CN111948795A - Radar and angle adjusting device - Google Patents
Radar and angle adjusting device Download PDFInfo
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- CN111948795A CN111948795A CN201910403114.3A CN201910403114A CN111948795A CN 111948795 A CN111948795 A CN 111948795A CN 201910403114 A CN201910403114 A CN 201910403114A CN 111948795 A CN111948795 A CN 111948795A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/02—Catoptric systems, e.g. image erecting and reversing system
- G02B17/06—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror
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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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
Abstract
The invention provides a radar and an angle adjusting device, the angle adjusting device comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, the curvature radius of the first annular spherical mirror is the same as that of the second annular spherical mirror, the inner surface of the first annular spherical mirror is a spherical surface, a light through hole is formed on the side wall of the first annular spherical mirror, a first light through port is formed on the side wall of the second annular spherical mirror, an initial light beam can enter the cavity of the first annular spherical mirror through the light through hole, after the inner surface of the first annular spherical mirror reflects for N-1 times, the initial light beam reflects once on the inner surface of the second annular spherical mirror and exits through the first light through port, and as the initial light beam reflects through the inner surface of the spherical mirror, the field angle range of the exiting initial light beam is larger than that of the entering initial light beam according to the geometrical optics principle, so that the field angle range can be expanded, the angle adjusting device is applied to the radar, so that the field angle range of the radar can be enlarged.
Description
Technical Field
The invention relates to the field of optics, in particular to a radar and an angle adjusting device.
Background
The radar is used for measuring distance, and specifically, an initial signal transmitted by the radar is reflected by an object to form an echo signal, and the echo signal is compared with the initial signal, so that accurate information of the distance of the measured object is obtained. The initial signal can be a laser signal, and the laser has the advantages of small beam divergence angle, energy concentration, good directivity, high repetition frequency and the like, so that the laser radar can realize the remote and high-precision measurement of the measured object. At present, the laser radar has wide application in the fields of aerospace, remote sensing detection, measurement, intelligent driving and the like.
Typically, the field of view of the radar is limited. The traditional radar can expand the field angle by using a Micro-Electro-Mechanical System (MEMS) scanning mode, vertical scanning can be completed by using an MEMS (Micro-Electro-Mechanical System), horizontal scanning is completed by rotating a machine body, so that the problems of high assembling and debugging difficulty exist, if a plurality of MEMS micromirrors are used for being connected in parallel to cover a large field range, large cost is generated, and splicing among the fields is troublesome.
How to realize a larger field angle at a lower cost is an important problem in practical application of the radar.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a radar and an angle adjusting apparatus for enlarging a field angle.
In order to achieve the purpose, the invention has the following technical scheme:
the embodiment of the application provides an angle adjusting device, includes:
the spherical mirror comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, wherein the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, and the inner surfaces of the first annular spherical mirror and the second annular spherical mirror are spherical;
a light through hole is formed in the side wall of the first annular spherical mirror, and an initial light beam is incident into the cavity of the first annular spherical mirror through the light through hole; and a first light through opening is formed in the side wall of the second annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once after being reflected on the inner surface of the first annular spherical mirror for N-1 times, and is emitted through the first light through opening, and N is an integer greater than 1.
Optionally, a ratio of a distance between a sphere center of the second annular spherical mirror and a center of the light-passing hole in a direction of a connection line of the two sphere centers to a distance between a sphere center of the first annular spherical mirror and a center of the light-passing hole in a direction of a connection line of the two sphere centers is (N + 1).
Optionally, the center of the first annular spherical mirror is closer to the second annular spherical mirror than the center of the light-passing hole, and the light-passing hole and the first light-passing port are located on different sides, so that N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the spherical center of the first annular spherical mirror, the light-passing hole and the first light-passing port are located on the same side, and then N is an odd number.
Optionally, the first light-passing port penetrates through the second annular spherical mirror in the direction of the connecting line of the two sphere centers, and the second annular spherical mirror forms an arc smaller than or equal to a semicircle on the joint surface of the two spheres.
Optionally, a second light-passing port is formed on the first annular spherical reflecting mirror, and dimensions of the second light-passing port and the first light-passing port in a plane parallel to the joint surface are consistent.
Optionally, the distance H between the center of the light-passing hole and the edge of the first annular spherical mirror opposite to the joint surface1The distance H between the center of the light through hole and the joint surface2The height H of the side wall of the second annular spherical mirror3The height H of the side wall of the first annular spherical mirror at the second light through opening4The following conditions are satisfied:
c is the distance between the sphere center of the first annular spherical mirror and the center of the light through hole in the direction of the connecting line of the two sphere centers, R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, a is the initial diameter of the initial light beam, and alpha ismaxIs the maximum angle between the initial light beam and the bonding surface in the direction perpendicular to the bonding surface.
Optionally, the range of R is 20 mm-150 mm, the range of c is R/20-R/50, a is less than or equal to 10mm, and alpha ismaxIs in the range of 0 to 15 degrees.
