mirror 310 install when, the installation section of reflecting mirror 310 can only with there are precision problems
The first mounting surface and the cooperation of the second mounting surface, this installation accuracy for allowing for reflecting mirror 310 is unable to satisfy preset requirement, from
And make laser signal to send and receive precision poor.
In embodiment as shown in Figure 6 and Figure 7, when reflecting mirror 310 is installed, even if the first mounting surface and the second mounting surface it
Between there are machining deviation, by installing reflecting mirror 310, making reflecting mirror 310 and reflecting the first mounting surface and the of mounting rack 320
Two mounting surfaces are corresponding, then, fill between reflecting mirror 310 and the first mounting surface and the second mounting surface of reflection mounting rack 320
First convered structure is fixed, and because the first convered structure is colloid or flexible body, is being connected and fixed reflecting mirror 310 and reflection mounting rack 320
During, it can fill because mismachining tolerance leads to the deviations such as the processing between the first mounting surface and the second mounting surface, to solve
The poor problem of installation accuracy of having determined, improves the installation accuracy of reflecting mirror 310, ensure that the transmitting of laser signal and receives essence
Degree, to improve subsequent detection result reliability.
Further, embodiment as shown in Figure 6 and Figure 7, the top of reflection mounting rack 320 are equipped with logical for laser light source
The first through hole crossed, the lower part of reflection mounting rack 320 are equipped with the mounting surface with the installation cooperation of reflecting mirror 310, reflect mounting rack 320
It is additionally provided with injection through-hole 321.Through-hole 321 is injected to be used to inject the first convered structure, it is right in reflecting mirror 310 and reflection mounting rack 320
Behind position, the position of stationary mirror 310 and reflection mounting rack 320, and the first convered structure is injected by injection through-hole 321, thus
The first convered structure is set to be filled in the back side of reflecting mirror 310 and reflect between the mounting surface of mounting rack 320, to realize reflecting mirror
310 and reflection mounting rack 320 high accuracy install.
As shown in fig. 6, injection through-hole 321 be equipped with it is multiple, and inject through-hole 321 bore edges be equipped with multiple circulation grooves.Note
After entering the first convered structure, the first convered structure circulates in circulation groove, to spread rapidly, to realize that reflecting mirror 310 and reflection are pacified
The rapid link between 320 is shelved, and increases fill surface of first convered structure between reflecting mirror 310 and reflection mounting rack 320
Product, is further ensured that the reliability of bonding.
Further, the first convered structure is colloid.Colloid is for realizing the effect of being adhesively fixed, the case where meeting the requirements
Under, those skilled in the art can specifically be selected as needed, and which is not described herein again.
In addition, reflection mounting rack 320 is additionally provided with the sending for issuing laser light source after by the reflection transmitting of the first mirror surface 311
Space.
As needed, driver driving reflection mounting rack 320 rotates, and can also be equipped with counterweight on reflection mounting rack 320
Part 322 improves the stability of rotation.Counterweight 322 can be one, be also possible to multiple, such as can be two clump weights.
Furthermore it is possible to be: in the setting of 90 degree angles between the first mirror surface 311 and the second mirror surface 312, the first mirror surface 311 and
Horizontal plane is arranged in 45 degree of angle settings, the second mirror surface 312 horizontal by 135 degree of angles.
Embodiment as shown in Figure 3, driver include driving stator 121 and driving rotor 122, and driving stator 121 is equipped with
Stator axis, driving rotor 122 can be rotated around stator axis, and reflection mounting rack 320 is set to driving rotor 122, and stator axis is equipped with standard
Straight-through chamber, laser light source reach the first mirror surface 311 by collimation cavity.
Laser emitter 110 issues laser light source, and laser light source reaches the first mirror surface 311 by collimation cavity, and driving turns
Son 122 is rotated around stator axis, so that reflection mounting rack 320 be driven to turn around stator axis rotation namely reflecting mirror 310 around stator axis
It is dynamic, in the course of rotation, the laser light source that laser emitter 110 issues be rotated in the transmitting of reflecting mirror 310 issue to week
Surrounding environment, and the multiregion solid for realizing laser light source towards outside emits.
