CN113985421A - Inclined 45-degree mirror optical scanning device for laser radar - Google Patents
Inclined 45-degree mirror optical scanning device for laser radar Download PDFInfo
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- CN113985421A CN113985421A CN202111620120.8A CN202111620120A CN113985421A CN 113985421 A CN113985421 A CN 113985421A CN 202111620120 A CN202111620120 A CN 202111620120A CN 113985421 A CN113985421 A CN 113985421A
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- laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an optical scanning device with an inclined 45-degree mirror for a laser radar, which comprises a laser emitting unit for exciting laser, a laser receiving unit for receiving reflected laser and a rotary scanning unit for deflecting the emitted laser to form a scanning section; the rotary scanning unit comprises a scanning mirror which forms an angle of 45 degrees with the emergent laser excited by the laser emergent unit, and a driving device for driving the scanning mirror to rotate. The principle of the invention is that the driving device is used for driving the scanning mirror to rotate, so that the emergent laser is reflected to different angles to form a larger scanning section.
Description
Technical Field
The invention relates to an optical scanning device applied to a laser radar.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emitted signal, and after appropriate processing, relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, can be obtained, so that the targets of airplanes, missiles and the like are detected, tracked and identified. The laser changes the electric pulse into optical pulse and emits it, and the optical receiver restores the reflected optical pulse from the target into electric pulse and sends it to the display.
The mechanical scanning method is a main implementation mode of a long-distance laser radar, has the characteristics of large optical aperture and large field range compared with new scanning methods such as MEMS (micro electro mechanical System), OPA (optical proximity array) and the like, and is particularly suitable for large-aperture optical scanning. Mechanical scanning is generally implemented by using the principle of reflection and refraction of optical components, and the principle of refraction requires that light rays penetrate through the optical components for multiple times, so that the optical utilization rate is not high. Common reflecting mirror surfaces of the reflective scanning system include a polygon mirror and an elliptical mirror (an oblique 45-degree mirror), and the scanning field angle of the polygon mirror is small, which is not favorable for realizing large-range scanning. The design of the optical scanning device needs to consider the problems of system field angle, scanning speed, light transmission caliber, angle measurement requirement, rotation balance and the like, and the prior art is difficult to achieve.
Disclosure of Invention
In view of the above, the present invention provides an optical scanning device with an inclined 45 ° mirror for a laser radar, which can meet the requirements of the laser radar on a large field angle range and long-distance measurement.
In order to solve the technical problems, the technical scheme of the invention is that an inclined 45-degree mirror optical scanning device for a laser radar is adopted, and the inclined 45-degree mirror optical scanning device comprises a laser emitting unit for exciting laser, a laser receiving unit for receiving reflected laser and a rotary scanning unit for deflecting the emitted laser to form a scanning section; the rotary scanning unit comprises a scanning mirror which forms an angle of 45 degrees with the emergent laser excited by the laser emergent unit, and a driving device for driving the scanning mirror to rotate. The principle of the invention is that the driving device is used for driving the scanning mirror to rotate, so that the emergent laser is reflected to different angles to form a larger scanning section.
As an improvement, the scanning mirror is elliptical, and the driving device can drive the scanning mirror to rotate by taking the straight line where the laser is emitted as an axis.
As a further improvement, the driving device comprises a motor, and a scanning mirror bracket is arranged on an output shaft of the motor; the scanning mirror is fixed on the scanning mirror bracket.
As another further improvement, a counterweight ring is fixed on the scanning mirror bracket. Since the scanning mirror is mounted at an inclination of 45 ° so as to cause a center shift, in order to avoid radial play during rotation, a counterweight ring is used to bring the center of gravity back to the rotation axis.
As an improvement, the device also comprises a circular grating encoder connected with the motor and a grating reading head. The rotation angle of the scanning mirror is accurately read by using an encoder and a grating reading head.
As an improvement, the scanning mirror bracket is provided with a hollow part. The weight of the whole equipment is reduced.
As an improvement, the laser emitting unit comprises a pulse fiber laser light source and a laser collimator which are connected in sequence. The pulse fiber laser light source is used for exciting laser, and the laser collimator is used for correcting laser beams.
