CN110333511A - A kind of transmitting-receiving synchronization laser radar optical system - Google Patents
A kind of transmitting-receiving synchronization laser radar optical system Download PDFInfo
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- CN110333511A CN110333511A CN201910660751.9A CN201910660751A CN110333511A CN 110333511 A CN110333511 A CN 110333511A CN 201910660751 A CN201910660751 A CN 201910660751A CN 110333511 A CN110333511 A CN 110333511A
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- galvanometer
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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
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- 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 invention belongs to laser radar optical design system regions, be related to a kind of synchronous laser radar optical system of transmitting-receiving, solve the problems, such as the synchronous rotation because cannot accurately guarantee two sets of galvanometers and transmitting-receiving centered optical system be easy will transmitting stray light reflect into photodetector caused by test result it is inaccurate.The optical system mainly includes that laser radar emission system and laser radar receive system；It is same scanning galvanometer that scanning transmitting galvanometer in laser radar emission system and the scanning in laser radar reception system, which receive galvanometer, its surface is equipped with the isolating device perpendicular to mirror surface, scanning galvanometer is divided into two parts up and down, receives galvanometer respectively as scanning transmitting galvanometer and scanning.Realize not interfereing with each other for transmitting-receiving optical system, eliminate interference of the stray light of coaxial transmitting-receiving optical path mixing generation to signal is received, and guarantee that laser scanning system transmitting module and receiving module are completely the same in frequency, amplitude, phase, greatly improve the reliability of test result.
Description
Technical field
The invention belongs to laser radar optical design system regions, are related to a kind of transmitting-receiving synchronization laser radar optical system.
Background technique
Laser radar technique is made by the detection understanding to ambient enviroment flexibly reacts and should fight to the finish as human brain
Plan is the core technology of automatic Pilot.Stability is high, structure is simple, high resolution laser radar system is that people think always
The target to be realized.
Laser radar system includes scanning type laser radar, is broadly divided into tradition machinery formula rotary scanning, all solid state sweeps
It retouches and is scanned with the hybrid solid-state of MEMS (MEMS).Rotary scanning type laser radar flexible operation is swashed using single transmitter
Radiant achieves that face battle array field detection, realizes its survey by calculating transmitting laser and scatter echo signal reception time difference
Away from function.
Rotary scanning type laser radar optical system emits be divided into transmitting-receiving coaxial optical with whether reception separates according to optical path
System and the different axis optical system of transmitting-receiving:
It receives and dispatches that different axis optical system operational is simple, and Laser emission optical path is kept completely separate with receiving light path, eliminates transmitting and produce
Raw stray light is to reception system interference；The disadvantage is that being connect since mechanical or micro electromechanical scanning realizes the three-dimensional test visual field of two dimension
Receipts system needs big visual field and large aperture receiving lens accordingly, and optically it is larger to meet difficulty simultaneously for this two o'clock, and receives and dispatches different
There are larger testing blind zones in axis test.
Big visual field receiving lens are needed in order to solve the problems, such as to receive and dispatch different axis optical system, two sets of synchronous galvanometers can be used
It realizes, as patent CN107526071A proposes that light source is passed sequentially through to two mutually perpendicular uniaxial galvanometers forms Surface scan, dissipates
It is emitted back towards the glistening light of waves to receive backward energy through the uniaxial galvanometer of other two and transmitting galvanometer synchronous rotary, be connect by receiving lens
Detector is focused to after receipts.This optical system key is the synchronous rotation of two sets of galvanometers of realization, to realize the complete of rotation
Synchronizing will guarantee that two galvanometers are consistent in the parameters height such as frequency, amplitude, phase, this process operation difficulty is larger, synchronous
The presence of error will have a direct impact on final test result.
It is of less demanding to big field-of-view lens to receive and dispatch centered optical system, so device structure volume can accomplish very little, receives
It is smaller to send out centered optical system testing blind zone；The disadvantage is that stray light is easy to directly affect reception system time in Laser emission optical path
Wave signal causes test result inaccurate.