In addition, the laser light source of laser emitter 110 further reduced structure occupied space, mentioned by collimation cavity
High structural compactness, and reduce the weight of driver.
Further, driving stator 121 is fixedly installed, and driving stator 121 is arranged with stator winding, driving rotor 122 with
Bearing assembly is equipped between stator axis, driving rotor 122 is equipped with magnet, and magnet is correspondingly arranged with stator winding, when being powered
Realize stator axis rotation of the driving rotor 122 around driving stator 121.
As needed, bearing assembly may include two bearings and the gasket between two bearings.
Embodiment as shown in Figure 3, laser body further include collimator lens assembly, and collimator lens assembly includes first
Collimation lens 131 and the second collimation lens 132, the first collimation lens 131 and the second collimation lens 132 are arranged and set in spacing
In in collimation cavity, collimator lens assembly further includes space ring 133 and collimation pressing ring 134, and it is saturating that space ring 133 is set to the first collimation
Between mirror 131 and the second collimation lens 132, collimation pressing ring 134 is for compressing the second collimation lens 132, making the second collimation lens
132 compress space ring 133.
Collimator lens assembly is used to carry out the laser light source that laser emitter 110 issues collimation processing, and the first collimation is saturating
Mirror 131 and the second collimation lens 132, which can according to need, selects different specifications, to meet actual laser alignment processing need
It wants.Space ring 133 is set between the first collimation lens 131 and the second collimation lens 132, so that the first collimation lens 131 and the
Two collimation lenses 132 are arranged in spacing.
Stator axis setting collimation cavity, is set to collimator lens assembly in collimation cavity, improves the shock resistance of rotational structure
Performance, meanwhile, also signal transmission line etc. can be set in collimation cavity as needed.
As shown in figure 3, the first collimation lens 131 is set to lower part, the second collimation lens 132 is set to top, and space ring 133 is set
Between the first collimation lens 131 and the second collimation lens 132, collimation pressing ring 134 compresses the second collimation lens 132, so that the
The position of two collimation lenses 132 and the first collimation lens 131 is more stable.
As needed, settable ladder slot structure in cavity is collimated, it is saturating to meet the first collimation lens 131, second collimation
The installation of mirror 132, space ring 133 and collimation pressing ring 134 etc. needs, and repeats no more.
Since collimator lens assembly is set in collimation cavity, occupied space is not only reduced, while also making overall structure more
To be compact, and keep the installation of collimator lens assembly also more stable, improves the collimation technique effect of laser.
Such as Fig. 1, Fig. 3 and embodiment shown in Fig. 9, laser radar further includes installing mechanism, and installing mechanism includes shell sheet
Body 410, first support 420 and the second support 430 connecting with first support 420, first support 420 and second support 430 are equal
Intracavitary in outer cover body 410, laser emitter 110 and driver are set to first support 420, laser pickoff 210
Set on second support 430, installing mechanism further includes reflecting mounting rack 320 every light part 440 equipped with installation through-hole and protruding into install and lead to
Hole setting is located at the first mirror surface 311 and the second mirror surface 312 every the two sides of light part 440.
Embodiment as shown in Figure 3, first support 420 are set to top, and second support 430 is set to lower part, sets every light part 440
Between first support 420 and second support 430, the laser issued to avoid the reflection of the first mirror surface 311 passes through outer cover body 410
Or the second mirror surface 312 is returned directly to after the reflection of other positions, namely avoid laser in the first shell 411 (such as acrylic cover)
It is directly entered the second mirror surface 312 after reflection and forms veiling glare signal, to guarantee the received reliability of laser signal, improves detection essence
Degree.
Further, it can be light insulation pad every light part 440.Certainly, as needed, being also possible to other can satisfy requirement
Other structures, which is not described herein again.
When installation, the lower end of reflecting mirror 310 passes through the installation through-hole of light insulation pad, makes the first mirror surface 311 and the second mirror surface 312
It is located at the two sides of light insulation pad.
Further, as shown in Figure 3 and Figure 4, supporter, a left side for second support 430 is arranged in the right side of second support 430
Side is additionally provided with support column 450, and one end of support column 450 is set on second support 430, the other end of support column 450 and every light part 440
Connection, support column 450 and supporter play the role of support every light part 440 jointly.
