CN114879162A - Receiving telescope device for laser radar - Google Patents
Receiving telescope device for laser radar Download PDFInfo
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- CN114879162A CN114879162A CN202210480457.1A CN202210480457A CN114879162A CN 114879162 A CN114879162 A CN 114879162A CN 202210480457 A CN202210480457 A CN 202210480457A CN 114879162 A CN114879162 A CN 114879162A
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- mirror
- secondary mirror
- primary
- lens
- light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/02—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/16—Housings; Caps; Mountings; Supports, e.g. with counterweight
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Astronomy & Astrophysics (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a receiving telescope device for a laser radar, wherein the front end and the rear end of a lens cone are respectively connected with a secondary lens connecting disc and a primary lens base through screws; the main lens base is used for placing a main lens; a secondary mirror fixing seat is arranged on one side of the secondary mirror connecting disc facing the main mirror seat, and the secondary mirror is connected with the secondary mirror fixing seat through a secondary mirror adjusting plate; the reflecting mirror is arranged between the primary mirror and the secondary mirror, the primary mirror, the secondary mirror and the reflecting mirror are coaxially arranged, light enters from the front end of the lens barrel and is incident on the primary mirror through the secondary mirror connecting disc, reflected light of the primary mirror enters the secondary mirror, reflected light of the secondary mirror enters the reflecting mirror, and reflected light of the secondary mirror is reflected into a subsequent light path. The invention has compact structure and good stability, and can reduce the volume and the weight of the laser radar host and make the structure of the laser radar host compact, thereby reducing the design difficulty of the whole scanning mechanism and improving the stability of the whole scanning mechanism for the radar which realizes the scanning detection function by using the whole scanning technology.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a receiving telescope device for a laser radar.
Background
In order to realize the scanning and detecting functions of the laser radar through the whole machine scanning technology, the laser radar generally comprises a laser radar host and a scanning mechanism. The laser radar host adopts an integrated structural design, and a laser, a transmitting light path, a receiving telescope, a subsequent light path, photoelectric detection and acquisition, data storage and control and the like are all integrated in a box body of the laser radar. Compared with the laser radar scanning mode with a structure that the receiving telescope is separated from the optical scanning head, the whole machine scanning has the characteristics of light weight, stable structure, high scanning speed and the like.
The receiving telescope is a main component of the laser radar host and is a main optical system for collecting laser echo scattering information. In order to prevent sky background light from entering a subsequent light path and influencing the reception and detection of atmospheric scattering echo signals in the daytime, in a receiving telescope, a receiving field of view of the receiving telescope is generally limited by arranging an aperture diaphragm, and echo signals in the receiving field of view enter the subsequent light path after passing through the aperture diaphragm and being collimated by a collimating eyepiece.
The laser radar must align the transmitting and receiving light paths before each measurement, because a slight deviation of the optical axis of the transmitting and receiving system causes a considerable deviation of the measurement signal. In this case, the stability of the receiving optical path is important. When the scanning laser radar is used, the pitching rotation angle is 0-90 degrees, and the environment temperature changes greatly when the scanning laser radar works outdoors.
The structure design of a large-caliber receiving telescope usually adopts a truss structure at present, wherein a main lens base is fixed, a secondary lens is connected through a truss around the main lens base, and the receiving telescope in the laser radar is scanned by a structure mode that the receiving telescope and an optical scanning head are separated from each other, but the structure leads the space around the main lens base to be increased by more than 100mm, so that the volume and the weight of a laser radar host in the radar for realizing the scanning detection function by a whole machine scanning technology are greatly increased, and the difficulty and the instability are also increased for the design of a scanning mechanism.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a receiving telescope device for a laser radar, which has a compact structure and good stability.
In order to achieve the purpose, the invention adopts the following technical scheme that:
a receiving telescope device for laser radar is provided, wherein the front end of a lens cone is connected with a secondary lens connecting disc, and the rear end of the lens cone is connected with a main lens base; a primary mirror is placed in the primary mirror seat; a secondary mirror is arranged on one side of the secondary mirror connecting disc, which faces the main mirror base; a reflector is arranged between the primary mirror and the secondary mirror;
the primary mirror, the secondary mirror and the reflector are coaxially arranged;
light enters from the front end of the lens barrel and is incident on the primary mirror through the secondary mirror connecting disc, reflected light of the primary mirror enters the secondary mirror, reflected light of the secondary mirror enters the reflecting mirror, and the reflecting mirror reflects the reflected light of the secondary mirror into a subsequent light path.
Preferably, the output end of the reflector is provided with a light transmission cylinder, and the light transmission cylinder is connected with the through hole on the lens cone and is used for transmitting the reflected light of the reflector to enter a subsequent light path.