As an improvement, the laser receiving unit comprises a narrow-band filter, an aspheric receiving lens and a photoelectric conversion sensor which are sequentially arranged; the laser receiving unit is perpendicular to the straight line where the emergent laser is located, the laser receiving unit further comprises a fixed reflector which is arranged between the laser emergent unit and the rotary scanning unit and used for reflecting the reflected laser to the laser receiving unit, the fixed reflector and the straight line where the emergent laser is located form an angle of 45 degrees, and a hole for the emergent laser to pass through is formed in the fixed reflector.
As an improvement, the laser scanning device further comprises a rack, wherein the rack comprises a bottom plate, and an emergent mounting mechanism for fixedly mounting the laser emergent unit and a rotary mounting mechanism for fixedly mounting the rotary scanning unit are coaxially mounted on the bottom plate from front to back in sequence; the emergent mounting mechanism is cylindrical, and the bottom of the emergent mounting mechanism and the corresponding position of the bottom plate are hollowed out; the laser receiving unit is arranged at the hollow part; the rotary mounting mechanism is annular, and a bearing is arranged on the inner annular surface of the rotary mounting mechanism.
As an improvement, the bearings are arranged in two in a side-by-side mode. The 2 precision bearings can reduce rotational jitter.
The invention has the advantages that: the laser radar scanning device with the structure reflects the emergent laser from different angles through the rotatable scanning mirror, thereby forming a larger scanning view field. And the laser of the scanning device does not need to be refracted by a lens, and the power of the laser is not reduced, so that a longer detection distance is obtained.
Drawings
FIG. 1 is an overall assembly diagram of the present invention.
Fig. 2 is a schematic structural view of the laser emitting unit.
Fig. 3 is a sectional view of the laser exit unit a-a.
Fig. 4 is a schematic structural diagram of a rotary scanning unit.
Fig. 5 is an exploded view of the laser receiving unit.
Fig. 6 is a schematic structural view of the rack.
Fig. 7 is a schematic diagram of the present invention.
The labels in the figure are: 1 laser emitting unit, 2 rotary scanning unit, 3 laser receiving unit and 4 machine frame.
11 pulse fiber laser light sources, 12 laser collimators, 13 fixed reflectors, 14 collimator supports, 15 collimator compression rings, 16 reflector supports and 17 holes.
A motor 21, a circular grating encoder 22, a scanning mirror 23, a scanning mirror bracket 24, a counterweight ring 25, a motor mounting seat 26, a grating reading head 27 and a bearing 28.
31 photoelectric conversion sensor, 32 receiving mounting lens cone, 33 gasket, 34 receiving lens press ring, 35 receiving lens mounting frame, 36 aspheric surface receiving lens, 37 narrow band filter and 38 filter press ring.
41 exit mounting means, 42 rotation mounting means, 43 base plate.
100, 101 emits laser light, and 102 reflects the laser light.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following embodiments.
As shown in fig. 1 to 7, the present invention includes a laser emitting unit 1 for exciting laser light, a laser receiving unit 3 for receiving reflected laser light 102, and a rotary scanning unit 2 for deflecting emitted laser light 101 to form a scanning cross section. The laser scanning device also comprises a machine frame 4, wherein the machine frame 4 comprises a bottom plate 43, and an emergent mounting mechanism 41 for fixedly mounting the laser emergent unit 1 and a rotary mounting mechanism 42 for fixedly mounting the rotary scanning unit 2 are coaxially mounted on the bottom plate 43 from front to back in sequence; the emergent mounting mechanism 41 is cylindrical, and the bottom of the emergent mounting mechanism and the corresponding position of the bottom plate 43 are hollow; the laser receiving unit 3 is arranged at a hollow part; the rotary mounting mechanism 42 is annular, and a bearing 28 is arranged on the inner annular surface of the rotary mounting mechanism. The bearings 28 are preferably two bearings arranged side by side, and have an outer annular surface fixed to the rotating mounting mechanism 42 and an inner annular surface connected to the rotating portion of the rotating scanning unit 2 to support the rotating portion of the rotating scanning unit 2.
Specifically, the laser emitting unit 1 includes a pulse fiber laser light source 11 and a laser collimator 12 connected in sequence, the pulse fiber laser light source 11 is fixed with the laser collimator 12, and then the laser collimator 12 is fixed on a collimator support 14 by using a collimator press ring 15.