Embodiment as shown in Figure 9, the first shell 411, second housing 412 and third shell 413 cooperatively form interior jointly
Cavity configuration, laser body, laser pick-off mechanism and reflecting mechanism are set in the inner-cavity structure.Due to the first shell 411,
Second housing 412 and third shell 413 are detachably connected, and can make laser body, laser pick-off mechanism and reflection machine
Structure can be relied on respectively set on different casing parts, improve installation effectiveness；Meanwhile compared to the shell mechanism being wholely set,
One shell 411, second housing 412 and third shell 413 can take up space greatly according to the different installation sections in inner-cavity structure
It is small to feel itself size, to reduce processing cost, and keep structure more compact, reduces occupied space.Such as Fig. 1 and Fig. 9 institute
Show, rounded be provide with of the first shell 411 is set, and second housing 412 and third shell 413 are rounded and rectangle docks the cover to be formed
Shell structure is repeated no more with meeting actual needs.
In addition, being equipped with the first sealing ring 414, second housing 412 and third between the first shell 411 and third shell 413
The second sealing ring 415 is equipped between shell 413, to play the role of waterproof sealing.
As needed, the first shell 411 can be acrylic cover, so that laser can be launched, and low in cost.
Such as Fig. 3, Fig. 4, Fig. 6 and embodiment shown in Fig. 8, second support 430, which is equipped with, receives cavity 431, receives cavity 431
Cavity wall be equipped with installation step, installation step be equipped with it is multiple, laser pick-off mechanism further includes receiving lens component, receiving lens group
Part includes receiving lens unit 432 and receiving lens pressing ring 433, and receiving lens unit 432 is equipped with multiple, receiving lens unit
432 are set to corresponding installation step, and receiving lens pressing ring 433 is correspondingly arranged with receiving lens unit 432 and equipped with multiple, connect
Lens pressing ring 433 is received for compressing corresponding receiving lens unit 432.
Cavity 431 is received for the echo laser by reflecting through the second mirror surface 312, echo laser enters reception cavity
After 431, laser pickoff 210 is reached after the aggregation of receiving lens unit 432.
Cavity wall due to receiving cavity 431 is equipped with installation step, so that different receiving lens units 432 be made to be set to difference
Installation step, receiving lens pressing ring 433 compresses corresponding receiving lens unit 432, and each receiving lens unit 432 is in spacing
More reliable, aggregation technique effect of the guarantee receiving lens component to echo laser is installed in setting.
Further, receiving lens component further include receive filter 435, receive filter 435 be set to receive cavity 431 into
Mouth end position, echo laser is after the reflection of the second mirror surface 312, first by receiving filter 435, is then passing through receiving lens list
Member 432 finally reaches laser pickoff 210 after the aggregation of receiving lens unit 432.
Certainly, as needed, filter pressing ring can also be set to compress and receive filter 435, make the installation for receiving filter 435
Position is more reliable.
Furthermore it is also possible to which filter washer is arranged between filter 435 and filter pressing ring receiving, filter is received to play protection
435 effect.
As shown in figure 3, from bottom to top respectively the first receiving lens, second receive there are three receiving lens unit 432 sets
Lens and third receiving lens, the top of third receiving lens are additionally provided with a reception filter 435.The radius of installation step is under
It is become larger on and, to make installation step be arranged in stair-step, in order to the installation of receiving lens unit 432.
In one embodiment, spiral shell between receiving lens pressing ring 433 and the terrace for the corresponding installation step for receiving cavity 431
Line connection.When installation, after receiving lens unit 432 is installed on corresponding installation step, Rotation of receiver lens pressing ring 433, with
Move receiving lens pressing ring 433 gradually downward, to compress corresponding receiving lens unit 432.
Certainly, as needed, screw thread can also be smeared between receiving lens pressing ring 433 and the step surface of installation step
Glue, to reinforce the connective stability between receiving lens pressing ring 433 and installation step, raising compresses stability, guarantees to receive saturating
The installation site stability of mirror unit 432.
In one embodiment, laser pickoff 210 is laser detector；Reception filter 435 is optical filter.