As patent CN107153184A proposes the surface launching for realizing laser using a uniaxial galvanometer and rotational structure combination
Scanning, galvanometer and mechanical structure control the transmitting of one-dimensional optical path respectively, are scattered back glistening light of waves backtracking quilt after semi-transparent semi-reflecting lens
Detector receives.It is simple that this receives and dispatches coaxial optical system structure, but echo light mixes with transmitting light, semi-transparent semi-reflecting lens
Stray light will be emitted by, which being easy to, reflects into photodetector, and detectable signal will receive the interference of transmitting optical signal, and test is caused to be tied
The error of fruit.
Summary of the invention
It is easy to emit to solve the synchronous rotation because cannot accurately guarantee two sets of galvanometers and receive and dispatch centered optical system
Stray light reflects into the problem of the inaccuracy of test result caused by photodetector, and it is sharp that the present invention proposes that a kind of new transmitting-receiving synchronizes
Optical radar optical system.Galvanometer or rotating electric machine surface be divided into completely isolated two parts up and down, through upper after laser alignment
Part of the surface reflection issues composition laser radar emission system；Backward energy is reflected back detector composition laser by lower part of the surface
Radar Receiver System solves the problems, such as that galvanometer is nonsynchronous while realizing transmitting-receiving synchronous optical system, improves test result
Reliability.
The technical solution of the present invention is to provide a kind of synchronous laser radar optical systems of transmitting-receiving, including laser radar transmitting system
System receives system with laser radar；Above-mentioned laser radar emission system includes laser emitting module and scanning transmitting galvanometer；It is above-mentioned
It includes that scanning receives galvanometer and signal receiving module that laser radar, which receives system,；Laser emitting module carries out light beam to pulse laser
Testee, which is reached, after scanning emits vibration mirror reflected after shaping realizes two-dimensional array scanning probe, the scatter echo of testee
Light receives vibration mirror reflected to signal receiving module through scanning；
It is characterized in that
Above-mentioned scanning transmitting galvanometer and scanning receive galvanometer is same scanning galvanometer, surface be equipped with perpendicular to mirror surface every
From device, scanning galvanometer is divided into two parts up and down, receives galvanometer respectively as scanning transmitting galvanometer and scanning.
Further, above-mentioned isolating device is isolation board or isolation cover made of light-proof material, utilizes light-proof material
It does and separates, scanning galvanometer is divided into two non-interfering shielding systems, be used separately as laser radar scanning transmitting galvanometer and swash
Optical radar scanning receives galvanometer, realizes that transmitting-receiving optical system is respectively independent, is independent of each other.
Further, in order to efficiently use galvanometer mirror surface area, above-mentioned scanning receives the laser radar receiving area of galvanometer
Greater than the laser radar emission area of scanning transmitting galvanometer；The laser radar emission area of scanning transmitting galvanometer is greater than Laser emission
The size of hot spot after module emits and collimates, the receiving module area that scanning receives galvanometer larger can get more backward energies
It receives, increases the measuring distance of system.
Further, above-mentioned laser emitting module includes pulse laser and collimation lens set, pulse laser outgoing
Scanning transmitting galvanometer is incident to after the collimated lens group collimation of laser；
Above-mentioned signal receiving module includes receiving lens group and photodetector, and it is anti-through scanning reception galvanometer to be scattered back the glistening light of waves
Receiving lens group and photodetector are sequentially entered after penetrating, and realize the reception of transmitting-receiving synchronous scanning scatter echo energy.
Further, above-mentioned photodetector is mainly avalanche photodide (Avalanche PhotonDiode, letter
Claim APD), single-photon avalanche diode (Single Photon Avalanche Diode, abbreviation SPAD), silicon photomultiplier
(MPPC) or PIN photodiode.
Further, because scanning transmitting galvanometer and scanning receive galvanometer synchronous rotary, the visual field of receiving lens group is reduced
It, that is, including at least a piece of aspherical mirror or including the common eyeglass of multi-disc, is realized so above-mentioned receiving lens group is conventional lenses at angle
Light beam focuses.