The rotary scanning unit 2 includes a scanning mirror 23 which makes an angle of 45 ° with the emitted laser light 101 excited by the laser emitting unit 1, and a driving device for driving the scanning mirror 23 to rotate. The scanning mirror 23 is elliptical, and the driving device can drive the scanning mirror 23 to rotate by taking the straight line where the laser is emitted as an axis. That is, the rotation center of the mirror 23 is on the center of the circle where the elliptical reflecting surface is projected in the straight direction of the emitted laser light 101 (a circle). The scanning mirror 23 can rotate continuously for 360 degrees, and deflects the emergent light rays for 90 degrees to form a scanning section. In this embodiment, the scanning mirror 23 is integrally formed of aluminum; the mirror surface of the mirror is plated with a reflecting film.
The driving device comprises a motor 21, and the motor 21 is arranged on a motor mounting seat 26. A scanning mirror bracket 24 is arranged on an output shaft of the motor 21; the scanning mirror 23 is fixed on a hollow scanning mirror support 24. To prevent radial play, a counterweight ring 25 is fixed to the scan mirror support 24.
In order to measure the rotation angle of the scanning mirror 23, a circular grating encoder 22 connected to the motor 21 and a grating reading head 27 are also provided. The circular grating encoder 22 is fixed and rotates synchronously with the rotating part, and the grating reading head 27 is fixed and installed with the bottom plate 43 and used for reading the circular grating scale to output an incremental pulse signal. The scale mark of the circular grating encoder is more than or equal to 10000 lines; the maximum reading frequency of the grating reading head is more than or equal to 50 MHZ; and the grating reading head is output in three directions and comprises three paths of ABZ pulses, wherein the phase difference in the AB direction is 90 degrees, and the Z direction is a zero signal.
The motor 21 adopts a split type inner rotor direct current motor, speed adjustment is realized by PWM control through a controller, and the controller can directly input data of an angle measurement sensor to form a closed-loop control system of speed and position.
The laser receiving unit 3 includes a narrow band filter 37, an aspherical receiving lens 36, and a photoelectric conversion sensor 31, which are sequentially mounted. The photoelectric conversion sensor 31 is fixed to the rear end of the receiving-mounting barrel 32, and the receiving-lens mounting bracket 35 fixes the aspherical receiving lens 36 in cooperation with the receiving-lens pressing ring 34. The receiving lens mount 35 is connected to the receiving mount barrel 32 with bolts with the receiving lens press ring 34 interposed therebetween. A gasket 33 may be added between the receiving lens ring 34 and the receiving mounting barrel 32 for fastening and sealing purposes. Finally, a narrow-band filter 37 is packaged in front of the aspheric receiving lens 36 by using a filter pressing ring 38. The laser receiving unit 3 is arranged perpendicular to the straight line where the emergent laser beam 101 is located, and further comprises a fixed reflector 13 which is arranged between the laser emitting unit 1 and the rotary scanning unit 2 and used for reflecting the reflected laser beam to the laser receiving unit, wherein an angle of 45 degrees is formed between the fixed reflector and the straight line where the emergent laser beam 101 is located, and a hole for the emergent laser beam to pass through is formed in the fixed reflector. Specifically, the laser light receiving unit further includes a mirror holder 16 fixed to the collimator holder 14, and the fixed mirror 13 is mounted on the mirror holder 16. The reflection direction of the fixed mirror 13 can be adjusted according to the position of the laser receiving unit 3, in this embodiment, the reflection direction of the fixed mirror 13 is perpendicular to the bottom plate 43, so the laser receiving unit 3 is also disposed at the bottom of the bottom plate 43, and the reflected laser 102 is received through the bottom plate 43 and the hollow of the exit mounting mechanism 41.
In operation, the motor 21 drives the scan mirror 23 to rotate. The laser emitted from the pulse fiber laser source 11 is collimated by the laser collimator 12, passes through the hole 17 at the center of the fixed reflector 13, and is reflected by the scanning mirror 23 in the direction of 90 °. The reflected laser light is continuously deflected to form a continuous scanning section due to the continuous rotation of the scanning mirror 23. The reflected laser light 102 reflected by the object 100 falls on the fixed mirror 13 and is reflected to the laser receiving unit 3 to determine the distance and shape of the object.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (10)
1. An inclined 45-degree mirror optical scanning device for a laser radar, comprising a laser emitting unit for exciting laser light, and a laser receiving unit for receiving reflected laser light, characterized in that: the laser scanning device also comprises a rotary scanning unit which is used for deflecting the emergent laser to form a scanning section; the rotary scanning unit comprises a scanning mirror which forms an angle of 45 degrees with the emergent laser excited by the laser emergent unit, and a driving device for driving the scanning mirror to rotate.
