CN109828263A - The adaptive equalization device of laser radar horizontal imaging visual field pitch angle - Google Patents
The adaptive equalization device of laser radar horizontal imaging visual field pitch angle Download PDFInfo
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- CN109828263A CN109828263A CN201910287216.3A CN201910287216A CN109828263A CN 109828263 A CN109828263 A CN 109828263A CN 201910287216 A CN201910287216 A CN 201910287216A CN 109828263 A CN109828263 A CN 109828263A
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- thermal expansion
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- metal frame
- laser
- turntable
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Abstract
The invention discloses a kind of adaptive equalization devices of laser radar horizontal imaging visual field pitch angle, comprising: a metal frame；One turntable is fixed on the metal frame；One shaft, one end are fixed by one fixed point of turntable with turntable, are configured to rotate around the fixed point, and the top of the other end is configured to place laser, and laser imaging viewing field pitch angle is adjusted when for rotating；One thermal expansion bar, upper end are fixed on the metal frame, and lower end offsets with the shaft, wherein the thermal expansion coefficient of the thermal expansion bar is greater than the thermal expansion coefficient of the metal frame；One spring, both ends are individually fixed between the lower part and metal frame of the other end described in shaft.Wherein the metal frame and thermal expansion bar have biggish coefficient of thermal expansion differences, the deformation that bar is thermally expanded in temperature change can be used to push shaft, and then the opposite direction of laser is emitted in shaft laser beam towards pitching angular displacement is pushed to rotate, adaptively compensate for hot light drift caused by temperature gradient.
Description
Technical field
The invention belongs to laser measurement applied technical fields, are related to a kind of difference compensation using different metal thermal expansion coefficient
The device of laser beam thermal drift caused by the Propagation with temperature gradient.
Background technique
In recent years, it is real-time to be widely used in the barriers progress such as falling rocks for coming rail occur in terms of railway for laser radar
Monitoring.In order to detect the small-sized barrier as being not less than five centimeter squares for entering rail surface, laser radar requires to be placed
It is scanned in plane of scanning motion railway surface in the plane for leaving rail and only having several centimetres, and requires annual 24 hours lasting works
Make, therefore radar needs to bear the various boisterous influences such as high temperature or cold, the especially hot weather of summer heat,
For laser when rail surface transmits, since rail surface temperature is high, air index is low, and is higher by the air themperature of rail surface
Low, air index is high, therefore the laser beam of laser radar can work as transmission range in transmission process to drifting about above rail
When remote enough, the upward drift value of laser is also sufficiently large, if occurring barrier on rail, laser if may be beaten less than barrier
On, therefore there is the danger failed to report.On the other hand, when temperature reduces, laser beam drifts about downwards, it is possible to rail is swept to, it can
It can cause to report by mistake.
Prior art discloses a kind of by reference beam method to optical imagery optical lens due to caused by the variation of temperature
The method that the minor change of focal length compensates, be different from the present invention be the technology be for remotely sensed image optimization optics set
Meter, correction along optical propagation direction due to focus micro-displacement caused by heated, solution be image quality the problem of, and this hair
It is bright, be under hot operation state, laser beam in the hot light deflection of pitch angle effective viewing field and its means for correcting, solution be by
In hot light drift cause blind area, can not be imaged the problem of.
Summary of the invention
According to an aspect of the invention, there is provided a kind of adaptive equalization of laser radar horizontal imaging visual field pitch angle
Device a, comprising: metal frame；One turntable is fixed on the metal frame；One shaft, one end is by one fixed point of turntable and turns
Platform is fixed, and is configured to rotate around the fixed point, and the top of the other end is configured to place laser, is adjusted and is swashed when for rotating
Light device imaging viewing field pitch angle；One thermal expansion bar, upper end are fixed on the metal frame, and lower end offsets with the shaft, wherein
The thermal expansion coefficient of the thermal expansion bar is greater than the thermal expansion coefficient of the metal frame；One spring, both ends are individually fixed in shaft
Between the lower part and metal frame of the other end.
In further embodiment, the metal frame planar configuration is parallel with the direction of the launch of the laser.
In further embodiment, the turntable is rectangle, and adjacent both sides are fixed on adjacent the two of the metal frame
On side, turntable center is equipped with a round card slot, for placing the shaft.
In further embodiment, the shaft includes: a disk, the circular card of radius and the turntable center
Slot is identical, is embedded within the card slot, and the disk can be rotated around its center of circle；One rectangular strip is configured in the lower end of disk,
One surface offsets with the thermal expansion bar, and another surface offsets with spring；One rectangular block, configuration are used in the upper end of disk
In placement laser；The shaft is integrally arranged in turntable, vertical with turntable and metal frame.
