CN112540360B - Radar and angle adjusting device - Google Patents

Radar and angle adjusting device Download PDF

Info

Publication number
CN112540360B
CN112540360B CN201910900956.XA CN201910900956A CN112540360B CN 112540360 B CN112540360 B CN 112540360B CN 201910900956 A CN201910900956 A CN 201910900956A CN 112540360 B CN112540360 B CN 112540360B
Authority
CN
China
Prior art keywords
spherical mirror
annular spherical
light
mirror
center
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910900956.XA
Other languages
Chinese (zh)
Other versions
CN112540360A (en
Inventor
杨铮
郑凯
李�远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Benewake Beijing Co Ltd
Original Assignee
Benewake Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Benewake Beijing Co Ltd filed Critical Benewake Beijing Co Ltd
Priority to CN201910900956.XA priority Critical patent/CN112540360B/en
Priority to PCT/CN2019/114588 priority patent/WO2020228256A1/en
Publication of CN112540360A publication Critical patent/CN112540360A/en
Application granted granted Critical
Publication of CN112540360B publication Critical patent/CN112540360B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • 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

Abstract

The invention provides a radar and an angle adjusting device, which comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially laminated, wherein the first annular spherical mirror and the second annular spherical mirror have the same curvature radius, the inner surface is spherical, an initial light beam can be incident into a cavity of the first annular spherical mirror through a light passing hole on the side wall of the first annular spherical mirror, reflected once on the inner surface of the second annular spherical mirror after being reflected N-1 times on the inner surface of the first annular spherical mirror, and emitted from an outlet of the first annular spherical mirror or the second annular spherical mirror after being reflected once on a reflecting mirror in the cavity of the second annular spherical mirror. According to the geometrical optics principle, the field angle range of the outgoing initial beam is larger than that of the incoming initial beam, so that the field angle range can be enlarged, and the field angle range of the radar can be enlarged by applying the angle adjusting device to the radar.