2. An oblique 45 ° mirror optical scanning device for lidar according to claim 1, wherein: the scanning mirror is oval, and the driving device can drive the scanning mirror to rotate by taking the straight line where the emergent laser is located as an axis.
3. An oblique 45 ° mirror optical scanning device for lidar according to claim 1, wherein: the driving device comprises a motor, and a scanning mirror bracket is arranged on an output shaft of the motor; the scanning mirror is fixed on the scanning mirror bracket.
4. An oblique 45 ° mirror optical scanning device for lidar according to claim 3, wherein: and a counterweight ring is fixed on the scanning mirror bracket.
5. An oblique 45 ° mirror optical scanning device for lidar according to claim 3, wherein: the optical scanning device also comprises a circular grating encoder and a grating reading head which are connected with the motor.
6. An oblique 45 ° mirror optical scanning device for lidar according to claim 3, wherein: the scanning mirror bracket is provided with a hollow part.
7. An oblique 45 ° mirror optical scanning device for lidar according to claim 1, wherein: the laser emitting unit comprises a pulse optical fiber laser light source and a laser collimator which are connected in sequence.
8. An oblique 45 ° mirror optical scanning device for lidar according to claim 1, wherein: the laser receiving unit comprises a narrow-band filter, an aspheric receiving lens and a photoelectric conversion sensor which are sequentially arranged; the laser receiving unit is perpendicular to the straight line where the emergent laser is located, the laser receiving unit further comprises a fixed reflector which is arranged between the laser emergent unit and the rotary scanning unit and used for reflecting the reflected laser to the laser receiving unit, the fixed reflector and the straight line where the emergent laser is located form an angle of 45 degrees, and a hole for the emergent laser to pass through is formed in the fixed reflector.
9. An oblique 45 ° mirror optical scanning device for lidar according to claim 8, wherein: the optical scanning device also comprises a rack, wherein the rack comprises a bottom plate, and an emergent mounting mechanism for fixedly mounting the laser emergent unit and a rotary mounting mechanism for fixedly mounting the rotary scanning unit are sequentially and coaxially mounted on the bottom plate from front to back; the emergent mounting mechanism is cylindrical, and the bottom of the emergent mounting mechanism and the corresponding position of the bottom plate are hollowed out; the laser receiving unit is arranged at the hollow part; the rotary mounting mechanism is annular, and a bearing is arranged on the inner annular surface of the rotary mounting mechanism.
10. An inclined 45 ° mirror optical scanning device for lidar according to claim 9, wherein: the bearings are arranged side by side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111620120.8A CN113985421A (en) | 2021-12-28 | 2021-12-28 | Inclined 45-degree mirror optical scanning device for laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111620120.8A CN113985421A (en) | 2021-12-28 | 2021-12-28 | Inclined 45-degree mirror optical scanning device for laser radar |
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| CN113985421A true CN113985421A (en) | 2022-01-28 |
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| CN202111620120.8A Pending CN113985421A (en) | 2021-12-28 | 2021-12-28 | Inclined 45-degree mirror optical scanning device for laser radar |
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| CN110794383A (en) * | 2019-11-07 | 2020-02-14 | 上海禾赛光电科技有限公司 | Code disc, photoelectric encoder and laser radar |
| CN110794382A (en) * | 2019-10-30 | 2020-02-14 | 上海禾赛光电科技有限公司 | Laser radar and detection method thereof |
| CN113491043A (en) * | 2019-04-02 | 2021-10-08 | 上海禾赛科技有限公司 | Laser system for laser radar |
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2021
- 2021-12-28 CN CN202111620120.8A patent/CN113985421A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101241182A (en) * | 2007-02-06 | 2008-08-13 | 电装波动株式会社 | Laser radar apparatus for measuring direction and distance of an object |
| CN106814364A (en) * | 2017-01-17 | 2017-06-09 | 西安交通大学 | Scanning laser active probe device and implementation method based on disk type rotor electric motor |
| CN107765231A (en) * | 2017-11-08 | 2018-03-06 | 中国人民解放军海军工程大学 | A kind of Three Dimensional Ground laser radar apparatus and its assemble method |
| CN107817483A (en) * | 2017-12-08 | 2018-03-20 | 上海禾赛光电科技有限公司 | The acquisition methods and laser radar system of obstacle information |
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Application publication date: 20220128 |