An embodiment of the present application provides a radar, including: the device comprises an initial light beam generating device, an angle adjusting device, an echo light beam receiving device and a data analyzing device;
the initial light beam generating device is used for generating an initial light beam;
the angle adjusting device comprises: the spherical mirror comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, wherein the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, and the inner surfaces of the first annular spherical mirror and the second annular spherical mirror are spherical; a light through hole is formed in the side wall of the first annular spherical mirror, and an initial light beam is incident into the cavity of the first annular spherical mirror through the light through hole; a first light through opening is formed in the side wall of the second annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once after being reflected on the inner surface of the first annular spherical mirror for N-1 times, and is emitted through the first light through opening, and N is an integer greater than 1; taking the light beam emitted by the angle adjusting device as a test light beam;
the echo light beam receiving device is used for receiving the echo light beam formed by the reflection of the test light beam by the object to be detected;
and the data analysis device is used for determining the position of the object to be detected according to the initial light beam and the echo light beam.
Optionally, a ratio of a distance between a sphere center of the second annular spherical mirror and a center of the light-passing hole in a direction of a connection line of the two sphere centers to a distance between a sphere center of the first annular spherical mirror and a center of the light-passing hole in a direction of a connection line of the two sphere centers is (N + 1).
Optionally, the center of the first annular spherical mirror is closer to the second annular spherical mirror than the center of the light-passing hole, and the light-passing hole and the first light-passing port are located on different sides, so that N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the spherical center of the first annular spherical mirror, the light-passing hole and the first light-passing port are located on the same side, and then N is an odd number.
Optionally, the first light-passing port penetrates through the second annular spherical mirror in the direction of the connecting line of the two sphere centers, and the second annular spherical mirror forms an arc smaller than or equal to a semicircle on the joint surface of the two spheres.
Optionally, a second light-passing port is formed on the first annular spherical reflecting mirror, and dimensions of the second light-passing port and the first light-passing port in a plane parallel to the joint surface are consistent.
Optionally, the distance H between the center of the light-passing hole and the edge of the first annular spherical mirror opposite to the joint surface1The distance H between the center of the light through hole and the joint surface2The height H of the side wall of the second annular spherical mirror3The height H of the side wall of the first annular spherical mirror at the second light through opening4The following conditions are satisfied:
c is the distance between the sphere center of the first annular spherical mirror and the center of the light through hole in the direction of the connecting line of the two sphere centers, R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, a is the initial diameter of the initial light beam, and alpha ismaxIs the maximum angle between the initial light beam and the bonding surface in the direction perpendicular to the bonding surface.
Optionally, the range of R is 20 mm-150 mm, the range of c is R/20-R/50, a is less than or equal to 10mm, and alpha ismaxIs in the range of 0 to 15 degrees.
The radar and the angle adjusting device provided by the embodiment of the invention comprise a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, wherein the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, the inner surface of the first annular spherical mirror is a spherical surface, a light through hole is formed on the side wall of the first annular spherical mirror, a first light through port is formed on the side wall of the second annular spherical mirror, an initial light beam can enter the cavity of the first annular spherical mirror through the light through hole, after the inner surface of the first annular spherical mirror is reflected for N-1 times, the initial light beam is reflected once on the inner surface of the second annular spherical mirror and exits through the first light through port, and as the initial light beam is reflected by the inner surface of the spherical mirror, the field angle range of the exiting initial light beam is larger than that of the entering initial light beam according to the geometrical optics principle, so that the field angle range can be expanded, the angle adjusting device is applied to the radar, so that the field angle range of the radar can be enlarged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 to 3 are schematic structural diagrams of an angle adjusting apparatus provided in an embodiment of the present application at different angles, respectively;
4-6 show schematic structural diagrams of an angle adjusting device provided by the embodiment of the present application at different angles during an application process;
fig. 7 and 8 are schematic diagrams illustrating the working principle of an angle adjusting device provided by the embodiment of the present application at different angles;
FIGS. 9 and 10 are schematic diagrams illustrating the operation principle of another angle adjusting device provided by the embodiment of the present application at different angles;
FIG. 11 is a schematic diagram illustrating a path simulation of an initial light beam in an angle adjusting device according to an embodiment of the present disclosure;
fig. 12 shows a block diagram of a radar according to an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration when describing the embodiments of the present invention, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
As described in the background art, the field of view of the radar is limited, and the field of view is enlarged by MEMS scanning, which causes problems of difficult assembly and difficult debugging, and the cost is increased when a plurality of MEMS micromirrors are coupled to cover a larger field of view. Therefore, how to realize a large field angle with limited cost is an important issue in practical application of radar.