Embodiment as shown in Figure 4 and Figure 8, second support 430 are equipped with telescopic hole, and telescopic hole is provided with a, peace in spacing
Mounting mechanism further includes multiple adjustable columns 434, and adjustable column 434 is correspondingly arranged with telescopic hole and can be flexible along corresponding telescopic hole
Mobile, the end of adjustable column 434 is additionally provided with supporting element 4341, receives control panel 211 and is equipped with regulating tank 213, regulating tank 213 is equipped with
Multiple and be correspondingly arranged with supporting element 4341, the area of section of regulating tank 213 is greater than the area of section of supporting element 4341, support
The end of part 4341 can extend into or across regulating tank 213 and be fixedly arranged in regulating tank 213.
It is scalable between adjustable column 434 and telescopic hole, to adjust the depth that protrudes into of adjustable column 434, and then adjust adjustable column
434 end height, after the end height for adjusting adjustable column 434, adjustment receives the position of control panel 211, regulating tank 213
Area of section be greater than supporting element 4341 sectional area, thus adjustment receive control panel 211 position when, supporting element 4341
Lower end is always positioned in regulating tank 213, after receiving control panel 211 and being adjusted to predeterminated position, passes through the cell wall in regulating tank 213
Second convered structure is set between the outer wall of adjustable column 434 and realizes the mesh being fixedly arranged on the end of adjustable column 434 in regulating tank 213
, and then realize the adjusting for receiving position and short transverse position of the control panel 211 in terms of level.
Further, it is threadedly coupled between adjustable column 434 and telescopic hole, supporting element 4341 is capillary, and regulating tank 213 is circle
Shape through slot, the lower end of capillary are greater than the radius of capillary in the setting of regulating tank 213, the radius of regulating tank 213 is extended into or out.Work as rotation
When modulation segmented column 434, adjustable column 434 and telescopic hole cooperate and change the lower end position height of adjustable column 434, are located at capillary
Preset height, when reception control panel 211 moves horizontally adjusting, the lower end of capillary is located at or passes through regulating tank 213 and capillary begins
Final position is in regulating tank 213, after the horizontal position for receiving control panel 211 is adjusted to predeterminated position, by solder by capillary with
The cell wall of regulating tank 213 is welded as a whole, and connects to complete reception control panel 211 in horizontal position, the adjusting of height and completion
The installation for receiving control panel 211 is fixed.
Control panel 211 is received after the accurate adjusting installation of horizontal position and height is fixed, is made by receiving lens component
Echo laser afterwards precisely reaches laser pickoff 210, improves laser pick-off precision.
Embodiment as shown in Figure 3 and Figure 5, first support 420 are equipped with the first mounting groove, and the slot bottom of the first mounting groove is equipped with
Laser cavity, laser cavity are correspondingly arranged with collimation cavity, and laser body further includes adjustment seat 140 and installation pad 150, are adjusted
It saves seat 140 to be set in the first mounting groove, adjustment seat 140 is additionally provided with the second mounting groove, and the slot bottom of the second mounting groove, which is equipped with to adjust, to be led to
Hole, laser emitter 110 are set to installation pad 150 and the emission port of laser emitter 110 are arranged towards laser cavity, the second peace
The area of section of tankage is greater than the area of section of installation pad 150 and adjusts the area of section of through-hole greater than laser emitter 110
Area of section.
Further, the first mounting groove of first support 420 is circular trough, and laser barrel is arranged in the bottom of the first mounting groove
Chamber, adjustment seat 140 are circular seat, are threadedly coupled between the cell wall of the first mounting groove and the outer wall of adjustment seat 140.
It is threadedly coupled setting, during installation, by rotating adjustment seat 140, to adjust the height of adjustment seat 140, to realize
The position of 110 mounting height of laser emitter of subsequent installation thereon is adjusted.