Description

Radar and angle adjusting device
Technical Field
The invention relates to the field of optics, in particular to a radar and an angle adjusting device.
Background
Radar is a device for ranging, 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 between a measured object and the radar is obtained. The initial signal can be a laser signal, and the laser has the advantages of small beam divergence angle, concentrated energy, good directivity, high repetition frequency and the like, so that the laser radar can realize long-distance and high-precision measurement on a 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 use a Micro-Electro-Mechanical System (MEMS) scanning mode to expand the field angle, can finish vertical scanning by using MEMS micromirrors, and finish horizontal scanning by rotating a machine body, so that the problems of high assembly and debugging difficulty exist, if a plurality of MEMS micromirrors are combined to cover a larger field of view range, larger cost is generated, and splicing between fields of view is troublesome.
The traditional mode of expanding the angle of view is two, firstly, the angle of view is expanded by a rotating prism method, namely, an initial light beam is reflected to each angle of view through a reflecting prism which rotates all the time, the method can realize 120-degree angle of view scanning, but a driving circuit required by the prism is larger, and macroscopic rotation of a prism device leads to poor system stability and reliability; secondly, the common objective lens and the fisheye lens are utilized to realize the scanning with the limit of 150-160 degrees after the magnification, however, the change of the scanning magnification from the central view field to the edge view field has obvious nonlinear characteristics, the light transmission ratio also has great difference, and meanwhile, the fisheye lens belongs to a large aberration system, so that the aberration of the edge view field angle is very obvious, and the divergence angle of the edge view field is larger.
Therefore, the above-mentioned manner of expanding the angle of view is not suitable for use in the radar, and how to realize a larger angle of view 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 application is to provide a radar and an angle adjusting device for enlarging an angle of view.
In order to achieve the above purpose, the application has the following technical scheme:
the embodiment of the application provides an angle adjusting device, which comprises:
the first annular spherical mirror and the second annular spherical mirror are sequentially stacked, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, and the inner surface is a spherical surface;
a light-passing hole is formed in the side wall of the first annular spherical mirror, and an initial light beam enters the cavity of the first annular spherical mirror through the light-passing hole; and a reflecting mirror is formed in the cavity 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 from the outlet of the first annular spherical mirror or the second annular spherical mirror after being reflected on the reflecting mirror once, and N is an integer larger than 1.
Optionally, the ratio of the distance between the center of the second annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the balls to the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the balls 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, the reflecting mirror faces the direction in which the light-passing hole is located, and N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the center of the first annular spherical mirror, and the reflecting mirror is opposite to the direction in which the light-passing hole is located, so that N is an odd number.
Optionally, the center point of the reflecting mirror is located in a plane defined by the center point of the light passing hole and two centers of spheres, the projection distance between the center point of the reflecting mirror and the center point of the light passing hole in a plane perpendicular to the connecting line direction of the two centers of spheres is F, the distance between the center point of the reflecting mirror and the center point of the light passing hole in the connecting line direction of the two centers of spheres is 2Nc, c is the distance between the center of the first annular spherical mirror and the center of the light passing hole in the connecting line direction of the two centers of spheres, and the F satisfies the following conditions:
And R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror.
Optionally, the distance H between the center of the light-passing hole and the outlet of the first annular spherical mirror 1 Distance H between the center of the light-passing hole and the joint surface of the first annular spherical mirror and the second annular spherical mirror 2 Sidewall height H of the second annular spherical mirror 3 The following conditions are satisfied:
the c is the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers, the R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, the a is the initial diameter of the initial light beam, and the alpha is that max Is the maximum included angle between the initial light beam and the joint surface in the direction perpendicular to the joint surface.
Optionally, R is in a range of 20mm to 150mm, c is in a range of R/20 to R/100, a is less than or equal to 10mm, and alpha is max In the range of 0 to 20.
The embodiment of the application provides a radar, which comprises: an initial beam generating device, an angle adjusting device, an echo beam receiving device and a data analyzing device;
the initial light beam generating device is used for generating an initial light beam;
The angle adjustment device includes: the first annular spherical mirror and the second annular spherical mirror are sequentially stacked, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, and the inner surface is a spherical surface; a light-passing hole is formed in the side wall of the first annular spherical mirror, and an initial light beam enters the cavity of the first annular spherical mirror through the light-passing hole; a reflecting mirror is formed in the cavity 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 from the outlet of the first annular spherical mirror or the second annular spherical mirror after being reflected on the reflecting mirror once, and N is an integer larger than 1; taking the light beam emitted by the angle adjusting device as a test light beam;
the echo beam receiving device is used for receiving an echo beam formed by the reflection of the test beam by the object to be detected;
the data analysis device is used for determining the position of the object to be detected according to the initial beam and the echo beam.
Optionally, the ratio of the distance between the center of the second annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the balls to the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the balls 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, the reflecting mirror faces the direction in which the light-passing hole is located, and N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the center of the first annular spherical mirror, and the reflecting mirror is opposite to the direction in which the light-passing hole is located, so that N is an odd number.
Optionally, the center point of the reflecting mirror is located in a plane defined by the center point of the light passing hole and two centers of spheres, the projection distance between the center point of the reflecting mirror and the center point of the light passing hole in a plane perpendicular to the connecting line direction of the two centers of spheres is F, the distance between the center point of the reflecting mirror and the center point of the light passing hole in the connecting line direction of the two centers of spheres is 2Nc, c is the distance between the center of the first annular spherical mirror and the center of the light passing hole in the connecting line direction of the two centers of spheres, and the F satisfies the following conditions:
and R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror.
Optionally, the distance H between the center of the light-passing hole and the outlet of the first annular spherical mirror 1 Distance H between the center of the light-passing hole and the joint surface of the first annular spherical mirror and the second annular spherical mirror 2 Sidewall height H of the second annular spherical mirror 3 The following conditions are satisfied:
the c is the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers, the R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, the a is the initial diameter of the initial light beam, and the alpha is that max Is the maximum included angle between the initial light beam and the joint surface in the direction perpendicular to the joint surface.
Optionally, R is in a range of 20mm to 150mm, c is in a range of R/20 to R/100, a is less than or equal to 10mm, and alpha is max In the range of 0 to 20.
The embodiment of 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 laminated, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, the inner surface is spherical, a light through hole is formed on the side wall of the first annular spherical mirror, a reflecting mirror is formed in the cavity of the second annular spherical mirror, an initial light beam can be incident into the cavity of the first annular spherical mirror through the light through hole, after being reflected for N-1 times on the inner surface of the first annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once and then is emitted from the outlet of the first annular spherical mirror or the second annular spherical mirror, and as the initial light beam is reflected by the inner surface of the spherical mirror, the field angle range of the emitted initial light beam is larger than the field angle range of the incident initial light beam according to the geometrical optical principle, the restriction effect of the field angle range of the first annular spherical mirror and the outlet of the second annular spherical mirror on the field angle range of the light beam is smaller, the field angle range of view of the initial light beam can be enlarged, and the radar can be used for enlarging the field angle range of the radar.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the application and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
FIGS. 1-3 are schematic views respectively showing structures of an angle adjusting device according to embodiments of the present application at different angles;
fig. 4 to 6 are schematic structural diagrams of an angle adjusting device according to an embodiment of the present application at different angles in an application process;
fig. 7, fig. 8 and fig. 9 are schematic diagrams illustrating working principles of an angle adjusting device according to an embodiment of the present application at different angles;
fig. 10, 11 and 12 are schematic diagrams illustrating the working principle of another angle adjusting device according to the embodiment of the present application at different angles;
fig. 13 and fig. 14 are schematic diagrams illustrating an operation principle of an angle adjustment device in light beam collimation according to an embodiment of the present application;
FIG. 15 is a schematic diagram illustrating a path simulation of an initial beam in an angle adjustment device according to an embodiment of the present application;
Fig. 16 shows a block diagram of a radar according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
In the following detailed description of the embodiments of the present application, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration only, and in which is shown by way of illustration only, and in which the scope of the application is not limited for ease of illustration. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