Based on this, the embodiment of the present application provides a radar and an angle adjusting device, the angle adjusting device includes a first annular spherical mirror and a second annular spherical mirror stacked in sequence, the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, and the inner surface is a spherical surface, a light through hole is formed on the side wall of the first annular spherical mirror, a first light through port is formed on the side wall of the second annular spherical mirror, an initial light beam can enter the cavity of the first annular spherical mirror through the light through hole, after the inner surface of the first annular spherical mirror reflects N-1 times, the initial light beam reflects once on the inner surface of the second annular spherical mirror, and exits through the first light through port, because the initial light beam reflects through the inner surface of the spherical mirror, according to the geometrical optics principle, the field angle range of the exiting initial light beam is larger than that of the incident initial light beam, so that the field angle range can be expanded, the angle adjusting device is applied to the radar, so that the field angle range of the radar can be enlarged.
For better understanding of the technical solutions and effects of the present application, specific embodiments will be described and explained in detail below with reference to the accompanying drawings.
The angle adjusting device provided by the embodiment of the application can comprise a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, and it can be understood that the first annular spherical mirror and the second annular spherical mirror form a joint face, one side of the joint face is the first annular curved mirror, the other side is the second annular spherical mirror, the up-down left-right position relation of the first annular spherical mirror and the second annular spherical mirror can be determined according to the placing direction of the device, for example, when the device is placed vertically, the first annular spherical mirror can be located below or below the second annular spherical mirror, and when the device is placed horizontally, the first annular spherical mirror can be located on the left side or right side, front side or rear side and the like of the second annular spherical mirror.
The following description will be made by taking an example in which the first annular spherical mirror is located below the second annular spherical mirror, and referring to fig. 1, fig. 2 and fig. 3, which are schematic structural diagrams of an angle adjusting device provided in the embodiment of the present application at different angles, wherein fig. 1, fig. 2 and fig. 3 are a top view, a side view and a front view of an angle adjusting device provided in the embodiment of the present application, respectively.
The apparatus comprises a first annular spherical mirror 100 and a second annular spherical mirror 200, the first and second annular spherical mirrors 100, 200 being stacked in sequence with a joint 1001 formed therebetween. The inner surfaces of the two annular spherical mirrors are spherical surfaces, the curvature radiuses of the spherical surfaces are the same, and the spherical surfaces are denoted by R. When the first annular spherical mirror 100 and the second annular spherical mirror 120 are stacked, the spherical centers P of the two annular spherical mirrors may be alignedC1And PC2Perpendicular to the joint 1001, the radii of the first and second annular spherical mirrors 100, 200 within the joint 1001 may be different.
The outer surfaces of the two annular spherical mirrors may be cylindrical surfaces, and based on that the diameters of the two annular spherical mirrors in the horizontal plane may be different, the diameters of the outer surfaces of the two annular spherical mirrors in the plane parallel to the joint plane may also be different, for example, the diameter of the outer surface of the second annular spherical mirror 200 in the plane parallel to the joint plane may be smaller than the diameter of the outer surface of the first annular spherical mirror 100 in the plane parallel to the joint plane, as shown in fig. 2, the diameter of the outer surface of the first annular spherical mirror is D; of course, the diameters of the outer surfaces of the two annular spherical mirrors in the plane parallel to the joint surfaces may also be uniform.
Of course, the outer surfaces of the two annular spherical mirrors may be set to other shapes according to actual conditions, and may be prism surfaces, irregular curved surfaces, and the like. Specifically, the outer surfaces of the two annular spherical mirrors may be hexahedron, octahedron, etc., and are not limited herein.
The side wall of the first annular spherical mirror 100 may be formed with a light-transmitting hole 101, and the light-transmitting hole 101 is used to make the initial light beam enter the cavity of the first annular spherical mirror 100 through the light-transmitting hole 101, so that the initial light beam may enter the cavity of the second annular spherical mirror 120 after being reflected N-1 times in the cavity of the first annular spherical mirror 100, where N is a positive integer greater than 1. The light transmitting holes 101 may be circular holes or rectangular holes, and may be light transmitting holes penetrating through the side wall of the first toroidal spherical mirror 100, light channels filled with a light transmitting material, or light channels provided with a light transmitting member, for example, a light transmitting member such as a filter film.
A first light-passing opening 201 is formed on the side wall of the second toroidal spherical mirror 120, and the initial light beam can exit from the first light-passing opening 201 after being reflected once in the cavity of the second toroidal spherical mirror 120.
A rectangular coordinate system is established, a first plane parallel to the joint plane is made to pass through the center of the light through hole 101, the intersection point of the connecting line of the two spherical centers and the first plane is used as the origin of coordinates, the connecting line of the two spherical centers is used as the y axis, the connecting line of the center of the light through hole 101 and the origin is used as the z axis, and the direction perpendicular to the z axis in the first plane is used as the x axis. Referring to fig. 1, the right direction is a positive z-axis direction, the upward direction is a positive x-axis direction, and referring to fig. 2, the upward direction is a positive y-axis direction.
