CN115993589A - Debugging-free implementation method for laser radar light receiving and transmitting structure - Google Patents
Debugging-free implementation method for laser radar light receiving and transmitting structure Download PDFInfo
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- CN115993589A CN115993589A CN202310114218.9A CN202310114218A CN115993589A CN 115993589 A CN115993589 A CN 115993589A CN 202310114218 A CN202310114218 A CN 202310114218A CN 115993589 A CN115993589 A CN 115993589A
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Abstract
The invention discloses a debugging-free realization method of a laser radar light receiving and transmitting structure, which is suitable for the laser radar light receiving and transmitting structure comprising a laser light source, a transmitting lens, a receiving lens, a detector and an integrated mechanical structure, and comprises the following steps that S1, the assembly standard of the laser light source, the transmitting lens, the receiving lens, the detector and the integrated mechanical structure is confirmed through design and selection; s2, controlling machining errors of all components, assembling according to the assembly standard confirmed in the S1, and controlling the assembly errors to enable the eccentric value of the focusing light spot center on the detector and the target surface center of the detector to be smaller than a certain value; s3, selecting the diameter of the target surface of the detector, so that the diameter of the target surface of the detector is larger than the sum of two times of a positioning deviation value introduced by processing and assembly and the diameter of a focused light spot on the detector.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a debugging-free implementation method of a laser radar light receiving and transmitting structure.
Background
The laser radar is a system for detecting characteristic information such as the position, the speed and the like of a target by emitting laser with specific wavelength and direction, and is widely applied to the fields such as a ranging system, target tracking measurement, weapon guidance, atmosphere monitoring, mapping, early warning, traffic management and the like.
The laser radar system generally comprises a transmitting module, a receiving module and a data processing module. The laser light source and the emission lens form an emission module, the laser light source provides emergent laser, and the emission mirror compresses a laser divergence angle to collimate and emit the laser; the detector and the receiving lens form a receiving module, the receiving lens receives the backward reflection/scattering echo light, the echo light is converged on the target surface of the detector, and the detector converts the optical signal into an electric signal; the data processing module converts the electric signal into an actual distance value through amplification and distance calculation and outputs the actual distance value.
For a point laser light source (relative to line laser and surface laser) with a limited light outlet and a point detector (relative to the line detector and the surface detector) with a limited receiving target surface, the transverse relative position of the center point of the point laser light outlet and a transmitting lens determines a transmitting optical axis, and the longitudinal relative position influences a transmitting visual field; the transverse relative position of the center point of the target surface of the detector and the receiving lens determines the receiving optical axis, and the longitudinal relative position influences the receiving field of view.
For the laser radar system which selects the point laser light source and the point detector, the assembly needs to ensure that the transmitting optical axis and the receiving optical axis are parallel (corresponding to the parallel optical path structure) or coincide (corresponding to the common optical path structure), and meanwhile, the transmitting visual field and the receiving visual field are in a specific angle range and are matched. In the actual adjustment process, one of the light source and the transmitting lens needs to be adjusted, and one of the receiving lens and the detector needs to be adjusted, wherein the adjusted dimension is horizontal-longitudinal translation and meridian/sagittal plane deflection. The reference basis for adjustment is the appearance of a far-field laser spot, the amplitude of echo light received by a detector or the imaging light spot of emitted light received by a CCD detector of a far-end tool and the imaging light spot of a pseudo light source for illuminating the target surface of the detector, and the final relative position is required to be solidified after adjustment is completed.
At present, manual or semi-automatic adjustment and solidification are mainly realized through manual or mechanical assistance, and the production efficiency of the laser radar is severely restricted.
Disclosure of Invention
The invention aims to provide a debugging-free implementation method for a laser radar light receiving and transmitting structure, which solves the problems of complicated laser radar adjustment and low production efficiency.