Further, above-mentioned scanning galvanometer can be two dimension MEMS galvanometer, by laser emission point hot spot in scanning galvanometer
Surface of emission battle array laser after reflection；Above-mentioned collimation lens set includes that at least a piece of aspherical mirror or at least two cylindrical mirrors or multi-disc are general
Logical eyeglass.
Further, above-mentioned scanning galvanometer can also for the uniaxial scanning galvanometer of two torsional directions orthogonal first with
Second uniaxial scanning galvanometer, the isolating device setting is on the second uniaxial scanning galvanometer；The collimation lens set includes at least
A piece of aspherical mirror or at least two cylindrical mirrors or the common eyeglass of multi-disc.
Further, the first uniaxial scanning galvanometer and the second uniaxial scanning galvanometer are single shaft MEMS galvanometer or one-dimensional electric rotating
Machine.
Further, above-mentioned scanning galvanometer can also be a uniaxial scanning galvanometer；The collimation lens set includes at least
A piece of aspherical mirror and at least one cylindrical mirror, or including the common eyeglass of multi-disc and at least one cylindrical mirror, main function is realized
Laser is first carried out astigmatism correction and hot spot collimate, after again by cylindrical mirror etc. expansion line lens alignment direct light spot carry out expansion line.
Laser emitting expands line angle orientation and is mutually perpendicular to scanning galvanometer scan position.
Further, above-mentioned uniaxial scanning galvanometer is single shaft MEMS galvanometer or one-dimensional rotating electric machine.
The beneficial effects of the present invention are:
1, the present invention receives and dispatches synchronous laser radar optical system and solves the different axis big visual field receiving lens of needs and same shafting
System stray light is easy to directly affect the problem of receiving system echoes signal, while solving synchronous galvanometer consistency and adjusting and existing
Difficulty.
2, the synchronous laser radar optical system of a kind of transmitting-receiving proposed by the present invention, adds light-proof material on scanning galvanometer,
By scanning galvanometer complete parttion be upper and lower two non-interfering scan modules, be used separately as laser radar scanning transmitting module and
Laser radar scanning receiving module realizes not interfereing with each other for transmitting-receiving optical system, eliminates what coaxial transmitting-receiving optical path mixing generated
Interference of the stray light to signal is received；Scanning transmitting galvanometer and scanning reception galvanometer simultaneously is an entirety, realizes synchronous rotary,
The backward energy of different launch angles, drop are recycled by the synchronous rotary reflection that scanning receives reception scanning surface per moment of galvanometer
The field angle of low receiving lens group enormously simplifies the design difficulty and structure of receiving lens group, and can guarantee laser scanning system
System transmitting module and receiving module are completely the same in frequency, amplitude, phase, greatly improve the reliability of test result.
Detailed description of the invention
Fig. 1 is a kind of synchronous laser radar optical system schematic diagram of the transmitting-receiving of the embodiment of the present invention one；
Appended drawing reference in figure are as follows: 1- pulse laser；2- collimation lens set；3- two dimension MEMS galvanometer；4- scanning field of view；5-
Isolating device；6- receiving lens group；7- photodetector.
Fig. 2 is a kind of synchronous laser radar optical system schematic diagram of the transmitting-receiving of the embodiment of the present invention two；
Appended drawing reference in figure are as follows: 1- pulse laser；2- collimation lens set；31- single shaft scanning galvanometer galvanometer；32- is uniaxial
Scanning galvanometer galvanometer；4- scanning field of view；5- isolating device；6- receiving lens group；7- photodetector.
Fig. 3 is a kind of synchronous laser radar optical system schematic diagram of the transmitting-receiving of the embodiment of the present invention three；
Appended drawing reference in figure are as follows: 1- pulse laser；2- collimation expands line lens group；3- single shaft scanning galvanometer galvanometer；4- is swept
Retouch visual field；5- isolating device；6- receiving lens group；7- photodetector.
Specific embodiment
The present invention is divided into two non-interfering galvanometer moulds up and down by the way that light-proof material is arranged on galvanometer surface, by galvanometer
It is used as transmitting and the receiving plane of laser after block respectively, transmitting laser is isolated with laser is received, receive-transmit system is realized and does not do mutually
It disturbs, while reaching the fully synchronized of transmitting-receiving vibration mirror scanning.