According to the principle of geometric optics, the reflection of the initial light beam by the first annular spherical mirror 100 and the second annular spherical mirror 200 follows the law of reflection, and the field angle range of the outgoing initial light beam is larger than that of the incoming initial light beam, so that the field angle range of the initial light beam is expanded. For example, the field angle range of the initial beam may be expanded by (2N +1) times in the x-axis direction, and may be expanded by approximately (2N +1) times in the y-axis direction.
It can be understood that the initial light beam is reflected N-1 times in the cavity of the first annular spherical mirror 100 and 1 time in the cavity of the second annular spherical mirror 200, and if N is an odd number, the initial light beam is reflected N times and then exits, i.e. exits with even number of times, so the light-passing hole 101 for the incident initial light beam and the first light-passing port 201 for the exiting initial light beam can be disposed on different sides of the apparatus, for example, on the left side and the right side of the apparatus, respectively, so as to facilitate the exiting of the initial light beam from the first light-passing port 201, as shown in fig. 3; if N is even, the initial light beam reflects for an odd number of times, so the light hole 101 for entering the initial light beam and the first light port 201 for exiting the initial light beam can be disposed on the same side of the apparatus, for example, both disposed on the left side or the right side of the apparatus (not shown), so as to facilitate the initial light beam exiting from the first light port 201.
In practice, in order to make N an even number, the center P of the first annular spherical mirror 100 may be madeC1Closer to the second annular spherical mirror 200 than the center of the light-passing hole 101, for example, the center P of the first annular spherical mirror 100 is located below the second annular spherical mirror 200C1May be located at the upper side of the center of the light passing hole 101, as shown with reference to fig. 3; similarly, in order to make N an odd number, the center of the light-passing hole 101 may be made to be compared with the spherical center P of the first annular spherical mirror 100C1Closer to the second annular spherical mirror 200, for example, the first annular spherical mirror 100 is located below the second annular spherical mirror 200, the center of the first annular spherical mirror 100 may be located at the lower side of the center of the light-passing hole 101 (not shown).
In the embodiment of the present application, the first light-passing port 201 of the second annular spherical mirror 200 may penetrate through the second annular spherical mirror 200 in the direction of connecting two spherical centers, that is, the second annular spherical mirror 200 may be in a non-closed ring shape. Since the angle of field of the initial light beam in the x-axis direction is enlarged, in order to enable the initial light beam to exit smoothly, the second ring-shaped spherical mirror 200 may form a circular arc smaller than or equal to a semicircle on the joint surface 1001 of the two spherical mirrors, so that the initial light beams in multiple directions can exit from the first light transmission port 201 without continuously reflecting the initial light beam back and forth in the second ring-shaped spherical mirror 200. Referring to FIG. 3, the second annular spherical mirror 200 covers only the left portion of the first annular spherical mirror 100, and the tangent plane of the second annular spherical mirror 200 on the right side is at the center P of the second annular spherical mirror 200C2Left side, tangent plane and center P of sphereC2May be represented by l.
In the embodiment of the present application, the angle of field of the initial light beam in the y-axis direction is also enlarged, and in order to allow the initial light beam to exit smoothly, the first annular spherical mirror 100 may further include the second light passage opening 102, the second light passage opening 102 may be formed in the joint surface of the first annular spherical mirror 100, and the shapes of the first light passage opening 201 and the second light passage opening 102 in the joint surface may be the same. It will be appreciated that the second light admission port 102 does not extend through the first annular spherical mirror 100, but rather only forms a groove on one side of the engaging surface of the first annular spherical mirror 100, which facilitates the exit of the primary light beam at larger exit angles.
It can be understood that the first light passing port 201 and the second light passing port 102 are used for emitting the initial light beam, and therefore, a light-transmitting material, such as a glass cover, a filter film, etc., may be further disposed at the first light passing port 201 and the second light passing port 102, without affecting the implementation of the embodiment of the present application.
Referring to fig. 3, the center of the light-passing hole 101 is at a distance H from the lower edge of the first annular spherical mirror 100 opposite to the joint surface 10011The distance between the center of the light-transmitting hole 101 and the joint surface 1001 is H2The height of the side wall of the second ring-shaped spherical mirror 200 is H3The height of the side wall of the first annular spherical mirror 100 on the right side is H4That is, the depth of the second light passing opening 102 is (H)1+H2-H4) The diameter of the outer wall cylindrical surface of the first annular spherical mirror 100 is D, and the center P of the first annular spherical mirror 100C1A distance c from the center of the light-transmitting hole 101 to the center of the light-transmitting hole 101 in the y-axis direction, and a spherical center P of the second ring-shaped spherical mirror 200C2And the distance c' is above the center of the light through hole 101 and from the center of the light through hole 101 in the y-axis direction.
In general, c is much smaller than R, and thus the field angle range of the initial beam can be expanded approximately (2N +1) times in the y-axis direction. In particular implementation, the radius of curvature R of the first and second annular spherical mirrors 100, 200 may range from 20mm to 150mm, c may generally range from R/20 to R/50, c' is greater than c, D may range from 2R to 5R, and specifically, D may range from 2.08R to 2.2R.