As described in the background art, the field of view of the current radar is limited, the field of view angle is enlarged in a MEMS scanning mode, the problems of high assembly difficulty and high debugging difficulty exist, and a plurality of MEMS micromirrors are combined to cover a larger field of view range, so that larger cost is generated. However, other ways of expanding the angle of view are also problematic, so how to achieve a larger angle of view with limited costs is an important issue in practical applications of the radar.
Based on this, the embodiment of 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 laminated, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, the inner surface is spherical, a light through hole is formed on the side wall of the first annular spherical mirror, a reflecting mirror is formed in the cavity 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 being reflected for N-1 times on the inner surface of the first annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once and then is emitted from the outlet of the first annular spherical mirror or the second annular spherical mirror, and as the initial light beam passes through the inner surface of the spherical mirror, the field angle range of the initial light beam emitted is larger than that of the initial light beam incident according to the geometrical optical principle, the restriction effect of the first annular spherical mirror and the outlet of the second annular spherical mirror on the field angle range of the light beam is smaller, and the field angle range of the radar can be enlarged, and the angle adjusting device can be used for enlarging the field angle range of the radar.
For a better understanding of the technical solutions and technical effects of the present application, specific embodiments will be described and illustrated 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 surface, one side of the joint surface is the first annular spherical mirror, the other side of the joint surface is the second annular spherical mirror, and the relative position relation between the first annular spherical mirror and the second annular spherical mirror can be determined according to the placement direction of the device.
In the following, an example is described in which a first annular spherical mirror is located below a second annular spherical mirror, and referring to fig. 1, fig. 2 and fig. 3, schematic structural diagrams of an angle adjusting device provided by an embodiment of the present application at different angles are shown, where fig. 1, fig. 2 and fig. 3 are a top view, a side view and a front view of the angle adjusting device provided by the embodiment of the present application respectively.
The device comprises a first annular spherical mirror 100 and a second annular spherical mirror 200, wherein the first annular spherical mirror 100 and the second annular spherical mirror 200 are sequentially laminated, and a joint surface 1001 is formed between the first annular spherical mirror 100 and the second annular spherical mirror 200. The inner surfaces of the two annular spherical mirrors are spherical surfaces, and the curvature radiuses of the two annular spherical mirrors are the same and are represented by R. When the first annular spherical mirror 100 and the second annular spherical mirror 120 are laminated, the centers P of the two annular spherical mirrors may be set to C1 And P C2 Perpendicular to the joint surface 1001, and the radii of the first annular spherical mirror 100 and the second annular spherical mirror 200 in the joint surface 1001 may be the same or different, as shown with reference to fig. 2.
The joint surface 1001 is a plane that defines the interface between the first annular spherical mirror 100 and the second annular spherical mirror 200, and may be a virtual plane formed at the joint between the first annular spherical mirror 100 and the second annular spherical mirror 200, or may be a joint plane formed with a light-transmitting planar structure. The other surface of the first annular spherical mirror 100 opposite to the joint surface 1001 may be formed with a light-transmitting planar structure at the exit of the first annular spherical mirror 100, or may be formed with a light-transmitting planar structure at the exit of the second annular spherical mirror 200, or may be formed with an additional light-transmitting planar structure at the exit of the second annular spherical mirror 100, or may be formed with a light-transmitting planar structure at the exit of the second annular spherical mirror.
The outer surfaces of the two annular spherical mirrors may be cylindrical surfaces, and the diameters of the outer surfaces of the two annular spherical mirrors in a plane parallel to the joint surface may be inconsistent based on the fact that the diameters of the two annular spherical mirrors in a horizontal plane may be different, for example, the diameter of the outer surface of the second annular spherical mirror 200 in a plane parallel to the joint surface may be smaller than the diameter of the outer surface of the first annular spherical mirror 100 in a plane parallel to the joint surface, and the diameter of the outer surface of the first annular spherical mirror is D as shown in fig. 2; of course, the diameters of the outer surfaces of the two annular spherical mirrors in the plane parallel to the joint surface may also be uniform. The outer surfaces of the two annular spherical mirrors may be set to other shapes according to actual conditions, and may be prismatic surfaces, irregular curved surfaces, or the like.
A light-passing hole 101 may be formed on a side wall of the first annular spherical mirror 100, and the light-passing hole 101 is used to make an initial light beam enter the cavity of the first annular spherical mirror 100 through the light-passing 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 on the side wall of the first annular spherical mirror 100, where N is a positive integer greater than 1. The light-transmitting hole 101 may be a circular hole or a rectangular hole, and the light-transmitting hole 101 may be a light-transmitting hole penetrating through a side wall of the first annular spherical mirror 100, a light channel filled with a light-transmitting material formed on the side wall of the first annular spherical mirror 100, or a light channel provided with a light-transmitting member, for example, a light-transmitting member such as a filter film, formed on the side wall of the first annular spherical mirror 100.
The second annular spherical mirror 200 has a mirror 202 formed in a cavity, and the mirror 202 may be a planar mirror or a convex mirror having a diffuse beam angle of view. After entering the cavity of the second annular spherical mirror 200, the initial light beam may be reflected once on the side wall of the second annular spherical mirror 200, reflected once on the reflecting mirror 202, and then exits from the exit of the first annular spherical mirror 100 or from the exit of the second annular spherical mirror 200, that is, the initial light beam may exit from the upper exit or may exit from the lower exit after being reflected by the reflecting mirror 202 in the second annular spherical mirror 200.
In the following, a rectangular coordinate system is established to describe the angle adjusting device provided in the embodiment of the present application in detail, specifically, a first plane parallel to the joint surface 1001 is made through the center of the light-passing hole 101, an intersection point of a connecting line of two sphere centers and the first plane is used as a coordinate origin, a connecting line of two sphere centers is used as a y-axis, a connecting line of the center of the light-passing hole 101 and the origin is used as a z-axis, and a direction perpendicular to the z-axis in the first plane is used as an x-axis. Referring to fig. 1, let right be positive z-axis direction, let upward be positive x-axis direction, and let outward be positive y-axis direction perpendicular to the paper surface; referring to fig. 2, let upward be y-axis positive direction, left side be x-axis positive direction, and vertical paper surface inward be z-axis positive direction; referring to fig. 3, let upward be y-axis positive direction, right side be z-axis positive direction, and right side be x-axis positive direction inward perpendicular to the paper surface. Thus, the null direction of incidence of the initial beam may be a positive z-axis direction and the null direction of exit of the initial beam may be a positive y-axis direction or a negative y-axis direction.
According to the principle of geometrical optics, when the reflection of the initial light beam in the first annular spherical mirror 100 and the second annular spherical mirror 200 conforms to the law of reflection, the field angle range of the outgoing initial light beam is larger than that of the incident initial light beam, and thus the field angle range of the initial light beam is enlarged. For example, the field angle range of the outgoing beam may be enlarged (2n+1) times in the x-axis direction, and the field angle of the outgoing beam in the z-axis direction corresponds to the field angle of the incoming beam in the y-axis direction, and may be approximately enlarged (2n+1) times. In addition, the exit diameters of the first annular spherical mirror 100 and the second annular spherical mirror 200 are relatively large, and the limiting effect on the angle of view range of the outgoing light beam is small, so that the maximum angle of view range that can be obtained is also large.
It will be appreciated that the light beam reflected by the side wall of the second annular spherical mirror 200 is reflected by the reflecting mirror 200 to obtain an outgoing light beam, and according to the law of reflection, the plane of the reflecting mirror 202 is perpendicular to the bisector of the angle between the light beam reflected by the side wall of the second annular spherical mirror 200 and the outgoing light beam, so that the light reflected by the reflecting mirror 202 can be emitted from the exit of the first annular spherical mirror 100 or the exit of the second annular spherical mirror 200, and the setting position and direction of the reflecting mirror 202 can be adjusted according to the position of the light passing hole 101, the number of initial light beam reflections, and the exit position.
Specifically, the initial beam is reflected N-1 times on the side wall of the first annular spherical mirror 100 and 1 time on the side wall of the second annular spherical mirror 200. If N is an odd number, the initial beam is reflected N times on the sidewall and then emitted, that is, emitted an even number of times, so in order to enable the reflected light to be emitted, the reflecting mirror 202 may face a direction in which the light passing hole 101 is located and an emitting direction, for example, the light passing hole 101 is located at a left lower side of the reflecting mirror 202, and the emitting direction is located at a lower side of the reflecting mirror, then the reflecting mirror 202 may face a left lower side, and the beam reflected by the reflecting mirror 202 is emitted from an outlet of the second annular spherical mirror 200 located at a lower side, as shown in fig. 3; of course, if the exit direction is above the mirror, the mirror 202 may be oriented upward and leftward (not shown). If N is even, the initial beam is reflected on the side wall for an odd number of times, so in order to enable the reflected light to exit, the mirror 202 may face away from the direction in which the light-transmitting hole is located, and face the exit direction, for example, the light-transmitting hole is located at the left lower side of the mirror 202, and the exit direction is located below the mirror, then the mirror 202 may face the right lower side, and the beam reflected by the mirror 202 exits from the exit of the second annular spherical mirror 200 located below; of course, if the exit direction is above the mirror 202, the mirror 202 may be oriented upward and rightward.