The present invention is further described through below in conjunction with drawings and the specific embodiments.
Embodiment one
It will be seen from figure 1 that the present embodiment receives and dispatches synchronous laser radar optical system, including laser radar emission system with
Laser radar receives system.Laser radar emission system includes the pulse laser 1 set gradually along optical path, collimation lens set 2
And two dimension MEMS galvanometer 3；It includes the two-dimentional MEMS galvanometer 3 set gradually along optical path, receiving lens group 6 that laser radar, which receives system,
With photodetector 7.Collimation lens set 2 in the present embodiment includes at least a piece of aspherical mirror or at least two cylindrical mirrors or more
The combination of the common eyeglass of piece, main function are the spot shapings realized to 1 shoot laser of pulse laser.Because of laser diode
Eigen astigmatism is serious, needs it light hot spot and collimates.Laser laser facula after the collimation of collimation lens set is realized
Maximum energy is concentrated, and transmitting light energy can be improved and realize farther measuring distance.
The present embodiment optical system further includes that isolating device 5 is made of light-proof material, perpendicular to two-dimentional MEMS galvanometer 3
Mirror surface setting, two-dimentional MEMS galvanometer 3 is divide into upper part and lower part, upper part two dimension MEMS galvanometer 3 emits as laser radar
Scanning in system emits galvanometer, and lower part two dimension MEMS galvanometer 3 is as the laser radar scanning in laser radar reception system
Galvanometer is received, guarantees that transmitting-receiving optical system respectively works independently.Isolating device 5 is plate other shapes in the present embodiment, as long as
Transmitting-receiving optical system is enabled to respectively to work independently.
The laser that pulse laser 1 is emitted is after the collimation of laser collimator lens group 2 in the upper part of two-dimentional MEMS galvanometer 3
I.e. scanning transmitting galvanometer surface is reflected, while carrying out the scanning of horizontal and vertical both direction, forms scanning field of view 4, real
The ranging imaging of existing three-dimensional surface visual field；Testee is scattered back lower part of the glistening light of waves through two-dimentional MEMS galvanometer 3 and scans reception vibration
Mirror reflection after enter receiving lens group 6 be focused, after by photodetector 7 (such as APD, SPAD, MPPC or PIN) carry out signal
Processing.
Since two-dimentional 3 surface of MEMS galvanometer is provided with isolating device 5, laser radar emission system and the reception independent work of system
Make, do not interfere with each other, photodetector 7 not will receive the stray light that transmitting laser generates.Scanning transmitting galvanometer connects with scanning
Galvanometer synchronous rotary is received, the different angles of departure are recycled by the synchronous rotary reflection that scanning receives reception scanning surface per moment of galvanometer
The backward energy of degree reduces the field angle of receiving lens group, enormously simplifies the design difficulty and structure of receiving lens group.Cause
This, the receiving lens group of the present embodiment is conventional receiver lens group, does not need large aperture receiving lens, that is, includes at least a piece of non-
The combination of spherical mirror or the common eyeglass of multi-disc.Scan transmitting galvanometer simultaneously and scanning receive galvanometer can regard as two it is completely same
The scanning galvanometer of step, due to a galvanometer originally entirety, two parts are consistent in the parameters height such as frequency, amplitude, phase,
It solves the unstability of synchronous galvanometer debugging process, improves the order of accuarcy of test result.
In order to rationally utilize scanning galvanometer area, the receiving area that scanning receives galvanometer should be greater than the hair of scanning transmitting galvanometer
Area is penetrated, the emission area of scanning transmitting galvanometer is greater than laser alignment spot size, and scanning receives the receiving area of galvanometer
It is larger to can receive more backward energies, greatly increase the measuring distance of system.