Further, a light source may be provided at the light-passing hole 101, thereby generating an initial light beam, which enters the cavity of the first annular spherical mirror 100 from the light-passing hole 101. Referring to fig. 4, 5, and 6, a schematic structural diagram of an angle adjustment apparatus provided in this embodiment of the present application at different angles in an application process is shown, where a dimension of a light source in an x-axis direction is a, a dimension of a light source in a y-direction is B, a distance between the light source and a center of a light-passing hole is d, in this embodiment of the present application, d may be far smaller than R, so that in a subsequent process analysis process, it may be considered that the center of an initial light beam is at the center of the light-passing hole, d may be smaller than or equal to R/10, an initial diameter of the initial light beam emitted by the light source is a, and an initial diameter of the initial light beam entering a cavity of the first ring-shaped spherical mirror 100 may be considered as a, and in general, a may be smaller than or.
If the initial light beam passes through the center and the origin of coordinates of the light-transmitting hole, the incident direction is taken as the zero position direction, so that the initial light beam incident along the zero position direction can be emitted along the zero position direction in order to facilitate debugging of the device, and at the moment, c' can be (N +1) c, and c is far smaller than R. Thus, when the included angle between the incident direction of the initial light beam and the zero position direction in the horizontal direction is theta, the included angle between the initial direction of the initial light beam and the zero position direction in the horizontal direction is (2N +1) theta, and when the included angle between the incident direction of the initial light beam and the zero position direction in the vertical direction is alpha, the included angle between the initial direction of the initial light beam and the zero position direction in the vertical direction is (2N +1) alpha.
Therefore, referring to fig. 4, it can be noted that the maximum included angle between the emergent direction of the initial light beam and the null direction in the horizontal direction is θmax，θmaxCan be in the range of 0-90 DEG at thetamaxAt 90 °, this means that a field angle of 180 ° can be approached directly in front first; correspondingly, the maximum included angle between the incident direction of the initial light beam and the zero position direction in the horizontal direction is thetamax(2N +1), the angular range is related to the characteristics of the light source and the distance between the homologous source and the clear aperture, and can be typically 0-10 °. Referring to fig. 6, it can be noted that the maximum included angle between the emergent direction of the initial light beam and the null direction in the vertical direction is αmaxThe range is 0-15 degrees; correspondingly, the maximum included angle between the incident direction of the initial light beam and the zero position direction in the vertical direction is alphamaxAnd (2N +1) in the range of 0 to 15/(2N +1) °.
The incident direction and the zero position direction of the initial light beam are respectively in waterThe range of angles between the horizontal and vertical directions, in relation to the characteristics of the light source and the distance between the homologous source and the clear aperture, is such that, when N is determined, the range of angles between the emission direction of the initial beam and the null direction between the horizontal and vertical directions is also determined, H being such that the device is able to reflect and emit the initial beam1、H2、H3And H4The value of (c) needs to be designed. Specifically, let an initial diameter of the light beam passing through the light passing hole 101 be a. Then H is determined by the following formula1、H2、H3And H4The value of (c):
for the sake of easy understanding, the operation principle of the angle adjusting device will be described below by taking N as an example 2.
Referring to fig. 7 and 8, an operation principle diagram of an angle adjusting device provided by the embodiment of the present application is shown, in which an initial light beam is reflected 2 times in the angle adjusting device, i.e. 1 time in the first annular spherical mirror 100 and 1 time in the second annular spherical mirror 200, a dotted line indicates a path of the initial light beam in a null direction, and solid arrows indicate an incident angle θ in a horizontal directioniIncident angle in the vertical direction is alphaiOf the initial beam.
In the horizontal direction, as shown with reference to FIG. 7, the path of the primary beam incident in the null direction passesThe dotted line shows that the light still exits in the null direction after reflection. And the incident angle in the horizontal direction is thetaiThe path of the initial beam of light is indicated by a solid line, and the reflected beams of two consecutive reflections are at an angle of 2 theta to the respective beam before reflectioniAccording to the geometric knowledge, the angle between the initial beam after the 2 nd reflection and the incident initial beam is 4 thetaiAnd the angle between the emergent beam and the zero position direction is thetaiThe angle between the emergent initial light beam and the null direction is 5 thetaiI.e. the exit field angle is enlarged by a factor of 5 in the horizontal direction with respect to the entrance field angle.