In further embodiment, the running accuracy of the shaft is set as micron order.
In further embodiment, the configuration mode of shaft is the laser beam or its reverse extending for making the laser
The rotation center that line passes through the shaft.
In further embodiment, the thermal expansion coefficient of the metal frame is less than or equal to 1.6 × 10-6/ DEG C, the heat
The thermal expansion coefficient of expansion rod is greater than or equal to 1.6 × 10-6/℃。
The laser beam of horizontal transmission works as propagation medium in communication process, by taking air as an example, there is biggish temperature gradient
When, direction of beam propagation can to temperature it is low cause drift.When temperature gradient is larger or propagation distance farther out, will lead to laser
The drift value of light beam is excessive, and then laser facula is caused to deviate detected object, so that testee offsets out the view of laser
, target object can not be imaged, it is necessary to be compensated.
Device provided by the invention passes through temperature using the biggish thermal expansion coefficient of difference between metal frame and thermal expansion bar
The deformation that thermal expansion bar generates caused by variation pushes the shaft that is mounted on precise rotating platform, so push laser beam towards
The opposite direction of pitching angular displacement caused by temperature gradient rotates, and adaptively compensates for hot light drift caused by temperature gradient, reduces
Or the hot light drift due to caused by air themperature gradient is substantially eliminated, it is final to realize that laser radar to the height of small obstacle
It monitors and measures by property, avoid failing to report.
When the temperature increases, the temperature of propagation medium has the temperature gradient of upper cold and lower heat, causes the upward inclined of laser beam
It moves, the thermal expansion amount for thermally expanding bar at this time is much larger than the thermal expansion amount of metal frame, to push the laser in shaft and shaft
The device direction of the launch rotates clockwise, to reduce the upward drift that laser beam is generated due to temperature gradient.Vice versa, works as temperature
When reduction, laser beam is since the upward drift value of the temperature gradient of air is reduced, under serious situation, laser beam downward bias
It moves, thermally expands pole length at this time and shrink, under the action of the spring to offset with another surface of shaft, shaft occurs to turn counterclockwise
It is dynamic, being lifted on laser beam, to reduce the downward drift that laser beam is generated due to the temperature gradient of air.
Detailed description of the invention
Fig. 1 is the adaptive equalization schematic diagram of device of the laser radar horizontal imaging visual field pitch angle of the embodiment of the present invention.
Fig. 2A is the metal frame schematic diagram in Fig. 1 shown device.
Fig. 2 B is the precise rotating platform schematic diagram in Fig. 1 shown device.
Fig. 2 C is the shaft schematic diagram in Fig. 1 shown device.
Fig. 2 D is the thermal expansion bar schematic diagram in Fig. 1 shown device.
Fig. 3 A is the oblique view of the adaptive equalization device installation diagram of laser radar horizontal imaging visual field pitch angle of the present invention.
Fig. 3 B is the main view of the adaptive equalization device installation diagram of laser radar horizontal imaging visual field pitch angle of the present invention.
Fig. 3 C is the rearview of the adaptive equalization device installation diagram of laser radar horizontal imaging visual field pitch angle of the present invention.
[component symbol illustrates in attached drawing]
1 metal frame；2 thermal expansion bars；3 turntables；4 shafts；5 lasers；6 springs
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in further detail.
Hereinafter, it will thus provide some embodiments are with the embodiment that the present invention will be described in detail.Advantages of the present invention and
Effect will through the invention following the description and it is more significant.Illustrate that appended attached drawing simplified and used as illustrating herein.In attached drawing
Shown in component count, shape and size can modify according to actual conditions, and the configuration of component is likely more complexity.This
Otherwise practice or application can also be carried out in invention, and without departing from spirit and scope defined in the present invention under conditions of,
It can carry out various change and adjustment.