Preferably, a light shielding tube is arranged at the receiving end of the reflector.
Preferably, a secondary mirror fixing seat is installed on one side, facing the main mirror seat, of the secondary mirror connecting disc, and the secondary mirror is connected with the secondary mirror fixing seat through a secondary mirror adjusting plate; and the secondary mirror adjusting plate is used for adjusting the pitch angle of the secondary mirror.
Preferably, the primary mirror is a paraboloidal mirror with a relative caliber of 1:2.5, the clear caliber is 400mm, and the material with the thickness of 50mm is quartz.
Preferably, the secondary mirror is an aspherical mirror, the aperture of the light passing is 90mm, the thickness of the light passing is 12mm, and the material of the secondary mirror is quartz.
Preferably, the main mirror seat, the secondary mirror adjusting plate, the secondary mirror fixing seat and the secondary mirror connecting disc are made of titanium alloy materials.
Preferably, the lens barrel is made of a carbon fiber material.
Preferably, the receiving telescope device is connected with a bottom plate of the radar host frame through the main lens base, and the bottom plate of the radar host frame is made of a titanium alloy material.
The invention has the advantages that:
(1) the structural design of the invention leads the receiving telescope device to have compact structure, and can reduce the volume and the weight of the laser radar host and lead the laser radar host to have compact structure for the radar which realizes the scanning detection function by utilizing the complete machine scanning technology, thereby reducing the design difficulty of the complete machine scanning mechanism and improving the stability of the complete machine scanning mechanism.
(2) In the invention, the reflector is arranged between the primary mirror and the secondary mirror, and the light beam is reflected to the side surface of the telescope to further reduce the length of the receiving telescope, so that the receiving telescope device and the laser radar host have compact structures.
(3) And a light shielding cylinder is arranged at the receiving end of the reflector and used for blocking the sky background light from entering the subsequent optical unit.
(4) The output end of the reflector is provided with a light transmitting cylinder for shielding stray light.
(5) In the prior art, an optical system of a receiving telescope adopts a clamping structure, and finite element analysis is carried out on a primary mirror and a secondary mirror, so that the primary mirror and the secondary mirror can generate changes of the distance and the coaxiality between the primary mirror and the secondary mirror due to rotation and temperature changes, the imaging quality can be influenced, the energy receiving of the receiving telescope is influenced, and the influence is particularly obvious for the receiving telescope with a small visual field. The invention connects the primary and secondary mirrors through the lens cone by changing the fixing mode of the primary and secondary mirrors, and fixes the primary and secondary mirrors on the bottom plate of the radar host frame as a whole, has higher structural stability, can realize working at high and low temperatures, and ensures that the primary and secondary mirrors are controlled within a tolerance range by the changes of the spacing and the coaxiality of the primary and secondary mirrors generated by rotation and temperature changes.
(6) The invention further improves the stability of the receiving telescope by changing the material structure, so as to ensure that the primary and secondary mirrors are controlled within the tolerance range by the changes of the distance and the coaxiality of the primary and secondary mirrors generated by rotation and temperature change, wherein the titanium alloy material has small thermal expansion coefficient and high strength, meets the deformation condition, has small density of the titanium alloy, and also meets the requirement of light weight of the whole machine.
(7) In the invention, the receiving telescope device is connected with the bottom plate of the laser radar host frame through the main lens base, the bottom plate of the laser radar host frame is made of titanium alloy material, and the subsequent light path and the receiving telescope are simultaneously fixed on the bottom plate of the frame, thereby ensuring that the change of the coaxiality is within the tolerance range under the rotation of the whole machine and the change of the temperature.
(8) The invention designs a receiving telescope device which has a clear aperture of 400mm, a focal length of 3300mm, a receiving view field of 0.5mrad, a blocking ratio of less than 6 percent and can rotate within a pitching rotation angle range of 0-90 degrees at an ambient temperature of-5-45 ℃.
Drawings
Fig. 1 is a cross-sectional view of a receiving telescope device for a laser radar of the present invention.
FIG. 2 is a schematic diagram of a secondary mirror land.
Description of reference numerals:
1-primary mirror base, 2-primary mirror, 3-lens cone, 4-secondary mirror, 5-secondary mirror adjusting plate and 6-secondary mirror fixing base
7-secondary mirror connecting disc, 8-shading cylinder, 9-reflector and 10-aperture diaphragm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a receiving telescope apparatus for a laser radar of the present invention includes: the lens comprises a main lens base 1, a main lens 2, a lens barrel 3, a secondary lens 4, a secondary lens adjusting plate 5, a secondary lens fixing base 6, a secondary lens connecting disc 7, a shading cylinder 8, a reflecting mirror 9 and a small-hole diaphragm 10.