Adjustment seat 140 is equipped with the second mounting groove, and installation pad 150 is set in the second mounting groove, and the slot bottom of the second mounting groove is set
Adjusting through-hole is set, laser emitter 110 is set to installation pad 150 and is electrically connected with launching board 111.Due to the second installation
The area of section of slot is greater than the area of section of installation pad 150, and the sectional area for adjusting through-hole is greater than the section of laser emitter 110
Area, thus, after laser emitter 110 is installed on installation pad 150, installation pad 150 can be adjusted in the second mounting groove
Position, and the lower end of laser emitter 110 will not be made to be stopped, it realizes that the horizontal position of laser emitter 110 is adjusted, is swashing
After the horizontal position of optical transmitting set 110 regulates, by third convered structure by adjustment seat 140, installation pad 150 and laser emitter
110 is fixed.
Further, third convered structure is colloid, and installation pad 150 is heat conductive pad.
It should be noted that the area of section of laser emitter 110 mentioned herein can be understood as laser emitter 110
During adjusting horizontal position, it is horizontal footprint that lower end, which may interfere part, due to adjusting cutting for through-hole
Face area is greater than the area of section of laser emitter 110, so that the lower end of laser emitter 110 is being adjusted in through-hole always
It is mobile, it is adjusted with meeting the horizontal position of laser emitter 110.
Embodiment as shown in Figure 3 and Figure 4, laser body further include code-disc 160 and angle detecting device 170, code-disc
160 are set between driving rotor 122 and reflection mounting rack 320 and can rotate with driving rotor 122, and the circumference of code-disc 160 is in
Spacing is laid with multiple measurement portions, and measurement portion and angle detecting device 170 are correspondingly arranged and for measuring turning for driving rotor 122
Dynamic angle.
Further, measurement portion is measured hole, and angle detecting device 170 and launching board 111 are electrically connected.Outer corner measurement
Device 170 is pulse transducer (reading head as needed, can be set), when driving rotor 122 that code-disc 160 is driven to rotate, code
Measured hole on disk 160 can cooperate a moment with pulse transducer, and in subsequent time since code-disc 160 rotates, it surveys
Metering-orifice disappears, and occurs in next measured hole of next moment, and pulse transducer is made to generate multiple pulses repeatedly, with
The rotational angle of code-disc 160 is obtained according to number of pulses, to feed back to launching board 111, make launching board 111 according to pre-
If meeting actual needs it is required that control laser emitter 110 launches laser light source.
As needed, code-disc 160, which can be fixed, is located on driving rotor 122, it is of course also possible to be located at reflection mounting rack 320
On, it is also possible to be folded between driving rotor 122 and reflection mounting rack 320, it is no longer superfluous here to meet actual needs
It states.
Embodiment as in Figure 3-5, launching board 111 are equipped with the first shielding case 112.First shielding case 112 is used for
Other electromagnetic interferences in 111 outside of launching board are shielded, to improve the job stability of launching board 111.
It certainly, as needed, can be with:
Secondary shielding cover 212 is set on receiving control panel 211；
Bracket shielding case 421 is set in first support 420, to shield other signals outside first support 420 to first
The influence of work package on bracket 420, which, which can refer to, receives control panel 211, can also refer to and receive control panel 211
Other circuit boards or control panel of cooperation.
Further, laser pick-off mechanism further includes switching circuit board 520, power supply circuit board 530, active circuits plate, visits
Slowdown monitoring circuit plate 550 and indicating circuit plate 560 etc., second housing 412 are additionally provided with spliced eye, and the outside of second housing 412 is additionally provided with
Plug socket 510.
Plug socket 510 is correspondingly arranged with spliced eye, and spliced eye is corresponding with the connecting element position of switching circuit board 520, with
Keep external component and switching circuit board 520 mating by plug socket 510；Power supply circuit board 530 and switching circuit board 520
It being electrically connected, detection circuit plate 550 and power supply circuit board 530 are electrically connected, and second housing 412 is additionally provided with baffle 417,
Detection circuit plate 550 and power supply circuit board 530 are respectively provided at the two sides of baffle 417；Main control board 540 and detection circuit
Plate 550 is electrically connected.
Further, plug socket 510 is equipped with multiple.As shown in Figure 1 to Figure 3, plug socket 510 includes power outlet, net
Line socket and input-output socket, to meet actual grafting needs.
Launching board 111 and reception control panel 211 can be electrical with main control board 540 or other circuit boards as needed
Connection, to meet actual needs, which is not described herein again.