The adaptive equalization device that the present invention provides a kind of laser radar horizontal imaging visual field pitch angle includes: a metal
Frame；One turntable is fixed on the metal frame；One shaft, one end are fixed by one fixed point of turntable with turntable, and being configured to can be with
It is rotated around the fixed point, other end top is configured to place laser, and laser imaging viewing field pitch angle is adjusted when for rotating；
One thermal expansion bar, upper end are fixed on the metal frame, and lower end offsets with the shaft, wherein the heat of the thermal expansion bar is swollen
Swollen coefficient is greater than the thermal expansion coefficient of the metal frame；One spring, both ends are individually fixed in other end lower part and gold described in shaft
Belong between frame.In one embodiment of the invention, the precision of the shaft is micron order, as shown in Figure 1, turntable is fixed
On metal frame, shaft is then passed through into turntable and is fixed on turntable, the rectangular strip and rectangular block of both ends of the shaft are in turntable
Both ends can extend out, and thermal expansion bar upper end is fixed on metal frame upper end, lower end is against the upper table of the rectangular strip of shaft
Face, spring are then between the lower surface and metal frame of the rectangular strip of shaft, for guaranteeing that thermal expansion bar and shaft can be close
Contact, laser are placed on the rectangular block of shaft, and launch angle is parallel with metal frame plane,
In one embodiment of the invention, thermal expansion bar thermal expansion coefficient is greater than or equal to 25 × 10-6/℃；Optionally,
For the duralumin bar that thermal expansion bar selects thermal expansion coefficient high, thermal expansion coefficient is 25 × 10-6/℃；
In one embodiment of the invention, metal frame selects metal frame thermal expansion coefficient to be less than or equal to 1.6 × 10-6/
℃；Optionally, the invar frame low for thermal expansion coefficient, thermal expansion coefficient are 1.6 × 10-6/℃。
When temperature increases, due to surface temperature height, air refraction is low, and, air low far from temperature at earth's surface
Refractive index is high.So laser, will deviation upwards in transmission.The offset of laser beam propagation unit distance can basis
Following formula calculates:
Wherein dy is the incrementss that laser transmits laser facula height after dz horizontal distance, and y is facular height, y0For laser starting
Highly, n is refractive index, and related with temperature T and atmospheric pressure P, calculation formula is
Wherein λ is optical maser wavelength.Temperature T is higher, and temperature gradient dT/dy is bigger, remoter, the thermal drift of laser beam of laser propagation distance
Amount Δ y=d (dy/dz) is bigger, is an atmospheric pressure in air pressure, propagation distance is 30 meters remote, when surface temperature is 44 DEG C, laser
The thermal drift amount of light beam can reach 2.4 centimetres.
In an exemplary embodiment of the invention, the invar that metal frame selects thermal expansion coefficient low, thermal expansion can be ignored not
Meter, and thermally expand bar selection is the high duralumin of thermal expansion coefficient, length can extend as the temperature rises.When environment temperature
When degree increases, the elongation of duralumin pole length can push the opposite direction of shaft towards laser beam thermal drift built in turntable to rotate,
Corresponding laser beam propagation angle can also deflect down therewith, so that compensation is caused since temperature raises due to air dielectric
Laser beam upward thermal drift.On the other hand, when temperature reduces, photo-thermal effect caused by temperature gradient leads to laser light
Beam deflects down, and the reduction of environment temperature also reduces the length of duralumin bar, causes laser turntable inversely to invert, compensates and reduce sharp
The hot light of light light beam deflects.
In an exemplary embodiment of the invention, the length of duralumin bar is 100mm, and coefficient of linear thermal expansion is 25 × 10-6/
DEG C, temperature changes T=10 DEG C of Δ.The thermal expansion amount of so duralumin bar is
Δ L=α L Δ T=25 × 10-6(/ DEG C) × 0.100m × 10 DEG C=25 × 10-6M=25 μm
Change relative to 25 microns of duralumin bar of length, the mismachining tolerance that 0.5 micron of turntable, which can be ignored, not to be remembered, duralumin bar
Length changes the rotation that can push turntable.
Using turntable as the mounting platform of laser range finder, in an exemplary embodiment of the invention, the precision of the turntable
For micron order, contact point and spindle central distance R=1cm of the duralumin bar with turntable, accordingly since thermal expansion Δ L causes to turn
The corresponding angular displacement of platform are as follows:
Δ θ=Δ L/R=25 × 10-6/1×10-2=25 × 10-4rad
Above-mentioned 2.5x10-4The movement of rad angular displacement facular height caused by the distant place d=30m is
Δ y=d × Δ θ=30 × 25 × 10-4M=7.5cm
It can be seen that the turntable caused by air themperature is increased 10 DEG C, expanded with heat and contract with cold due to duralumin bar from above-mentioned derivation to turn
When dynamic radius is 1cm, height of the laser at 30m can accordingly change up to 7.5cm, and pass through actual measurement, and laser is in 30m
Place's photo-thermal drift value due to caused by temperature gradient is 2.4cm or so, which has foot for compensation laser thermal drift
Enough high sensitivity.
Device provided by the invention has very wide ambient temperature range, is limited solely by the temperature that laser radar can work normally
Range is spent, usually can be from -40 DEG C to+85 DEG C, it in other embodiments of the invention, can be according to the working environment of laser
Different and propagation medium difference changes the length of thermal expansion bar or (factors such as position of thermal expansion bar contact turntable changes
Thermal compensation sensitivity, to reach the accurate compensation of laser beam thermal drift amount.