Embodiment two
Figure it is seen that the present embodiment receives and dispatches synchronous laser radar optical system, including laser radar emission system with
Laser radar receives system.Wherein laser radar emission system includes pulse laser 1, the collimation lens set gradually along optical path
Group 2, uniaxial scanning galvanometer 31 and uniaxial scanning galvanometer 32；It includes sweeping along the single shaft that optical path is set gradually that laser radar, which receives system,
Retouching galvanometer 32, (the uniaxial scanning galvanometer 32 in the single shaft scanning galvanometer 32 and laser radar emission system is the same uniaxial scanning
Galvanometer), receiving lens group 6 and photodetector 7.Wherein uniaxial scanning galvanometer can be uniaxial MEMS galvanometer or one-dimensional electric rotating
Machine.The present embodiment collimation lens set 2 includes the combination of at least a piece of aspherical or at least two cylindrical mirrors or the common eyeglass of multi-disc,
Main function realizes the spot shaping to laser.
The present embodiment optical system further includes isolating device 5, is made of light-proof material perpendicular to uniaxial scanning galvanometer 32
Mirror surface setting, uniaxial scanning galvanometer 32 is divide into upper part and lower part, and upper part single shaft scanning galvanometer 32 emits as laser radar
Scanning in system emits galvanometer, and lower part single shaft scanning galvanometer 32 receives vibration as the scanning in laser radar reception system
Mirror guarantees that transmitting-receiving optical system respectively works independently.Isolating device 5 is plate other shapes in the present embodiment, as long as can make
Optical system must be received and dispatched respectively to work independently.
The collimated lens group 2 of pulse laser that pulse laser 1 issues gets to uniaxial scanning galvanometer 31 with the hot spot of very little
On, uniaxial scanning galvanometer 31 carries out the torsion of vertical direction under the control of driver, and central shaft is reversed around Y-axis.Due to list
Axis scanning galvanometer 31 is not involved in receiving light path system, and area needs be only greater than facula area.Uniaxial scanning galvanometer 32
Top half scans after transmitting galvanometer receives the scanning light from uniaxial scanning galvanometer 31 and carries out water under the control of driver
Square upward torsion, central shaft are reversed around X-axis.Scanning light becomes two-dimensional scanning into face through the scanning of uniaxial scanning galvanometer 32
Battle array Laser emission forms scanning field of view 4 to object；It scans lower half portion of the object scatter echo light through uniaxial scanning galvanometer 32
Receive vibration mirror reflected after enter receiving lens group 6 be focused after by photodetector 7 (such as APD, SPAD, MPPC or PIN) into
Row signal processing.The direction of rotation of two uniaxial scanning galvanometers can be exchanged, control of such as uniaxial scanning galvanometer 31 in driver
The lower torsion for carrying out horizontal direction, central shaft are reversed around X-axis.Uniaxial scanning galvanometer 32 is received from uniaxial scanning galvanometer 31
The torsion in vertical direction is carried out after scanning light under the control of driver, central shaft is reversed around Y-axis.
Since uniaxial 32 surface of scanning galvanometer is provided with isolation, laser radar emission system works independently with reception system,
It does not interfere with each other, pick-up probe not will receive the stray light that transmitting laser generates.Scanning transmitting galvanometer and scanning receive vibration
Mirror synchronous rotary recycles different launch angles by the synchronous rotary reflection that scanning receives reception scanning surface per moment of galvanometer
Backward energy reduces the field angle of receiving lens group, enormously simplifies the design difficulty and structure of receiving lens group.Therefore, originally
The receiving lens group of embodiment is conventional receiver lens group, does not need large aperture receiving lens, that is, includes at least a piece of aspherical
Or the combination of the common eyeglass of multi-disc.Two fully synchronized scanning galvanometers can be regarded as by receiving and dispatching scanning galvanometer simultaneously, due to vibration
A mirror originally entirety, two parts are consistent in the parameters height such as frequency, amplitude, phase, solve synchronous galvanometer debugging
Unstability in the process improves the order of accuarcy of test result.In order to rationally utilize scanning galvanometer area, the single shaft separated
32 laser radar receiving area of scanning galvanometer should be greater than laser radar emission area, and scanning receives galvanometer area and is greater than uniaxial scanning
The linear hot spot spot size that galvanometer 31 scans, the line facula area to guarantee the uniaxial scanning of scanning galvanometer 31 outgoing are small
In transmitting module surface area, this just needs the distance between uniaxial scanning galvanometer 31 and uniaxial scanning galvanometer 32 small as far as possible.