Specifically, the position of the mirror 202 may be determined according to the converging position of the light beam in the cavity, and if the mirror 202 is disposed at the converging point of the initial light beam in different directions, the mirror 202 with a smaller size may be used to implement reflection of the initial light beam, the shape of the mirror 202 may be rectangular, the side length of the mirror 202 in the x-axis direction is denoted by w, and the other side length is denoted by v, which is shown with reference to fig. 2 and 3. Generally, the mirror 202 is disposed at a more central region of the second annular spherical mirror 200, such that the light beam reflected by the mirror 202 is less constrained by the inner wall of the first annular spherical mirror 100 or the second annular spherical mirror 200, and specifically, the x-axis coordinate of the center point of the mirror 202 may be zero, i.e., the mirror 202 is above the zero line of incidence, as shown with reference to fig. 2.
For convenience of setting and adjusting the mirror, an opening may be formed in the second annular spherical mirror, which may extend through the second annular spherical mirror 200 in the y-axis direction, that is, the second annular spherical mirror 200 may be a non-closed annular shape, and the forming position of the opening may be determined according to the position where the mirror 202 is disposed, typically on the back side of the mirror. For example, the second annular spherical mirror 200 may be formed on the front side of the mirror to form an arc shape smaller than or equal to a semicircle, referring to fig. 3, the mirror 202 may face downward left, the distance between the center point of the mirror 202 and the center of the light-passing hole 101 in the z-axis may be represented by F, that is, the projection distance between the center point of the mirror and the center point of the light-passing hole in the plane perpendicular to the two-center line direction is F, the second annular spherical mirror 200 covers only the left portion of the first annular spherical mirror 100, and the section of the second annular spherical mirror 200 on the right side is at the center P of the second annular spherical mirror 200 C2 To the left of the tangent plane and the sphere center P C2 The distance of (2) may be denoted by l. It will be appreciated that the mirror 202 is located within the cavity of the second annular spherical mirror 202 and that the mirror 202 may be located to the left of the tangent plane of the second annular spherical mirror 202 when the second annular spherical mirror 200 covers the left portion of the first annular spherical mirror 100. A light transmissive material or an opaque material may be provided at the cut surface of the second annular spherical mirror 202The planar structure of the optical material is used to fix the mirror 202, however, the mirror 202 may be fixed by other methods, which is not limited herein.
In practice, in order to make N even, the center P of the first annular spherical mirror 100 may be made C1 The center P of the first annular spherical mirror 100 is closer to the second annular spherical mirror 200 than the center of the light-passing hole 101, taking the example that the first annular spherical mirror 100 is located below the second annular spherical mirror 200 C1 May 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 odd, the center of the light-transmitting hole 101 may be made to be compared with the center P of the first annular spherical mirror 100 C1 Closer to the second annular spherical mirror 200, taking the example that the first annular spherical mirror 100 is located below the second annular spherical mirror 200, the center of sphere of the first annular spherical mirror 100 may be located at the lower side (not shown) of the center of the light-passing hole 101.
Referring to fig. 3, the distance between the center of the light-passing hole 101 and the exit of the first annular spherical mirror 100 is H 1 The distance between the center of the light-transmitting hole 101 and the joint surface 1001 is H 2 The second annular spherical mirror 200 has a sidewall height H 3 The diameter of the outer wall cylindrical surface of the first annular spherical mirror 100 is D, and the spherical center P of the first annular spherical mirror 100 C1 The center P of the second annular spherical mirror 200 is located above the center of the light-passing hole 101 and has a distance c in the y-axis direction from the center of the light-passing hole 101 C2 The distance c' from the center of the light passing hole 101 in the y-axis direction is located above the center of the light passing hole 101.
In general, c is much smaller than R, so that the angular range of the initial beam in the y-axis direction can be approximately (2n+1) times larger after being converted into the angular range of the outgoing beam in the z-axis direction. In specific implementation, the radius of curvature R of the first annular spherical mirror 100 and the second annular spherical mirror 200 may range from 20mm to 150mm, c may generally range from R/20 to R/100, c' is greater than c, D may range from 2R to 5R, specifically, D may range from 2.08R to 2.2R, the side length w of the mirror may be greater than or equal to 10mm, and the side length v may be greater than or equal to 5mm. According to the principle of geometrical optics, the initial beams of light at different angles of incidence are converged at coordinates (0, 2nc, f), then the center point of the mirror may be set at this convergence point.
Further, a light source may be provided at the light passing hole 101 so as to generate 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, schematic structural diagrams of an angle adjusting device according to an embodiment of the present application at different angles in an application process are shown, where a dimension of a light source in an x-axis direction is a, a dimension of the light source in a y-axis direction is B, and a distance between the light source and a center of a light-passing hole is d.
If the initial beam passes through the center of the light passing hole 101 and the origin of coordinates, the incident direction is taken as the incident zero direction, so that the initial beam incident along the incident zero direction can exit along the emergent zero direction, the emergent zero direction is a vertical upward or vertical downward direction, and at this time, c' can be (n+1) c, and c is far smaller than R.
Thus, when the angle between the incident direction of the initial beam and the incident null direction (z-axis positive direction) in the x-axis direction is θ, referring to fig. 4, the angle between the emergent direction of the initial beam and the emergent null direction (y-axis negative direction or y-axis positive direction) in the x-axis direction is (2n+1) θ, which can be referred to as the x-axis emergent field angle. Referring to FIG. 5, the maximum value of the x-axis exit field angle can be noted as θ max ，θ max Can range from 0 to 90 DEG, at θ max At 90 deg., it means that an angle of view of approximately 180 deg. in the x-axis direction can be achieved. Correspondingly, the maximum included angle between the incidence direction of the initial beam and the incidence zero direction (the positive direction of the z axis) in the x axis direction is theta max The angular range, which is related to the characteristics of the light source and the distance of the homology to the light-passing aperture, can be generally 0 to 10 °.
Similarly, when the included angle between the incident direction of the initial beam and the incident null direction (positive direction of the z axis) in the y axis direction is α, the included angle between the emergent direction of the initial beam and the emergent null direction (positive direction of the y axis or negative direction of the y axis) in the z axis direction is (2n+1) α, which can be denoted as the z-axis emergent view field angle. Referring to FIG. 6, the maximum value of the z-axis exit field angle is denoted as α max The range is 0-20 degrees; correspondingly, the maximum included angle between the incidence direction of the initial light beam and the incidence zero position direction in the y-axis direction is alpha max and/(2N+1) is in the range of 0 to 20/(2N+1) °.
The range of the included angle between the incident direction and the incident zero direction of the initial light beam in the horizontal direction and the vertical direction is related to the characteristics of the light source and the distance between the light source and the light through hole, so that when N is determined, the range of the included angle between the emergent direction and the incident zero direction of the initial light beam in the horizontal direction and the vertical direction is also determined, and in order to enable the device to reflect and emergent the initial light beam, H 1 、H 2 、H 3 The values of l, a and B need to be designed. Specifically, the initial diameter of the light beam passing through the light passing hole 101 is denoted as a. Then H is determined by the following formula 1 、H 2 、H 3 Values of l, a and B:
in order to facilitate understanding, the operation principle of the above-described angle adjustment device will be described below by taking n=2 as an example.
Referring to fig. 7, 8 and 9, a schematic diagram of the working principle of an angle adjusting device according to an embodiment of the present application is shown, in which a mirror 202 faces downward and has an included angle of 45 ° with respect to the horizontal direction, an initial beam is reflected 2 times on a sidewall of the angle adjusting device, that is, 1 time on a sidewall of a first annular spherical mirror 100, 1 time on a sidewall of a second annular spherical mirror 200, and then 1 time on the mirror 202, a schematic diagram of deflection in the horizontal direction is shown with reference to fig. 7 and 8, a schematic diagram of deflection in the vertical direction is shown with reference to fig. 9, a dotted arrow indicates a path of a first initial beam whose incident direction is the zero incident direction, a solid arrow indicates an incident angle θ in the horizontal direction (x-axis direction) i An incident angle in the vertical direction (y-axis direction) is alpha i Is provided for the second initial beam path.
In the horizontal direction, referring to fig. 7 and 8, the path of the first initial beam incident along the incident null direction is indicated by a dotted line, and after being reflected by the side wall and the reflecting mirror, the emergent direction is taken as the emergent null direction, the incident null direction may be a horizontal rightward (i.e., positive z-axis direction) direction, and the emergent null direction may be a vertical downward (i.e., negative y-axis direction) direction. And the incident angle in the horizontal direction is theta i The path of the second initial beam of (2) is shown by a solid line, since the reflected beam of the two successive reflections forms an angle 2 theta with the respective beam before reflection i According to the geometric knowledge, the included angle between the second initial beam after the 2 nd reflection and the incident second initial beam is 4 theta i And the included angle between the first incident first light beam and the incident zero direction is theta i The second initial light after the 2 nd reflectionThe angle between the beam and the zero direction of incidence is 5 theta i Reference is made to fig. 7. That is, the angle between the first initial beam and the second initial beam incident on the reflecting mirror is 5θ i Therefore, the included angle between the second initial beam reflected by the reflecting mirror and the emergent zero direction is also 5 theta i As shown with reference to fig. 8, the outgoing field angle is enlarged 5 times in the x-axis direction with respect to the incoming field angle.