Fig. 2A is the metal frame schematic diagram in Fig. 1 shown device；Fig. 2 B is the precise rotating platform signal in Fig. 1 shown device
Figure, turntable is rectangle, and centre is equipped with a round card slot, for placing shaft；Fig. 2 C is the shaft signal in Fig. 1 shown device
Figure, shaft includes: a disk, and radius is identical as the round card slot of the turntable center, and is embedded within the card slot, should
Disk can be rotated around its center of circle, a rectangular strip, be configured in the lower end of disk, one surface and the thermal expansion bar phase
It supports, another surface offsets with spring, a rectangular block, and configuration is in the upper end of disk, and for placing laser, shaft, which is integrally through at, to be turned
Platform, vertical with turntable and metal frame, when temperature changes, which results from laser towards temperature by the promotion of thermal expansion bar
Spend the opposite direction rotation of pitching angular displacement caused by gradient；Fig. 2 D is the thermal expansion bar schematic diagram in Fig. 1 shown device, and the heat is swollen
Expanding rod can generate apparent flexible according to the variation of temperature.
Fig. 3 A, 3B and 3C are the adaptive equalization device assembly of laser radar horizontal imaging visual field pitch angle of the present invention respectively
Oblique view, main view and the rearview of figure.As shown in Fig. 3 A to Fig. 3 C, the adjacent both sides of turntable 3 are fixed on adjacent the two of metal frame 1
On side, shaft 4 passes through the round card slot of turntable center, and inlay card is simultaneously fixed on turntable 3, the rectangular strip and square at 4 both ends of shaft
Shape block all extends out at 3 both ends of turntable, and rectangular strip one end offsets with thermal expansion bar 2, and laser 5, heat are placed in rectangular block one end
2 upper end of expansion rod is fixed on metal frame 1, and lower end is against on the surface of 4 rectangular strip of shaft, and spring 6 is then in 4 rectangle of shaft
Between item and metal frame 1, guaranteeing that thermal expansion bar 2 and shaft 4 can be in close contact, laser 5 is placed on 4 rectangular block of shaft,
Launch angle is parallel with 1 plane of metal frame.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in protection of the invention
Within the scope of.
Claims (8)
1. a kind of adaptive equalization device of laser radar horizontal imaging visual field pitch angle, comprising:
One metal frame；
One turntable is fixed on the metal frame；
One shaft, one end are fixed by one fixed point of turntable with turntable, are configured to rotate around the fixed point, the other end it is upper
Portion is configured to place laser, and laser imaging viewing field pitch angle is adjusted when for rotating；
One thermal expansion bar, upper end are fixed on the metal frame, and lower end offsets with the shaft, wherein the thermal expansion bar
Thermal expansion coefficient is greater than the thermal expansion coefficient of the metal frame；
One spring, both ends are individually fixed between the lower part and metal frame of the other end described in shaft.
2. the apparatus according to claim 1, wherein the metal frame planar configuration is the launch party with the laser
To parallel.
3. the apparatus according to claim 1, wherein the turntable is rectangle, adjacent both sides are fixed on the metal frame
Adjacent both sides on, turntable center is equipped with a round card slot, for placing the shaft.
4. device according to claim 3, wherein the shaft, comprising:
One disk, radius is identical as the round card slot of the turntable center, is embedded within the card slot, and the disk can be with
It is rotated around its center of circle；
One rectangular strip is configured in the lower end of disk, and one surface offsets with the thermal expansion bar, another surface and spring phase
It supports；
One rectangular block is configured in the upper end of disk, for placing laser；
The shaft is integrally arranged in turntable, vertical with turntable and metal frame.
5. device according to claim 4, wherein the running accuracy of the shaft is set as micron order.
6. device according to claim 4, the configuration mode of shaft is to make the laser beam of the laser or it is anti-
Pass through the rotation center of the shaft to extended line.
7. the apparatus according to claim 1, wherein the metal frame thermal expansion coefficient is less than or equal to 1.6 × 10-6/
℃。
8. the apparatus according to claim 1, wherein the thermal expansion bar thermal expansion coefficient is greater than or equal to 25 × 10-6/
℃。
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| CN201910287216.3A CN109828263A (en) | 2019-04-10 | 2019-04-10 | The adaptive equalization device of laser radar horizontal imaging visual field pitch angle |
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| CN201910287216.3A CN109828263A (en) | 2019-04-10 | 2019-04-10 | The adaptive equalization device of laser radar horizontal imaging visual field pitch angle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113042126A (en) * | 2021-03-08 | 2021-06-29 | 中国科学院电工研究所 | Supporting leg device with oil bath for adjusting micro inclination of platform |
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Application publication date: 20190531 |