In order to solve the technical problems, the invention provides a technical scheme that: the laser radar light receiving and transmitting structure comprises an integrated mechanical structure, and a laser light source, a transmitting lens, a receiving lens and a detector which are arranged in the integrated mechanical structure, wherein laser emitted by the laser light source is emitted to a detected target from an emergent port through the transmitting lens, and laser reflected by the detected target enters the receiving lens from an incident port and is transmitted to the detector for receiving; the outlet and the inlet are positioned on the same side of the integrated mechanical structure;
the method comprises the steps of,
s1, confirming assembly references of a laser light source, a transmitting lens, a receiving lens, a detector and an integrated mechanical structure through design and selection;
s2, controlling machining errors of the laser light source, the transmitting lens, the receiving lens, the detector and the integrated mechanical structure, assembling according to the assembly standard confirmed in the S1, and controlling the assembly errors to enable the eccentric value of the focusing light spot center on the detector and the target surface center of the detector to be smaller than a certain value;
s3, selecting the diameter of the target surface of the detector, so that the diameter of the target surface of the detector is larger than the sum of two times of a positioning deviation value introduced by processing and assembly and the diameter of a focused light spot on the detector.
According TO the scheme, the laser light source is an edge-emitting laser diode packaged by TO.
According TO the scheme, the detector is an avalanche photodiode packaged by TO.
According to the scheme, the transmitting lens comprises a transmitting lens and a transmitting lens barrel for fixing the transmitting lens; the emission lens is a plano-convex lens.
According to the scheme, the receiving lens comprises a receiving lens, and the receiving lens is a plano-convex lens.
According to the scheme, the assembly standard of the laser light source is the step surface and the outer circular surface of the packaging tube shell.
According to the scheme, the assembly standard of the detector is the top surface and the outer circular surface of the packaging tube shell.
According to the scheme, the assembly standard of the emission lens is the outer round surface and the plane surface.
According to the scheme, the assembly standard of the receiving lens is the outer round surface and the plane surface.
The laser radar light receiving and transmitting structure comprises an integrated mechanical structure, and a laser light source, a transmitting lens, a receiving lens and a detector which are arranged in the integrated mechanical structure, wherein laser emitted by the laser light source is emitted to a measured target through the transmitting lens, and the receiving lens receives the laser reflected from the measured target and transmits the laser to the detector; the laser outlet and the laser inlet are positioned on the same side of the integrated mechanical structure; the size and the assembly relation of the laser light source, the transmitting lens, the receiving lens, the detector and the integrated mechanical structure enable the eccentric value of the focusing light spot center on the detector and the target surface center of the detector to be smaller than a certain value.
The beneficial effects of the invention are as follows: the processing precision and the assembly precision of the components are controlled, and the diameter of the target surface of the detector is limited, so that the laser radar receiving and emitting structure can meet the use requirement after being assembled without debugging, the manpower and time consumption caused by adjustment are saved, and the production efficiency of the laser radar is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an adjustment-free lidar according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a lidar transceiver structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an emission light source according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a detector according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an emission lens structure according to an embodiment of the present invention;
fig. 6 is a schematic view of a receiving lens structure according to an embodiment of the invention.
In the figure: 1-transmitting lens, 2-transmitting lens barrel, 3-receiving lens, 4-transmitting light source, 5-integrated mechanical structure, 6-detector, 101-fifth reference plane, 102-sixth reference plane, 307-seventh reference plane, 308-eighth reference plane, 401-first reference plane, 402-second reference plane, 601-third reference plane, 602-fourth reference plane.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Referring to fig. 1 and 2, the laser radar receiving and emitting structure in the present embodiment is assembled by the following steps,
the transmitting lens 1 and the transmitting lens barrel 2 are positioned through slotted holes and fixedly bonded together, and the slotted holes on the transmitting lens barrel 2 are conical slots;
the transmitting lens cone 2 and the receiving lens 3 are positioned through the conical holes and fixedly bonded together;
the emission light source 4 and the emission lens cone 2 are matched and positioned with the inner hole of the emission lens cone 2 through the outer edge of the emission light source 4, and are fixedly connected through bonding;
the receiving lens 3 and the integrated mechanical structure 5 are matched with the notch of the integrated mechanical structure 5 through the outer edge of the receiving lens 3 to realize positioning, and are fixedly connected through bonding, and the notch on the integrated mechanical structure 5 is a conical groove;
the integrated mechanical structure 5 and the detector 6 are matched with the outer edge of the detector 6 through the notch of the integrated mechanical structure 5 to realize positioning, and are connected through bonding or screw fastening.