Indicating circuit plate 560 is the board structure of circuit in order to externally indicate laser radar working condition needs and setting,
Indicator light is set on indicating circuit plate 560, and windowing is set on third shell 413, manifests indicator light, to pass through
Indicator light display working condition.It is, of course, also possible to light-transmitting plate 416 be arranged in windowing corresponding position, to play protection indicator light
It acts on and instruction state light transmission can be shown.
Further, light-transmitting plate 416 can be glass plate, be also possible to pad pasting.
Certainly, as needed, the first detector shield cover can be respectively set in the disparate modules position of detection circuit plate 550
551 and the second detector shield cover 552 to avoid the interference of external electromagnetic signal improve job stability and detection accuracy.
The present embodiment additionally provides a kind of measurement method of laser radar, comprising the following steps:
Launching board 111 controls laser emitter 110 according to preset requirement and issues laser light source；
Laser light source reaches the first mirror surface 311 and is reflected by the first mirror surface 311 towards target object and issued；
Second mirror surface 312 receives the echo laser that is reflected back of target object and echo laser is anti-towards laser pickoff 210
It penetrates；
Laser pickoff 210 receives the echo laser of the second mirror surface 312 reflection, receives control panel 211 and is wanted according to default
Seek acquisition measurement result.
The measurement method of the laser radar can be applied to laser radar described in any of the above-described a embodiment, and can root
According to preset needs, the distance or speed of target object are measured.
Further, launching board 111 controls the step of laser emitter 110 issues laser light source according to preset requirement
Before, further includes:
Driver driving reflection mounting rack 320 rotates and code-disc 160 is driven to rotate；
Code-disc 160, which rotates and triggers angle detecting device 170, generates angular signal；
Angle detecting device 170 sends angular signal to launching board 111.
It is controlled in the step of laser emitter 110 issues laser light source in launching board 111 according to preset requirement, transmitting
Control panel 111 issues laser light source according to preset requirement and based on angular signal control laser emitter 110.
It should be noted that do not have in the present embodiment it is stringent it is successive execute sequence, those skilled in the art are meeting
In the case where it is required that, it can voluntarily adjust and execute sequence, to meet actual needs, which is not described herein again.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of laser radar characterized by comprising
Laser body, the laser body include laser emitter and driver, and the laser emitter is for producing
Raw laser light source；
Laser pick-off mechanism, the laser pick-off mechanism includes laser pickoff；
Control mechanism, the control mechanism include launching board and receive control panel, the laser emitter and the driving
Device is electrically connected with the launching board, and the laser pickoff and the reception control panel are electrically connected；And
Reflecting mechanism, the reflecting mechanism include reflecting mounting rack and the reflecting mirror set on the reflection mounting rack, the reflection
Mirror is equipped with the first mirror surface and the second mirror surface, and first mirror surface and second mirror surface are arranged in angle, and first mirror surface is used
In reflecting the laser light source towards target object, second mirror surface is used for the echo laser for being reflected back the target object
It is reflected towards the laser pickoff, the driver is for driving the reflection mounting rack to rotate and rotating the reflecting mirror.
2. laser radar according to claim 1, which is characterized in that the driver includes that driving stator and driving turn
Son, the driving stator are equipped with stator axis, and the driving rotor can be rotated around the stator axis, and the reflection mounting rack is set to
The driving rotor, the stator axis are equipped with collimation cavity, and the laser light source reaches described first by the collimation cavity
Mirror surface.
3. laser radar according to claim 2, which is characterized in that the laser body further includes collimation lens set
Part, the collimator lens assembly include the first collimation lens and the second collimation lens, first collimation lens and described second
Collimation lens is arranged and is set in the collimation cavity in spacing, and the collimator lens assembly further includes space ring and collimation pressure
Circle, the space ring are set between first collimation lens and second collimation lens, and the collimation pressing ring is for compressing
Second collimation lens makes second collimation lens compress the space ring.
4. laser radar according to claim 2, which is characterized in that further include installing mechanism, the installing mechanism includes
Outer cover body, first support and the second support connecting with the first support, the first support and the second support are equal
Intracavitary in the outer cover body, the laser emitter and the driver are set to the first support, described to swash
Optical receiver is set to the second support, and the installing mechanism further includes equipped with installation through-hole every light part, the reflection installation
Frame protrudes into that installation through-hole setting, to be located at first mirror surface and second mirror surface described every the two sides of light part.