In the vertical direction, referring to fig. 9, the path of the first initial beam incident along the zero incident direction (positive z-axis direction) is indicated by a dotted line, the angle between the reflected light ray reflected for the first time and the beam before reflection is denoted by β, and according to the geometric knowledge, the angle between the reflected light ray reflected for the second time and the beam before reflection is denoted by β, and the first initial beam after 2 side wall reflections exits from the zero emergent direction (negative y-axis direction) after 1 mirror reflections along the zero incident direction. And the incident angle in the vertical direction (y-axis direction) is alpha i The path of the third initial beam of (c) is shown by a solid line, and the angle between the reflected light of the first reflection and the beam before reflection is approximately beta+2α when c is far smaller than R i . And the 1 st incident light has alpha with the incident zero position direction i Therefore, the included angle between the reflected light of the 1 st reflection and the incident zero direction is about beta+3α i The method comprises the steps of carrying out a first treatment on the surface of the The angle between the reflected light of the 2 nd reflection and the incident light (i.e. the reflected light of the 1 st reflection) is about beta-2 alpha i Whereas the 2 nd incident ray itself has about beta+3α from the zero direction of incidence i The included angle between the 2 nd reflected light and the incident zero direction is 5α i . That is, the angle between the first initial beam and the third initial beam incident on the mirror in the y-axis is 5α i Therefore, the included angle between the third initial beam reflected by the reflecting mirror and the emergent zero direction in the z-axis is 5 alpha i As shown with reference to fig. 9, the exit field angle in the z-axis is enlarged 5 times relative to the entrance field angle in the y-axis.
In order to further understand the operation principle of the angle adjusting device according to the present application, the following description will take n=4 as an example.
Referring to fig. 10, 11 and 12, a schematic diagram of the working principle of another angle adjusting device according to an embodiment of the present application is shown, in which a mirror 202 faces downward and left, an included angle between the mirror 202 and a horizontal direction is 45 °, an initial beam is reflected 4 times on a sidewall of the angle adjusting device, that is, 3 times on a sidewall of a first annular spherical mirror 100, 1 time on a sidewall of a second annular spherical mirror 200, and then 1 time on the mirror 202, a schematic diagram of deflection in a horizontal direction is shown with reference to fig. 10 and 11, a schematic diagram of deflection in a vertical direction is shown with reference to fig. 12, a dotted arrow indicates a path of a fourth initial beam whose incident direction is an incident zero direction, a solid arrow indicates an incident angle in a horizontal direction (x-axis direction) is θ i An incident angle in the vertical direction (y-axis direction) is alpha i Is included in the fifth initial beam path of the beam.
In the horizontal direction, referring to fig. 10 and 11, the path of the fourth initial beam incident along the incident null direction is indicated by a dotted line, and after being reflected by the side wall and the reflecting mirror, the outgoing direction is taken as the outgoing null direction, the incident null direction may be a horizontal rightward (i.e., positive z-axis direction) direction, and the outgoing null direction may be a vertical downward (i.e., negative y-axis direction) direction. And the incident angle in the horizontal direction is theta i The path of the fifth initial beam of (2) is shown by solid lines, since the reflected beams of the successive 4 reflections are each at an angle of 2 theta to the beam before each reflection i From the geometric knowledge, the included angle between the fifth initial beam after the 4 th reflection and the fifth initial beam which is originally incident is 8 theta i And the angle between the first incident fifth emergent beam and the incident zero direction is theta i Therefore, the included angle between the fifth initial beam after the 4 th reflection and the incident zero direction is 9 theta i Reference is made to fig. 10. That is, the angle between the fourth initial beam and the fifth initial beam incident on the mirror is 9θ i Therefore, the included angle between the fifth initial beam reflected by the reflecting mirror and the emergent zero direction is also 9 theta i Referring to FIG. 11, the exit field of viewThe angle is enlarged 9 times in the x-axis direction with respect to the angle of the incident field of view.
In the vertical direction, referring to fig. 12, the path of the fourth initial beam incident along the zero direction of incidence (positive z-axis direction) is indicated by a dotted line, the angle between the reflected light ray of the first reflection and the beam before reflection is denoted as β, and according to the geometric knowledge, the angle between the reflected light ray of the second and third reflections and the beam before reflection is denoted as β, and the angle between the reflected light ray of the 4 th reflection and the beam before reflection is denoted as 3β, so that after being reflected by the 4 side walls, the direction of the fourth initial beam is along the zero direction of incidence, and exits from the zero direction of exit (negative y-axis direction) after being reflected by the 1 mirror.
And the incident angle in the vertical direction (y-axis direction) is alpha i The path of the sixth initial beam of (c) is shown by a solid line, and the angle between the reflected light of the first reflection and the beam before reflection is approximately beta +2 alpha when c is far less than R i . And the 1 st incident light has alpha with the incident zero position direction i Therefore, the included angle between the reflected light of the 1 st reflection and the incident zero direction is about beta+3α i The method comprises the steps of carrying out a first treatment on the surface of the The included angle between the reflected light rays of the 2 nd and the 3 rd reflections and the incident light rays (namely the reflected light rays of the 1 st and the 2 nd reflections) is also about beta+2alpha i Whereby the angle between the reflected light of the 3 rd reflection and the reflected light of the 1 st reflection is about 2β+4α i The angle between the 1 st reflected light and the incident zero direction is about beta+3α i Therefore, the angle between the reflected light of the 3 rd reflection and the incident zero direction is about beta+7α i The included angle between the 4 th reflected light and the incident light (i.e. the 3 rd reflected light) is about 3 beta-2 alpha i And because the included angle between the 3 rd reflected light and the incident zero direction is about 3 beta+7alpha i Therefore, the included angle between the finally emergent light after the 4 th reflection and the incident zero direction is 9 alpha i . That is, the angle between the fourth initial beam and the sixth initial beam incident on the mirror in the y-axis is 9α i Thus, the sixth initial beam reflected by the mirror is clamped in the z-axis between the zero direction of exitThe angle is also 9 alpha i As shown with reference to fig. 12, the exit field angle in the z-axis is enlarged 9 times relative to the entrance field angle in the y-axis.
The embodiment of the invention provides an angle adjusting device, which comprises a first annular spherical mirror and a second annular spherical mirror which are sequentially laminated, wherein the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, the inner surface is spherical, a light passing hole is formed on the side wall of the first annular spherical mirror, a reflecting mirror is formed in the cavity of the second annular spherical mirror, an initial light beam can be incident into the cavity of the first annular spherical mirror through the light passing hole, after being reflected N-1 times on the inner surface of the first annular spherical mirror, the initial light beam is reflected once on the inner surface of the second annular spherical mirror and is emitted from the outlet of the first annular spherical mirror or the second annular spherical mirror, and as the initial light beam passes through the inner surface of the spherical mirror, the field angle range of the emitted initial light beam is larger than the field angle range of the incident initial light beam according to the geometrical optics principle, the field angle range of the initial light beam can be enlarged, the field angle of view of the equal multiplying power can be obtained, the system light passing ratio can be basically uniform in the cavity of the first annular spherical mirror, the central field of view and the edge field of view, after being reflected once on the inner surface of the first annular spherical mirror, the inner surface of the first annular spherical mirror reflects once, the initial light beam is emitted from the outlet of the first annular spherical mirror or the second annular spherical mirror, the initial light beam passes through the inner surface of the spherical mirror, the first annular lens has a small field angle of view range, and a small range of the incident angle is smaller than the incident angle, and can be perpendicular to the second plane, and can be perpendicular and equal to the incident on the second annular lens, and has a large effect.
In addition, a focusing lens may be disposed at the light-passing hole, so that the initial beam is focused to (2n+1) ·r/(2N) from the center point of the light-passing hole after passing through the light-passing hole, and then reflected (N-1) times on the side walls of different heights of the first annular spherical mirror 100, and then incident on the side walls of the second annular spherical mirror 200, and reflected on the reflecting mirror, a collimated beam with a diameter of a/(2n+1) is obtained, and is reflected on the reflecting mirror, and exits from the exit of the first annular spherical mirror 100 or the second annular spherical mirror 200, so that the finally exiting beam is a collimated beam with a diameter of a/(2n+1), that is, the angle adjusting device provided by the embodiment of the application does not significantly affect the collimation of the initial beam while expanding the angle of view, and even greatly compresses the diameter of the exit spot of the initial beam.
The focusing and diverging process of the light beam in the angle adjusting device will be described below by taking an initial light beam incident in the zero-incident direction as an example.
Referring to fig. 13, a schematic diagram of the working principle of the angle adjusting device in terms of beam collimation when n=2 is shown, wherein the mirror 202 faces downward and left, and has an included angle of 45 ° with respect to the horizontal direction, the initial beam is incident along the zero direction of incidence (horizontal to the right), reflected 1 time on the side wall of the first annular spherical mirror 100, reflected 1 time on the side wall of the second annular spherical mirror 200, reflected 1 time on the mirror 202, and exits from the zero direction of exit (downward vertically).