Receiving module area is larger can receive more backward energies, increases the measuring distance of system.
Embodiment three
From figure 3, it can be seen that the present embodiment receives and dispatches synchronous laser radar optical system, including laser radar emission system with
Laser radar receives system.Wherein laser radar emission system includes the pulse laser 1 set gradually along optical path, collimation expansion line
Lens group 2 and uniaxial scanning galvanometer 3；Laser radar receives system and includes the uniaxial scanning galvanometer 3 set gradually along optical path, receives
Lens group 6 and photodetector 7；Wherein, uniaxial scanning galvanometer can be uniaxial MEMS galvanometer or single-shaft-rotation motor.
The present embodiment optical system further includes isolating device 5, is made of light-proof material perpendicular to uniaxial 3 mirror of scanning galvanometer
Face setting, uniaxial scanning galvanometer 3 is divide into upper part and lower part, and upper part single shaft scanning galvanometer 3 is used as laser radar emission system
In scanning emit galvanometer, lower part single shaft scanning galvanometer 3 as in laser radar reception system scanning receive galvanometer, guarantee
Transmitting-receiving optical system respectively works independently.Isolating device 5 is plate other shapes in the present embodiment, as long as enabling to transmitting-receiving light
System respectively works independently.
The present embodiment collimation lens set 2 includes at least a piece of aspherical mirror and at least one cylindrical mirror, or general including multi-disc
Logical eyeglass and at least one cylindrical mirror；Main function realize laser is first carried out astigmatism correction and hot spot collimate, after pass through again
Cylindrical mirror etc. expands line lens alignment direct light spot and carries out expansion line, while guaranteeing that the linear light spot all angles energy of outgoing is uniform.
Linear light spot is converted into after the collimated expansion line lens group 2 of hot spot that pulse laser 1 emits, linear light spot is scanned in single shaft
The upper part of galvanometer 3 is that the surface of scanning transmitting galvanometer is reflected, the angle orientation of linear light spot and turning for single shaft scanning galvanometer 3
Axis is parallel, i.e., laser emitting expands line angle orientation and is mutually perpendicular to scanning galvanometer scan position, after linear light spot passes through scanning galvanometer
Scanning field of view 4 is formed, the ranging imaging of three-dimensional surface visual field is realized, is scattered back the glistening light of waves and is swept through the lower part of uniaxial scanning galvanometer 3
It retouches and enters receiving optics after receiving vibration mirror reflected.
Since uniaxial 3 surface of scanning galvanometer is provided with isolation, laser radar emission system works independently with reception system, mutually
It does not interfere, pick-up probe not will receive the stray light that transmitting laser generates.Scanning transmitting galvanometer and scanning receive galvanometer
Synchronous rotary recycles returning for different launch angles by the synchronous rotary reflection that scanning receives reception scanning surface per moment of galvanometer
Wave energy reduces the field angle of receiving lens group, enormously simplifies the design difficulty and structure of receiving lens group.Therefore, this reality
Apply example receiving lens group be conventional receiver lens group, do not need large aperture receiving lens, that is, include it is at least a piece of aspherical or
The combination of the common eyeglass of multi-disc.Two fully synchronized scanning galvanometers can be regarded as by receiving and dispatching scanning galvanometer simultaneously, due to galvanometer sheet
To be exactly an entirety, two parts are consistent in the parameters height such as frequency, amplitude, phase, solve synchronous galvanometer debugging process
In unstability, improve the order of accuarcy of test result.
In order to which rationally using 3 area of uniaxial scanning galvanometer, the scanning galvanometer laser radar receiving area separated be should be greater than
Laser radar emission area, scanning transmitting galvanometer area are greater than laser quasi direct expansion linear light spot size.It can be by laser quasi direct expansion
Line lens group guarantees that the expansion linear light spot volume of short distance is less than transmitting module surface area closely close to transmitting scan module.It connects
It is larger can receive more backward energies to receive module area, increases the measuring distance of system.