In the vertical direction, referring to fig. 8, the path of the initial light beam incident along the null direction is represented by a dotted line, the included angle between the reflected light beam reflected for the first time and the incident light beam is represented as β, and it can be known from geometric knowledge that the included angle between the reflected light beam reflected for the second time and the incident light beam is also represented as β, and after 2 reflections, the initial light beam still exits along the null direction. And an incident angle alpha in the vertical directioniThe path of the initial light beam is shown by the solid line, and when c is far less than R, the included angle between the reflected light ray of the first reflection and the incident light ray is about beta +2 alphai. And because the 1 st incident light has alpha between itself and the zero position directioniSo that the angle between the 1 st reflected ray and the null direction is about β +3 αi(ii) a And the angle between the reflected light ray of the 2 nd reflection and the incident light ray (i.e. the reflected light ray of the 1 st reflection) is about beta-2 alphaiAnd the 2 nd incident ray itself has about beta +3 alpha with the null directioniThe included angle of the 2 nd reflected light ray and the zero position direction is 5 alphaiI.e. the exit field angle is enlarged by a factor of 5 in the vertical direction with respect to the entrance field angle.
In order to further understand the angle adjusting device in the present application, the operation principle of the angle adjusting device will be described below by taking N as an example 4.
Referring to fig. 9 and 10, there is shown a schematic view of the working principle of another angle adjusting device provided in the embodiments of the present application, in which the initial light beam is reflected 4 times, i.e., in the first place3 reflections in one toroidal spherical mirror 100 and 1 reflection in the second toroidal spherical mirror 200, with a horizontal deflection diagram as shown in FIG. 9, a vertical deflection diagram as shown in FIG. 10, a path of the initial beam with a null direction as shown by the dotted line, and an incidence angle θ as shown by the solid arrow in the horizontal directioniIncident angle in the vertical direction is alphaiOf the initial beam.
In the horizontal direction, as shown in fig. 9, the path of the initial light beam incident in the null direction is indicated by a dotted line, and the initial light beam still exits in the null direction after being reflected. And the incident angle in the horizontal direction is thetaiThe paths of the initial beams are shown by solid lines, and the reflected beams of 4 consecutive reflections are all at 2 theta to the beam before the respective reflectionsiAccording to the geometric knowledge, the angle between the initial beam after the 4 th reflection and the incident initial beam is 8 thetaiAnd the angle between the emergent beam and the zero position direction is thetaiSo that the angle between the resulting emergent beam and the null direction is 9 thetaiI.e. the exit field angle is enlarged by a factor of 9 in the horizontal direction with respect to the entrance field angle.
In the vertical direction, referring to fig. 10, the path of the initial light beam incident along the null direction is represented by a dotted line, the included angle between the reflected light beam reflected for the first time and the incident light beam is represented as β, as can be known from geometric knowledge, the included angle between the reflected light beam reflected for the second time and the incident light beam reflected for the third time and the incident light beam reflected for the 4 th time and the incident light beam is also represented as β, and therefore, after 4 reflections, the initial light beam still exits along the null direction.
And an incident angle alpha in the vertical directioniThe path of the initial light beam is shown by the solid line, and when c is far less than R, the included angle between the reflected light ray of the first reflection and the incident light ray is about beta +2 alphai. And because the 1 st incident light has alpha between itself and the zero position directioniSo that the angle between the 1 st reflected ray and the null direction is about β +3 αi(ii) a The reflected light ray and the incident light ray of the 2 nd and 3 rd reflection (namely the reflected light rays of the 1 st and 2 nd reflection)Line) is also approximately β +2 αiSuch that the angle between the reflected ray of the 3 rd reflection and the reflected ray of the 1 st reflection is about 2 β +4 αiAnd the angle between the 1 st reflected light and the null direction is about beta +3 alphaiThus, the angle between the 3 rd reflected ray and the null direction is about β +7 αiThe angle between the reflected light ray of the 4 th reflection and the incident light ray (i.e. the reflected light ray of the 3 rd reflection) is about 3 beta-2 alphaiAnd the included angle between the 3 rd reflected light ray and the null direction is about 3 beta +7 alphaiTherefore, the angle between the light finally emitted after the 4 th reflection and the zero position direction is 9 alphaiI.e. the exit field angle is enlarged by a factor of 9 in the vertical direction with respect to the entrance field angle.
Referring to fig. 11, a schematic diagram illustrating a path simulation of an initial light beam in an angle adjusting device according to an embodiment of the present disclosure is shown, where light beams 11 and 21 are incident light beams located at a boundary in an incident angle of view of the initial light beam, an incident angle of view γ is formed between the two incident light beams, the light beam 11 is reflected to become a light beam 12 and then reflected to become a light beam 13, the light beam 21 is reflected to become a light beam 22 and then reflected to become a light beam 23, the light beam 13 and the light beam 23 are emergent light beams located at the boundary in an emergent angle of view of the initial light beam, an emergent angle of view γ 'is formed between the two emergent light beams, the emergent angle of view γ' is greater than the incident angle of view γ, and is generally (2N +1) times of γ, and.