Since the initial diameter of the initial beam emitted from the light source is a, it can be considered that the initial diameter of the initial beam in the cavity of the first annular spherical mirror 100 is a, and the focusing lens can be disposed at the light-passing hole to focus the initial beam at a distance of 5R/4 from the light-passing hole, the distance from the first reflection point is about 3R/4, so that the spot diameter a at the first reflection point can be known from the knowledge of similar triangles 1 =3a/5, according to geometrical optics knowledge, the focal length of the reflecting sphere is about R/2, and the object distance of the 1 st reflection is about 3R/4, so that the convergence point of the initial beam after the 1 st reflection is 3R/2; in the case of the 2 nd reflection, the initial beam is first focused at about 3R/2 from the 1 st reflection point, i.e. about R/2 from the 2 nd reflection point, and the spot diameter a at the 2 nd reflection point is known from the knowledge of similar triangles 2 The object distance of the 2 nd reflection is about R/2 according to geometrical optics knowledge, so that the final convergence point position of the initial beam after the 2 nd reflection is infinity, i.e. the initial beam is approximately collimated, and the diameter is compressed to 1/(2×2+1) =1/5 when incident; the initial beam then exits the first annular spherical mirror at the exit of the mirror after being reflected off the mirror, the plane mirror reflection not altering the focusing/diverging action of the initial beam, i.e The diameter of the initial beam finally emitted is 1/5 of the diameter at the time of incidence.
Referring to fig. 14, there is shown a schematic diagram of the working principle of the angle adjusting device in light beam collimation when n=4, wherein the reflecting mirror 202 faces downward and left, and has an included angle of 45 ° with the horizontal direction, the initial light beam is incident along the incident null direction (horizontal to the right), reflected 3 times on the side wall of the first annular spherical mirror 100, reflected 1 time on the side wall of the second annular spherical mirror 200, reflected 1 time on the reflecting mirror 202, and exits from the emergent null direction (vertical downward).
Since the initial diameter of the initial beam emitted from the light source is a, it can be considered that the initial diameter of the initial beam in the cavity of the first annular spherical mirror 100 is a, and a focusing lens can be disposed at the light-passing hole to focus the initial beam at a distance of about 7R/8 from the 1 st reflection point, so that the spot diameter a at the 1 st reflection point can be known from the knowledge of similar triangles 1 =7a/9; according to geometrical optics knowledge, the focal length of the reflecting spherical mirror is about R/2, and the object distance of the 1 st reflection is about 7R/8, so that the converging point of the 1 st reflected light beam is 7R/6; in the case of the 2 nd reflection, the light beam is first focused at about 7R/6 from the 1 st reflection point, i.e. about 5R/6 from the 2 nd reflection point, and the spot diameter a at the 2 nd reflection point is known from the knowledge of similar triangles 2 ＝5a 1 According to geometrical optics knowledge, the object distance of the 2 nd reflection is about 5R/6, so that the convergence point of the light beam after the 2 nd reflection is 5R/4; in the 3 rd reflection, the light beam is first focused at about 5R/4 from the 2 nd reflection point, i.e. about 3R/4 from the 2 nd reflection point, and the spot diameter a at the 3 rd reflection point is known from the knowledge of similar triangles 3 ＝3a 2 According to geometrical optics knowledge, the object distance of the 3 rd reflection is about 3R/4, so that the convergence point of the light beam after the 3 rd reflection is 3R/2; in the 4 th reflection, the light beam is first converged at about 5R/4 from the 2 nd reflection point, i.e. about 3R/2 from the 2 nd reflection point, and the spot diameter a at the 4 th reflection point is known from the knowledge of similar triangles 4 ＝1a 2 3 = a/9, 4 th reflection according to geometrical optics knowledgeThe object distance of (2) is about R/2, so that the final convergence point position of the outgoing beam after the 2 nd reflection is infinity, i.e. the beam is approximately collimated, and the diameter is compressed to be 1/(2×4+1) =1/9 when incident; the initial beam then emerges from the exit of the first annular spherical mirror after reflection at the mirror, the planar mirror reflection not altering the focusing/diverging action of the initial beam, i.e. the final emerging initial beam has a diameter of 1/9 of the incident one.
From the above examples, the distance between the focus point and the reflection point at the ith reflection is represented by the following formula:
the radius of the light spot at the ith reflection point has the general formula:
in order to reduce the geometry of the mirror, the mirror may be mounted at the position where the last of the incident beams of light at various angles converges, so that when d is much smaller than R, F satisfies the following equation:
referring to fig. 15, a schematic diagram of path simulation of an initial light beam in an angle adjustment device according to an embodiment of the present application is shown, where N is 2, the initial light beam enters the angle adjustment device from a light-passing hole, is reflected by a side wall and a reflecting mirror in the angle adjustment device, and exits from below, and an exit angle of view is 5 times of an incident angle of view.
Based on the above angle adjustment device, the embodiment of the present application further provides a radar, as shown in fig. 16, where the radar provided by the embodiment of the present application includes: an initial beam generating means 401, an angle adjusting means 402, an echo beam receiving means 403, and a data analyzing means 404;
the initial beam generating device 401 is configured to generate an initial beam;
the angle adjustment device 402 includes: the first annular spherical mirror and the second annular spherical mirror are sequentially stacked, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, and the inner surface is a spherical surface; a light-passing hole is formed in the side wall of the first annular spherical mirror, and an initial light beam enters the cavity of the first annular spherical mirror through the light-passing hole; a reflecting mirror is formed in the cavity 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 from the outlet of the first annular spherical mirror or the second annular spherical mirror after being reflected on the reflecting mirror once, and N is an integer larger than 1; taking the light beam emitted by the angle adjusting device as a test light beam;
The echo beam receiving device 403 is configured to receive an echo beam formed by reflecting the test beam by the 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 beam and the echo beam.
Optionally, the ratio of the distance between the center of the second annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the balls to the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the balls 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, the reflecting mirror faces the direction in which the light-passing hole is located, and N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the center of the first annular spherical mirror, and the reflecting mirror is opposite to the direction in which the light-passing hole is located, so that N is an odd number.
Optionally, the center point of the reflecting mirror is located in a plane defined by the center point of the light passing hole and two centers of spheres, the projection distance between the center point of the reflecting mirror and the center point of the light passing hole in a plane perpendicular to the connecting line direction of the two centers of spheres is F, the distance between the center point of the reflecting mirror and the center point of the light passing hole in the connecting line direction of the two centers of spheres is 2Nc, c is the distance between the center of the first annular spherical mirror and the center of the light passing hole in the connecting line direction of the two centers of spheres, and the F satisfies the following conditions:
And R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror.
Optionally, the distance H between the center of the light-passing hole and the outlet of the first annular spherical mirror 1 Distance H between the center of the light-passing hole and the joint surface of the first annular spherical mirror and the second annular spherical mirror 2 Sidewall height H of the second annular spherical mirror 3 The following conditions are satisfied:
the c is the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers, the R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, the a is the initial diameter of the initial light beam, and the alpha is that max Is the maximum included angle between the initial light beam and the joint surface in the direction perpendicular to the joint surface.
Optionally, the range of R is 20 mm-150 mm, and the range of c is R/20-R/100, said a is less than or equal to 10mm, said alpha max In the range of 0 to 20.
In the radar provided by the embodiment of the invention, the angle adjusting device comprises the first annular spherical mirror and the second annular spherical mirror which are sequentially laminated, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, the inner surface is spherical, the side wall of the first annular spherical mirror is provided with the light through hole, the cavity of the second annular spherical mirror is internally provided with the reflecting mirror, the initial light beam can be incident into the cavity of the first annular spherical mirror through the light through hole, after being reflected for N-1 times on the inner surface of the first annular spherical mirror, the initial light beam is reflected on the inner surface of the second annular spherical mirror once and is emitted from the outlet of the first annular spherical mirror or the second annular spherical mirror, and as the initial light beam is reflected by the inner surface of the spherical mirror, the field angle range of the emitted initial light beam is larger than the field angle range of the incident initial light beam according to the geometrical optical principle, the restriction effect of the field angle range of the first annular spherical mirror and the outlet of the second annular spherical mirror on the field angle range of the light beam is smaller, the field angle range of view of the initial light beam can be enlarged, and the angle range of view of the angle of the initial light beam can be enlarged, and the angle of the radar can be enlarged.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for radar embodiments, since they are substantially similar to the angle adjustment device embodiments, the description is relatively simple, and reference is made to the partial description of the angle adjustment device embodiments for the matters.
The foregoing is merely a preferred embodiment of the present invention, and the present invention has been disclosed in the above description of the preferred embodiment, but is not limited thereto. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modifications to equivalent embodiments using the methods and technical contents disclosed above, without departing from the scope of the technical solution of the present invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims (10)