The specific structure is as follows:
the front end of the lens cone 3 is connected with a secondary lens connecting disc 7 through a screw, and the rear end of the lens cone 3 is connected with the main lens base 1 through a screw; the main lens base 1 is used for placing a main lens 2; a secondary mirror fixing seat 6 is arranged on one side of the secondary mirror connecting disc 7 facing the main mirror seat 1, and the secondary mirror 4 is connected with the secondary mirror fixing seat 6 through a secondary mirror adjusting plate 5; a reflector 9 is arranged between the primary mirror 2 and the secondary mirror 4, and the primary mirror 2, the secondary mirror 4 and the reflector 9 are coaxially arranged.
And the secondary mirror adjusting plate 5 is used for adjusting the pitch angle of the secondary mirror 4. As shown in fig. 2, the secondary mirror connecting disc 7 is a hollowed connecting disc.
Light enters from the front end of the lens barrel 3 and enters the primary mirror 1 through the secondary mirror connecting disc 7, reflected light of the primary mirror 1 enters the secondary mirror 4, reflected light of the secondary mirror 4 enters the reflecting mirror 9, and reflected light of the secondary mirror 4 is reflected into a subsequent light path.
And an output light path of the reflector 9 is provided with a small aperture diaphragm 10.
The lens cone 3 is provided with a through hole for the reflected light of the reflector 9 to enter a subsequent light path, the output end of the reflector 9 is provided with a light transmission cylinder, the light transmission cylinder is connected with the through hole on the lens cone 3 and is used for transmitting the reflected light of the reflector 9, and the small-hole diaphragm 10 is positioned in the light transmission cylinder.
A light shielding tube 8 is arranged at the receiving end of the reflector 9.
In the invention, the reflector 9 is arranged between the primary mirror 2 and the secondary mirror 4 to reflect the light beam to the side surface of the telescope so as to further reduce the length of the receiving telescope and ensure that the receiving telescope device and the laser radar host have compact structures. A light shielding tube 8 is arranged at the receiving end of the reflector 9 for blocking the sky background light from entering the subsequent optical unit. The output end of the reflector 9 is provided with a light transmitting tube for shielding stray light.
In the invention, the primary mirror 3 adopts a parabolic mirror with the relative caliber of 1:2.5, the clear caliber is 400mm, the material is quartz, the processing technology is considered, the thickness of the primary mirror 3 is 50mm, and the weight is about 18.9 kg. The secondary mirror 4 is an aspheric mirror, the aperture of the light passing is 90mm, the thickness is 12mm, and quartz is selected as the material.
According to the focal length and the receiving field of view of the system, the size of the aperture diaphragm 10 in the system is calculated to be 1.7mm, if the size of a light spot at a focal point changes by 0.2mm, the corresponding received energy loss is 20%, and the stability of the system has a great influence on an energy receiving result. In order to ensure that the energy loss is as small as possible, tolerance analysis is carried out on the optical system, and the change of the distance and the coaxiality of the primary mirror and the secondary mirror is controlled within 0.1mm by comparing the influence of the change of the distance and the coaxiality of the primary mirror and the secondary mirror on the size of a light spot at a focus.
Establishing a finite element model for the receiving telescope, carrying out the analysis of the placement of the pitching rotation angle of 0-90 degrees and the temperature change, and obtaining that the main lens seat 1, the secondary lens adjusting plate 5, the secondary lens fixing seat 6 and the secondary lens connecting disc 7 need to be made of titanium alloy materials and the lens cone 3 needs to be made of carbon fiber materials under the condition of meeting the 0.1mm deformation. Because the titanium alloy material has small thermal expansion coefficient and high strength, the density of the titanium alloy is small in the material meeting the deformation condition of 0.1mm, and the weight requirement of the whole machine is as light as possible for the radar realizing the scanning detection function by the whole machine scanning technology. In addition, the carbon fiber material has small thermal expansion coefficient, high strength, small density and light weight, and the light weight is particularly important when the lens barrel is used as a cantilever structure in the pitching rotation process.
In the invention, the receiving telescope device is connected with the bottom plate of the laser radar host frame through the main lens base 1, finite element analysis is carried out on the laser radar host frame, the bottom plate of the laser radar host frame is obtained by adopting a titanium alloy material, and a subsequent light path and the receiving telescope are simultaneously fixed on the bottom plate of the frame, so that the change of the coaxiality is within a tolerance range under the rotation and temperature change of the whole machine.
The primary mirror and the secondary mirror are connected through the lens cone and are integrally fixed on the bottom plate of the radar host frame, so that the structural stability is higher, and the radar host frame can work at high and low temperatures.