Referring to fig. 3 to 6, the reason and the values of the deviation of the laser radar light receiving and transmitting structure in this embodiment are as follows,
1) Concentricity deviation between the luminous point of the emission light source 4 and the second reference surface 402 can be controlled within 0.05mm by screening;
2) The concentricity deviation between the center of the receiving surface of the detector 6 and the fourth reference surface 602 can be controlled within 0.05mm through screening;
3) The surface decentration and surface inclination of the optical element (comprising the transmitting lens 1 and the receiving lens 3) can be controlled below 0.01mm for relatively precise laser radar optical elements, and the surface inclination can be controlled below 30 arcsec;
4) The concentricity processing deviation of the positioning groove introduced by the mechanical piece (the transmitting lens barrel 2 and the integrated mechanical structure 5) is controlled within 0.02 mm;
5) The eccentricity of the mechanical piece and the emission lens 1 and the receiving lens 3 which are arranged and introduced into the emission lens 1 and the receiving lens 3 can be controlled below 0.01mm (ensured by conical matching surfaces), the inclination of the introduced emission lens 1 and the introduced receiving lens 3 can be controlled at 3 arc minutes, and the inclination angle of the introduced emission lens barrel 2 and the introduced receiving lens 3 can be controlled at 3 arc minutes;
6) The eccentricity of the mechanical part, the emission light source 4 and the detector 6, which are introduced by the installation gaps of the mechanical part, the emission light source 4 and the detector 6, can be controlled within 0.02 mm.
Regarding all deviations to be extremely large, the value L of the final focusing light spot center deviating from the center of the detection target surface under the combined action is calculated as follows:
preconditions for calculation: the transmit lens focal length is 7mm and the receive lens focal length is 21mm.
(1) Eccentricity of a transmitting system
The eccentricity of the emission lens 1, the emission light source 4 and the emission lens barrel 2, the installation eccentricity of the emission lens 1 and the installation eccentricity of the emission light source 4 are added to obtain 0.11mm.
(2) Eccentricity of a receiving system
The eccentricity of the receiving lens 3, the detector 6 and the integrated mechanical structure 5 is added to the installation eccentricity of the receiving lens 3 and the installation eccentricity of the detector 6 to obtain 0.11mm.
(3) Deflection angle of transmitting system
The surface of the emission lens 1 is inclined, and the installation inclination angle of the emission lens 1 and the installation inclination angle of the emission lens barrel 2 are added to obtain 6.5 arc minutes.
(4) Offset angle of receiving system
The surface tilt of the receiving lens 3 and the installation tilt angle of the receiving lens 3 are added to obtain 3.5 arc minutes. Since the focal length of the receiving lens 3 is three times that of the transmitting lens 1, the influence of the eccentric value of the transmitting system on the value (defined as L) of the focus spot center deviating from the center of the detection target surface should be 0.11×3=0.33 mm, and the eccentric value of the receiving system should be 0.11mm.
And adding the deflection angles of the transmitting system and the receiving system, and multiplying the deflection angles by the focal length of the receiving mirror to obtain the deflection value of 0.0035mm caused by the deflection angle.
The final L value was 0.33+0.11+0.0035= 0.4435mm.
The diameter of the focusing light spot of the receiving mirror is 0.01mm, and the target surface of the detector is more than or equal to 0.897mm, so that the adjustment-free installation can be realized.