Based on the above angle adjustment apparatus, an embodiment of the present application further provides a radar, and as shown in fig. 12, an embodiment of the present application provides a radar, including: an initial light beam generating device 401, an angle adjusting device 402, an echo light beam receiving device 403 and a data analyzing device 404;
the initial light beam generating device 401 is used for generating an initial light beam;
the angle adjusting apparatus 402 includes: the spherical mirror comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, wherein the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, and the inner surfaces of the first annular spherical mirror and the second annular spherical mirror are spherical; a light through hole is formed in the side wall of the first annular spherical mirror, and an initial light beam is incident into the cavity of the first annular spherical mirror through the light through hole; a first light through opening is formed in the side wall of the second annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once after being reflected on the inner surface of the first annular spherical mirror for N-1 times, and is emitted through the first light through opening, and N is an integer greater than 1; taking the light beam emitted by the angle adjusting device as a test light beam;
the echo light beam receiving device 403 is configured to receive an echo light beam formed by reflecting the test light beam by an object to be detected;
the data analysis device 404 is configured to determine a position of the object to be detected according to the initial light beam and the echo light beam.
Optionally, a ratio of a distance between a sphere center of the second annular spherical mirror and a center of the light-passing hole in a direction of a connection line of the two sphere centers to a distance between a sphere center of the first annular spherical mirror and a center of the light-passing hole in a direction of a connection line of the two sphere centers is (N + 1).
Optionally, the center of the first annular spherical mirror is closer to the second annular spherical mirror than the center of the light-passing hole, and the light-passing hole and the first light-passing port are located on different sides, so that N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the spherical center of the first annular spherical mirror, the light-passing hole and the first light-passing port are located on the same side, and then N is an odd number.
Optionally, the first light-passing port penetrates through the second annular spherical mirror in the direction of the connecting line of the two sphere centers, and the second annular spherical mirror forms an arc smaller than or equal to a semicircle on the joint surface of the two spheres.
Optionally, a second light-passing port is formed on the first annular spherical reflecting mirror, and dimensions of the second light-passing port and the first light-passing port in a plane parallel to the joint surface are consistent.
Optionally, the distance H between the center of the light-passing hole and the edge of the first annular spherical mirror opposite to the joint surface1The distance H between the center of the light through hole and the joint surface2The height H of the side wall of the second annular spherical mirror3The height H of the side wall of the first annular spherical mirror at the second light through opening4The following conditions are satisfied:
c is the distance between the sphere center of the first annular spherical mirror and the center of the light through hole in the direction of the connecting line of the two sphere centers, R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, a is the initial diameter of the initial light beam, and alpha ismaxIs the maximum angle between the initial light beam and the bonding surface in the direction perpendicular to the bonding surface.
Optionally, the range of R is 20 mm-150 mm, the range of c is R/20-R/50, a is less than or equal to 10mm, and alpha ismaxIs in the range of 0 to 15 degrees.
In the radar provided by the embodiment of the invention, the angle adjusting device comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, the inner surfaces of the first annular spherical mirror and the second annular spherical mirror are spherical, a light through hole is formed on the side wall of the first annular spherical mirror, a first light through port is formed on the side wall of the second annular spherical mirror, an initial light beam can enter the cavity of the first annular spherical mirror through the light through hole, after the inner surface of the first annular spherical mirror reflects for N-1 times, the initial light beam reflects once on the inner surface of the second annular spherical mirror and exits through the first light through port, and as the initial light beam reflects through the inner surface of the spherical mirror, the field angle range of the exiting initial light beam is larger than that of the entering initial light beam according to the geometrical optics principle, so that the field angle range can be expanded, the angle adjusting device is applied to the radar, so that the field angle range of the radar can be enlarged.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the memory device embodiments, since they are substantially similar to the method embodiments, they are described relatively simply, and reference may be made to some of the descriptions of the method embodiments for their relevance.
The foregoing is only a preferred embodiment of the present invention, and although the present invention has been disclosed in the preferred embodiments, it is not intended to limit the present invention. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (14)
1. An angle adjusting apparatus, comprising:
the spherical mirror comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, wherein the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, and the inner surfaces of the first annular spherical mirror and the second annular spherical mirror are spherical;
a light through hole is formed in the side wall of the first annular spherical mirror, and an initial light beam is incident into the cavity of the first annular spherical mirror through the light through hole; and a first light through opening is formed in the side wall of the second annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once after being reflected on the inner surface of the first annular spherical mirror for N-1 times, and is emitted through the first light through opening, and N is an integer greater than 1.
2. The apparatus according to claim 1, wherein the ratio of the distance between the center of sphere of the second ring-shaped spherical mirror and the center of the light-transmitting hole in the direction of the line connecting the centers of sphere to the distance between the center of sphere of the first ring-shaped spherical mirror and the center of the light-transmitting hole in the direction of the line connecting the centers of sphere is (N + 1).
3. The apparatus according to claim 1, wherein the center of the sphere of said first annular spherical mirror is closer to said second annular spherical mirror than the center of said light-passing hole, said light-passing hole and said first light-passing port being located on different sides, then said N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the spherical center of the first annular spherical mirror, the light-passing hole and the first light-passing port are located on the same side, and then N is an odd number.