1. An angle adjustment device, comprising:
The first annular spherical mirror and the second annular spherical mirror are sequentially stacked, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, and the inner surface is a spherical surface;
a light-passing hole is formed in the side wall of the first annular spherical mirror, and an initial light beam enters the cavity of the first annular spherical mirror through the light-passing hole; a reflecting mirror is formed in the cavity 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 from the outlet of the first annular spherical mirror or the second annular spherical mirror after being reflected on the reflecting mirror once, and N is an integer larger than 1;
the ratio of the distance between the center of the second annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the sphere and the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the sphere is N+1.
2. The apparatus of claim 1, wherein a center of the first annular spherical mirror is closer to the second annular spherical mirror than a center of the light-passing hole, the mirror faces a direction in which the light-passing hole is located, and N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the center of the first annular spherical mirror, and the reflecting mirror is opposite to the direction in which the light-passing hole is located, so that N is an odd number.
3. The apparatus of claim 1, wherein a center point of the reflecting mirror is located in a plane defined by a center point of the light-passing hole and two centers of spheres, a projection distance between the center point of the reflecting mirror and the center point of the light-passing hole in a plane perpendicular to a line direction of the two centers of spheres is F, a distance between the center point of the reflecting mirror and the center point of the light-passing hole in the line direction of the two centers of spheres is 2Nc, and c is a distance between the center of the first annular spherical mirror and the center of the light-passing hole in the line direction of the two centers of spheres, and the F satisfies the following conditions:
and R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror.
4. A device according to any one of claims 1-3, characterized in that the distance H between the centre of the light-passing aperture and the outlet of the first annular spherical mirror 1 Distance H between the center of the light-passing hole and the joint surface of the first annular spherical mirror and the second annular spherical mirror 2 Sidewall height H of the second annular spherical mirror 3 The following conditions are satisfied:
the c is the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers, the R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, and the a is the initial straight of the initial light beam Diameter, alpha max Is the maximum included angle between the initial light beam and the joint surface in the direction perpendicular to the joint surface.
5. The device of claim 4, wherein R ranges from 20mm to 150mm, c ranges from R/20 to R/100, a is less than or equal to 10mm, and a is max In the range of 0 to 20.
6. A radar, comprising: an initial beam generating device, an angle adjusting device, an echo beam receiving device and a data analyzing device;
the initial light beam generating device is used for generating an initial light beam;
the angle adjustment device includes: the first annular spherical mirror and the second annular spherical mirror are sequentially stacked, the curvature radiuses of the first annular spherical mirror and the second annular spherical mirror are the same, and the inner surface is a spherical surface; a light-passing hole is formed in the side wall of the first annular spherical mirror, and an initial light beam enters the cavity of the first annular spherical mirror through the light-passing hole; a reflecting mirror is formed in the cavity 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 from the outlet of the first annular spherical mirror or the second annular spherical mirror after being reflected on the reflecting mirror once, and N is an integer larger than 1; taking the light beam emitted by the angle adjusting device as a test light beam;
The echo beam receiving device is used for receiving an echo beam formed by the reflection of the test beam by the object to be detected;
the data analysis device is used for determining the position of the object to be detected according to the initial beam and the echo beam;
the ratio of the distance between the center of the second annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the sphere and the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers of the sphere is N+1.
7. The radar of claim 6, wherein a center of the first annular spherical mirror is closer to the second annular spherical mirror than a center of the light-passing hole, the mirror faces a direction in which the light-passing hole is located, and N is an even number; the center of the light-passing hole is closer to the second annular spherical mirror than the center of the first annular spherical mirror, and the reflecting mirror is opposite to the direction in which the light-passing hole is located, so that N is an odd number.
8. The radar according to claim 6, wherein a center point of the reflecting mirror is located in a plane defined by a center point of the light-passing hole and two centers of spheres, a projection distance of the center point of the reflecting mirror and the center point of the light-passing hole in a plane perpendicular to a line direction of the two centers of spheres is F, a distance of the center point of the reflecting mirror and the center point of the light-passing hole in the line direction of the two centers of spheres is 2Nc, and c is a distance of the center of the first annular spherical mirror and the center of the light-passing hole in the line direction of the two centers of spheres, the F satisfies the following condition:
And R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror.
9. The radar according to any one of claims 6-8, wherein the distance H between the centre of the light-passing aperture and the outlet of the first annular spherical mirror 1 Distance H between the center of the light-passing hole and the joint surface of the first annular spherical mirror and the second annular spherical mirror 2 Sidewall height H of the second annular spherical mirror 3 The following conditions are satisfied:
the c is the distance between the center of the first annular spherical mirror and the center of the light-passing hole in the direction of the connecting line of the two centers, the R is the curvature radius of the first annular spherical mirror and the second annular spherical mirror, the a is the initial diameter of the initial light beam, and the alpha is that max Is the maximum included angle between the initial light beam and the joint surface in the direction perpendicular to the joint surface.
10. The radar according to claim 9, wherein R ranges from 20mm to 150mm, c ranges from R/20 to R/100, a is less than or equal to 10mm, a is max In the range of 0 to 20.
CN201910900956.XA 2019-05-15 2019-09-23 Radar and angle adjusting device Active CN112540360B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201910900956.XA CN112540360B (en) 2019-09-23 2019-09-23 Radar and angle adjusting device
PCT/CN2019/114588 WO2020228256A1 (en) 2019-05-15 2019-10-31 Radar and angle adjustment device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910900956.XA CN112540360B (en) 2019-09-23 2019-09-23 Radar and angle adjusting device