5. laser radar according to claim 4, which is characterized in that the second support, which is equipped with, receives cavity, described to connect
Receive cavity cavity wall be equipped with installation step, the installation step be equipped with it is multiple, the laser pick-off mechanism further includes receiving lens
Component, the receiving lens component include receiving lens unit and receiving lens pressing ring, the receiving lens unit be equipped with it is multiple,
The receiving lens unit is set to the corresponding installation step, and the receiving lens pressing ring is corresponding with the receiving lens unit
It is arranged and is equipped with multiple, the receiving lens pressing ring is for compressing the corresponding receiving lens unit.
6. laser radar according to claim 4, which is characterized in that the second support is equipped with telescopic hole, described flexible
Hole is provided in spacing, and the installing mechanism further includes multiple adjustable columns, the adjustable column and the telescopic hole be correspondingly arranged,
And supporting element, the reception control panel can be additionally provided with along the corresponding telescopic hole telescopic moving, the end of the adjustable column
Equipped with regulating tank, the regulating tank is equipped with multiple and is correspondingly arranged with the supporting element, and the area of section of the regulating tank is greater than
The end of the area of section of the supporting element, the supporting element can extend into or across the regulating tank and be fixedly arranged on the tune
It saves in slot.
7. laser radar according to claim 4, which is characterized in that the first support is equipped with the first mounting groove, described
The slot bottom of first mounting groove is equipped with laser cavity, and the laser cavity is correspondingly arranged with the collimation cavity, the Laser emission
Mechanism further includes adjustment seat and installation pad, and the adjustment seat is set in first mounting groove, and the adjustment seat is additionally provided with second
Mounting groove, the slot bottom of second mounting groove, which is equipped with, adjusts through-hole, and the laser emitter is set to the installation and pads and make described
The emission port of laser emitter is arranged towards the laser cavity, and the area of section of second mounting groove is greater than the installation pad
Area of section and the area of section for adjusting through-hole are greater than the area of section of the laser emitter.
8. laser radar according to claim 2, which is characterized in that the laser body further includes code-disc and corner
Measuring appliance, the code-disc are set between the driving rotor and the reflection mounting rack and can rotate with the driving rotor,
The circumference of the code-disc is laid with multiple measurement portions in spacing, and the measurement portion is correspondingly arranged with the angle detecting device, is used in combination
In the rotational angle for measuring the driving rotor.
9. laser radar according to claim 1-8, which is characterized in that the launching board is equipped with the first screen
Cover cover；Or the reception control panel is equipped with secondary shielding cover.
10. a kind of measurement method of laser radar, which comprises the following steps:
Launching board controls laser emitter according to preset requirement and issues laser light source；
Laser light source reaches the first mirror surface and is reflected by first mirror surface towards target object and issued；
Second mirror surface receives the echo laser that the target object the is reflected back and echo laser is anti-towards laser pickoff
It penetrates；
The laser pickoff receives the echo laser of second mirror-reflection, and the reception control panel is according to default
It is required that obtaining measurement result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811520691.2A CN109581394A (en) | 2018-12-12 | 2018-12-12 | The measurement method of laser radar and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811520691.2A CN109581394A (en) | 2018-12-12 | 2018-12-12 | The measurement method of laser radar and laser radar |
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| CN109946679A (en) * | 2019-04-15 | 2019-06-28 | 森思泰克河北科技有限公司 | Laser radar rotor |
| 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 |
| CN110045388A (en) * | 2019-04-16 | 2019-07-23 | 广州大学 | A kind of laser radar |
| CN110596777A (en) * | 2019-08-20 | 2019-12-20 | 深圳市华怡丰科技有限公司 | Laser sensor and manufacturing method |
| WO2022141347A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Laser measurement device and movable platform |
| CN114888436A (en) * | 2022-04-28 | 2022-08-12 | 泰州市新龙翔金属制品有限公司 | Laser welding equipment is used in processing of stainless steel goods |
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