4. A device according to any one of claims 1 to 3, wherein the first light-passing port extends through the second annular spherical mirror in the direction of the line connecting the two spherical centers, the second annular spherical mirror forming an arc of a circle less than or equal to a semicircle on the joining surface of the two spheres.
5. The apparatus according to claim 4, wherein the first annular spherical mirror is formed with a second light admission port, the second light admission port and the first light admission port having a uniform dimension in a plane parallel to the engagement surface.
6. The apparatus according to any one of claims 1 to 5, wherein the center of the light-passing hole is spaced from the edge of the first annular spherical mirror opposite to the engagement surface by a distance H1The distance H between the center of the light through hole and the joint surface2The height H of the side wall of the second annular spherical mirror3The height H of the side wall of the first annular spherical mirror at the second light through opening4The following conditions are satisfied:
c is the distance between the sphere center of the first annular spherical mirror and the center of the light through hole in the direction of the connecting line of the two sphere centers, R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, a is the initial diameter of the initial light beam, and alpha ismaxIs the maximum angle between the initial light beam and the bonding surface in the direction perpendicular to the bonding surface.
7. The device of claim 6, wherein R ranges from 20mm to 150mm, c ranges from R/20 to R/50, a is less than or equal to 10mm, and αmaxIs in the range of 0 to 15 degrees.
8. A radar, comprising: the device comprises an initial light beam generating device, an angle adjusting device, an echo light beam receiving device and a data analyzing device;
the initial light beam generating device is used for generating an initial light beam;
the angle adjusting device comprises: the spherical mirror comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially stacked, wherein the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, and the inner surfaces of the first annular spherical mirror and the second annular spherical mirror are spherical; a light through hole is formed in the side wall of the first annular spherical mirror, and an initial light beam is incident into the cavity of the first annular spherical mirror through the light through hole; a first light through opening is formed in the side wall of the second annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once after being reflected on the inner surface of the first annular spherical mirror for N-1 times, and is emitted through the first light through opening, and N is an integer greater than 1; taking the light beam emitted by the angle adjusting device as a test light beam;
the echo light beam receiving device is used for receiving the echo light beam formed by the reflection of the test light beam by the object to be detected;
and the data analysis device is used for determining the position of the object to be detected according to the initial light beam and the echo light beam.
9. The radar according to claim 8, wherein the ratio of the distance between the center of sphere of said second ring-shaped spherical mirror and the center of said light-transmitting hole in the direction of the line connecting the centers of sphere to the distance between the center of sphere of said first ring-shaped spherical mirror and the center of said light-transmitting hole in the direction of the line connecting the centers of sphere is (N + 1).
10. A radar as recited in claim 8, wherein the center of sphere of said first annular spherical mirror is closer to said second annular spherical mirror than the center of said clear aperture, said clear aperture and said first clear port being on different sides, then said N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the spherical center of the first annular spherical mirror, the light-passing hole and the first light-passing port are located on the same side, and then N is an odd number.
11. A radar according to any one of claims 8 to 10 wherein the first light admission port extends through the second annular spherical mirror in the direction of the line joining the centres of the spheres, the second annular spherical mirror defining an arc of less than or equal to a semicircle at the interface of the spheres.
12. A radar as recited in claim 11, wherein said first annular spherical reflector has a second light admission port formed therein, said second light admission port and said first light admission port being coextensive in a plane parallel to said engagement surface.
13. A radar as claimed in any one of claims 8 to 12, wherein the centre of the clear aperture is spaced from the edge of the first annular spherical mirror opposite the engagement surface by a distance H1The distance H between the center of the light through hole and the joint surface2The height H of the side wall of the second annular spherical mirror3The height H of the side wall of the first annular spherical mirror at the second light through opening4The following conditions are satisfied:
c is the distance between the sphere center of the first annular spherical mirror and the center of the light through hole in the direction of the connecting line of the two sphere centers, R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, a is the initial diameter of the initial light beam, and alpha ismaxIs the initial beam in a direction perpendicular to the bonding surfaceThe maximum angle between the joint face and the joint face.
14. Radar according to claim 13, wherein R is in the range 20mm to 150mm, c is in the range R/20 to R/50, a is less than or equal to 10mm and αmaxIs in the range of 0 to 15 degrees.
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| PCT/CN2019/114588 WO2020228256A1 (en) | 2019-05-15 | 2019-10-31 | Radar and angle adjustment device |
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| US4563064A (en) * | 1982-07-30 | 1986-01-07 | Motorola, Inc. | Conical field-of-view radar transmitter system |
| CN103913735A (en) * | 2014-04-09 | 2014-07-09 | 中国电子科技集团公司第十一研究所 | Satellite-borne corner reflector fixing structure |
| CN107688172A (en) * | 2017-08-25 | 2018-02-13 | 北醒（北京）光子科技有限公司 | A kind of more light path chamber, detection means and detection methods |
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