In the invention, the reflector is arranged between the primary mirror and the secondary mirror, and the light beam is reflected to the side surface of the telescope, so that the length of the receiving telescope is further reduced, the receiving telescope device and the laser radar host are compact in structure, the volume and the weight of the laser radar host can be reduced for the radar which realizes the scanning detection function by using the whole machine scanning technology, the laser radar host is compact in structure, the design difficulty of the whole machine scanning mechanism is reduced, and the stability of the whole machine scanning mechanism is improved.
The invention designs a receiving telescope device for laser radar by changing the fixing mode of the structure, the material and the primary mirror and the secondary mirror, the receiving field of view is only 0.5mrad, the clear aperture is 400mm, the focal length is 3300mm, the obscuration ratio is less than 6 percent, and the final overall dimension of the whole receiving telescope is 472mm in diameter and 754mm in length. Through design analysis, the receiving telescope can rotate within the range of 0-90 degrees of pitching rotation angle within the range of-5-45 degrees of ambient temperature, and has compact structure and good stability.
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A receiving telescope device for a laser radar is characterized in that the front end of a lens cone (3) is connected with a secondary lens connecting disc (7), and the rear end of the lens cone (3) is connected with a main lens base (1); a primary mirror (2) is arranged in the primary mirror seat (1); a secondary mirror (4) is arranged on one side of the secondary mirror connecting disc (7) facing the main mirror base (1); a reflector (9) is arranged between the primary mirror (2) and the secondary mirror (4);
the primary mirror (2), the secondary mirror (4) and the reflector (9) are coaxially arranged;
light enters from the front end of the lens barrel (3), enters the primary mirror (1) through the secondary mirror connecting disc (7), reflected light of the primary mirror (1) enters the secondary mirror (4), reflected light of the secondary mirror (4) enters the reflecting mirror (9), and the reflecting mirror (9) reflects the reflected light of the secondary mirror (4) into a subsequent light path.
2. The telescopic device according to claim 1, wherein a light-transmitting cylinder is provided at the output end of the reflector (9), said cylinder being connected to the through-hole in the barrel (3) for transmitting the reflected light of the reflector (9) into the subsequent optical path.
3. The receiving telescope arrangement for lidar according to claim 2, wherein a light shield (8) is provided at the receiving end of the mirror (9).
4. The telescopic receiving device for lidar according to claim 1, wherein the secondary mirror connecting disc (7) is provided with a secondary mirror fixing base (6) on the side facing the primary mirror base (1), and the secondary mirror (4) is connected with the secondary mirror fixing base (6) through a secondary mirror adjusting plate (5); and the secondary mirror adjusting plate (5) is used for adjusting the pitch angle of the secondary mirror (4).
5. The telescopic device according to claim 1, wherein the primary mirror (2) is a parabolic mirror with a relative aperture of 1:2.5, the clear aperture is 400mm, and the material with a thickness of 50mm is quartz.
6. The telescopic arrangement for lidar according to claim 1, wherein the secondary mirror (4) is an aspherical mirror with a clear aperture of 90mm and a thickness of 12mm, and is made of quartz.
7. The telescopic receiving device for lidar according to claim 1, wherein the primary mirror base (1), the secondary mirror adjusting plate (5), the secondary mirror fixing base (6), and the secondary mirror connecting disc (7) are made of titanium alloy material.
8. The telescopic receiving arrangement for lidar according to claim 1, wherein the barrel (3) is made of carbon fiber material.
9. The telescope receiving device for lidar according to claim 1, wherein the telescope receiving device is connected to a bottom plate of the radar main frame through the main lens holder (1), and the bottom plate of the radar main frame is made of titanium alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210480457.1A CN114879162A (en) | 2022-05-05 | 2022-05-05 | Receiving telescope device for laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210480457.1A CN114879162A (en) | 2022-05-05 | 2022-05-05 | Receiving telescope device for laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114879162A true CN114879162A (en) | 2022-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210480457.1A Pending CN114879162A (en) | 2022-05-05 | 2022-05-05 | Receiving telescope device for laser radar |
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| CN (1) | CN114879162A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115598791A (en) * | 2022-12-12 | 2023-01-13 | 中国科学院西安光学精密机械研究所（Cn） | All-aluminum primary and secondary mirror laser receiving device and adjusting method thereof |
-
2022
- 2022-05-05 CN CN202210480457.1A patent/CN114879162A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115598791A (en) * | 2022-12-12 | 2023-01-13 | 中国科学院西安光学精密机械研究所（Cn） | All-aluminum primary and secondary mirror laser receiving device and adjusting method thereof |
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