It should be noted that: the larger the detector target size is theoretically, the higher the tolerance to the L value deviation caused by the above series of factors is, but the detector is limited by the response rate, the larger the target size is, the lower the response rate is (determined by the physical characteristics of the detector device), so that the final determination of the target size is a trade-off result between debugging-free and response rates.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. A laser radar light receiving and transmitting structure debugging-free implementation method is characterized in that: the laser radar light receiving and transmitting structure comprises an integrated mechanical structure, and a laser light source, a transmitting lens, a receiving lens and a detector which are arranged in the integrated mechanical structure, wherein laser emitted by the laser light source is emitted to a measured target from an emergent port through the transmitting lens, and laser reflected from the measured target enters the receiving lens from an incident port and is transmitted to the detector for receiving; the outlet and the inlet are positioned on the same side of the integrated mechanical structure;
the method comprises the steps of,
s1, confirming assembly references of a laser light source, a transmitting lens, a receiving lens, a detector and an integrated mechanical structure through design and selection;
s2, controlling machining errors of the laser light source, the transmitting lens, the receiving lens, the detector and the integrated mechanical structure, assembling according to the assembly standard confirmed in the S1, and controlling the assembly errors to enable the eccentric value of the focusing light spot center on the detector and the target surface center of the detector to be smaller than a certain value;
s3, selecting the diameter of the target surface of the detector, so that the diameter of the target surface of the detector is larger than the sum of two times of a positioning deviation value introduced by processing and assembly and the diameter of a focused light spot on the detector.
2. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 1, which is characterized in that: the laser light source is an edge-emitting laser diode of a TO package.
3. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 1, which is characterized in that: the detector is a TO-packaged avalanche photodiode.
4. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 1, which is characterized in that: the transmitting lens comprises a transmitting lens and a transmitting lens barrel for fixing the transmitting lens; the emission lens is a plano-convex lens.
5. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 1, which is characterized in that: the receiving lens comprises a receiving lens which is a plano-convex lens.
6. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 2, which is characterized in that: the assembly standard of the laser light source is the step surface and the outer circle surface of the packaging tube shell.
7. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 3, wherein the method comprises the following steps: the assembly standard of the detector is the top surface and the outer circular surface of the packaging tube shell.
8. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 4, wherein the method comprises the following steps: the assembly reference of the emission lens is the outer round surface and the plane surface.
9. The method for implementing the laser radar light receiving and transmitting structure without debugging according to claim 5, wherein the method comprises the following steps: the assembly reference of the receiving lens is its outer circular surface and plane surface.
10. A laser radar light receiving and transmitting structure is characterized in that: the laser detection device comprises an integrated mechanical structure, and a laser light source, a transmitting lens, a receiving lens and a detector which are arranged in the integrated mechanical structure, wherein laser emitted by the laser light source is emitted to a detected target through the transmitting lens, and the receiving lens receives the laser reflected from the detected target and transmits the laser to the detector; the laser outlet and the laser inlet are positioned on the same side of the integrated mechanical structure; the size and the assembly relation of the laser light source, the transmitting lens, the receiving lens, the detector and the integrated mechanical structure enable the eccentric value of the focusing light spot center on the detector and the target surface center of the detector to be smaller than a certain value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310114218.9A CN115993589A (en) | 2023-02-15 | 2023-02-15 | Debugging-free implementation method for laser radar light receiving and transmitting structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310114218.9A CN115993589A (en) | 2023-02-15 | 2023-02-15 | Debugging-free implementation method for laser radar light receiving and transmitting structure |
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| Publication Number | Publication Date |
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| CN115993589A true CN115993589A (en) | 2023-04-21 |
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| CN202310114218.9A Pending CN115993589A (en) | 2023-02-15 | 2023-02-15 | Debugging-free implementation method for laser radar light receiving and transmitting structure |
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