Claims (11)
1. a kind of synchronous laser radar optical system of transmitting-receiving, including laser radar emission system and laser radar receive system；Institute
Stating laser radar emission system includes laser emitting module and scanning transmitting galvanometer；It includes scanning that the laser radar, which receives system,
Receive galvanometer and signal receiving module；Laser emitting module is scanned transmitting vibration mirror reflected after carrying out beam shaping to pulse laser
Testee is reached afterwards realizes that two-dimensional array scanning probe, the glistening light of waves that is scattered back of testee are extremely believed through scanning reception vibration mirror reflected
Number receiving module；
It is characterized by:
It is same scanning galvanometer that the scanning transmitting galvanometer, which receives galvanometer with scanning, and surface is equipped with the isolation dress perpendicular to mirror surface
It sets, scanning galvanometer is divided into two parts up and down, receive galvanometer respectively as scanning transmitting galvanometer and scanning.
2. the synchronous laser radar optical system of transmitting-receiving according to claim 1, it is characterised in that: the isolating device is not
Isolation board or isolation cover made of translucent material.
3. the synchronous laser radar optical system of transmitting-receiving according to claim 2, it is characterised in that: the scanning receives galvanometer
Laser radar receiving area be greater than scanning transmitting galvanometer laser radar emission area；The laser radar hair of scanning transmitting galvanometer
Penetrate the size of hot spot after area emits and collimates greater than laser emitting module.
4. the synchronous laser radar optical system of transmitting-receiving according to claim 3, it is characterised in that: the laser emitting module
Including pulse laser and collimation lens set, scanning hair is incident to after the collimated lens group collimation of the laser of pulse laser outgoing
Penetrate galvanometer；
The signal receiving module includes receiving lens group and photodetector, and scatter echo signal receives vibration mirror reflected through scanning
After sequentially enter receiving lens group and photodetector.
5. the synchronous laser radar optical system of transmitting-receiving according to claim 4, it is characterised in that: the photodetector is
Avalanche photodide, single-photon avalanche diode, silicon photomultiplier or PIN photodiode.
6. the synchronous laser radar optical system of transmitting-receiving according to claim 4, it is characterised in that: the receiving lens group packet
At least a piece of aspherical mirror or the common eyeglass of multi-disc are included, realizes that light beam focuses.
7. the synchronous laser radar optical system of transmitting-receiving according to claim 4, it is characterised in that: the scanning galvanometer is two
Tie up MEMS galvanometer；The collimation lens set includes at least a piece of aspherical mirror or at least two cylindrical mirrors or the common eyeglass of multi-disc.
8. the synchronous laser radar optical system of transmitting-receiving according to claim 4, it is characterised in that: the scanning galvanometer is two
The uniaxial scanning galvanometer of a torsional direction orthogonal first and the second uniaxial scanning galvanometer, the isolating device are arranged second
On uniaxial scanning galvanometer；The collimation lens set includes at least a piece of aspherical mirror or at least two cylindrical mirrors or the common mirror of multi-disc
Piece.
9. the synchronous laser radar optical system of transmitting-receiving according to claim 8, it is characterised in that: the first uniaxial scanning galvanometer
It is single shaft MEMS galvanometer or one-dimensional rotating electric machine with the second uniaxial scanning galvanometer.
10. the synchronous laser radar optical system of transmitting-receiving according to claim 4, it is characterised in that: the scanning galvanometer is
One uniaxial scanning galvanometer；The collimation lens set includes at least a piece of aspherical mirror and at least one cylindrical mirror, or including more
The common eyeglass of piece and at least one cylindrical mirror；Laser emitting expands line angle orientation and is mutually perpendicular to scanning galvanometer scan position.
11. the synchronous laser radar optical system of transmitting-receiving according to claim 10, it is characterised in that: the uniaxial scanning vibration
Mirror is single shaft MEMS galvanometer or one-dimensional rotating electric machine.
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