Publications (2)

Publication Number Publication Date
CN112540360A CN112540360A (en) 2021-03-23
CN112540360B true CN112540360B (en) 2023-10-13

Family

ID=75012863

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910900956.XA Active CN112540360B (en) 2019-05-15 2019-09-23 Radar and angle adjusting device

Country Status (1)

Country Link
CN (1) CN112540360B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4563064A (en) * 1982-07-30 1986-01-07 Motorola, Inc. Conical field-of-view radar transmitter system
JP2008216238A (en) * 2007-02-06 2008-09-18 Denso Wave Inc Laser radar apparatus
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
CN207636764U (en) * 2017-08-25 2018-07-20 北醒（北京）光子科技有限公司 A kind of more light path chambers and detection device
CN109696731A (en) * 2019-03-04 2019-04-30 合肥嘉东光学股份有限公司 A kind of optical emission system of multi-line laser radar

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4563064A (en) * 1982-07-30 1986-01-07 Motorola, Inc. Conical field-of-view radar transmitter system
JP2008216238A (en) * 2007-02-06 2008-09-18 Denso Wave Inc Laser radar apparatus
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
CN207636764U (en) * 2017-08-25 2018-07-20 北醒（北京）光子科技有限公司 A kind of more light path chambers and detection device
CN109696731A (en) * 2019-03-04 2019-04-30 合肥嘉东光学股份有限公司 A kind of optical emission system of multi-line laser radar

Also Published As

Publication number Publication date
CN112540360A (en) 2021-03-23

Similar Documents

Publication Publication Date Title
JP2767235B2 (en) Ring beam divergence angle control optical device
JPH102714A (en) Method and device for measurement
JP4196016B2 (en) Surface scanning apparatus and method using intersecting cylindrical optical elements
US20210263303A1 (en) Optical scanning device with beam compression and expansion
US20090257118A1 (en) Beam-shaping telescope
KR101858986B1 (en) Coude type off-axis telescope and alignment method thereof
CN110702218A (en) Laser beam pointing measurement device and method
US10976670B2 (en) Apparatus and method for detecting optimal focal plane of lithographic projection objective lens
CN112540360B (en) Radar and angle adjusting device
CN104714222B (en) The computational methods of laser radar system backward energy
CA1179539A (en) Waveguide for laser beams
Li et al. MEMS mirror based omnidirectional scanning for LiDAR optical systems
US4810895A (en) Method and apparatus for optical examination of an object particularly by moire ray deflection mapping
CN105328330B (en) CO2 laser and outer optical path transmission method and system of CO2 laser
WO2020228256A1 (en) Radar and angle adjustment device
CN111948795B (en) Radar and angle adjusting device
KR101722495B1 (en) Confocal surface profiler and measuring method using the same
KR20220140764A (en) Improved beam director with improved optical properties
CN109163682B (en) Detection device and method for long-focus large-off-axis-amount off-axis paraboloid
CN110501142A (en) Detection device and detection method for optical system
JPS6212269Y2 (en)
CN105674913A (en) Detection system for long-range optical surface profile
Woo et al. Time-of-flight measurement-based three-dimensional profiler system employing a lightweight Fresnel-type Risley prism scanner
CN116909014B (en) Elliptic surface-based galvanometer plane scanning device and scanning method
WO2023112363A1 (en) Optical system, multi-beam projection optical system, multi-beam projection device, image projection device, and imaging device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant