CN117741621A - Rotating mirror multi-line radar - Google Patents
Rotating mirror multi-line radar Download PDFInfo
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- CN117741621A CN117741621A CN202311771837.1A CN202311771837A CN117741621A CN 117741621 A CN117741621 A CN 117741621A CN 202311771837 A CN202311771837 A CN 202311771837A CN 117741621 A CN117741621 A CN 117741621A
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- 230000033001 locomotion Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 13
- 230000000750 progressive effect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Abstract
The invention discloses a turning mirror multi-line radar, which comprises a laser component and a turning mirror component; the laser component and the rotating mirror component rotate respectively to realize vertical and circumferential scanning in a matched manner; the laser assembly comprises a laser assembly mounting frame, a main control board is mounted at the bottom of the laser assembly mounting frame, and a laser processor is arranged on the main control board; a supporting connecting piece is arranged in the middle, a laser emitter is arranged at the other end of the supporting connecting piece, and the laser emitter is connected with the main control board and emits through a laser emitting tube; the top part is obliquely provided with a converging lens, and the laser emission tube is coaxial with the converging lens and is exposed outside through the converging lens; the rotating mirror assembly comprises a rotating mirror, the rotating mirror is positioned above the laser assembly, is obliquely installed facing the laser emitting tube and is overlapped with the center of the converging lens. The multi-line radar has a simple structure, can effectively avoid a strip-shaped transmitting and receiving structure so as to reduce a receiving view field, and can realize progressive scanning by the cooperation and rotation of the laser component and the rotating mirror component.
Description
Technical Field
The invention relates to the technical field of radar detection, in particular to a rotating mirror multi-line radar.
Background
The laser radar can accurately measure the position, the motion state and the shape of a target, and is widely used in various fields such as distance measurement, atmosphere detection, road monitoring and the like.
At present, the multi-line laser radar can form scanning of a plurality of wire harnesses by distributing and arranging a plurality of laser transmitters in the vertical direction and matching with the rotation of a motor, so that the surrounding environment can be fully described, and the advantages of high measuring speed, high precision, long distance measurement and the like are achieved.
However, the space layout utilization rate of the existing multi-line laser radar is poor, and the multi-line design is realized by adopting strip-shaped transmitting and receiving, so that the method needs a large receiving view field.
Meanwhile, in actual production, the design of a multi-line transmitting and receiving circuit and the optical design are complex, the consistency of products is difficult to ensure, the problem that optical crosstalk is easy to generate in a large receiving view field, and the like is complex in the whole design and calibration.
Disclosure of Invention
In view of the above, the present invention provides a novel rotating mirror multi-line radar to overcome the above problems in the prior art; by matching the rotatable laser emission tube and the rotating mirror, progressive scanning in the circumferential direction and the vertical direction is realized.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a turning mirror multi-line radar comprises a laser component and a turning mirror component; the laser component and the rotating mirror component rotate respectively to realize vertical and circumferential scanning in a matched manner;
the laser assembly comprises a laser assembly mounting frame, a main control board is mounted at the bottom of the laser assembly mounting frame, and a laser processor is arranged on the main control board; a supporting connecting piece is arranged in the middle, a laser emitter is arranged at the other end of the supporting connecting piece, and the laser emitter is connected with the main control board and emits through a laser emitting tube; the top part of the laser emission tube is obliquely provided with a converging lens, and the laser emission tube is coaxial with the converging lens and is exposed outside through the converging lens;
the rotary mirror assembly comprises a rotary mirror, wherein the rotary mirror is positioned above the laser assembly and is obliquely installed facing the laser emission tube, and the rotary mirror coincides with the center of the converging lens.
Preferably, the laser assembly mount is hollow cylindrical.
Preferably, the laser transmitter is connected with the main control board through the first flexible circuit board.
Preferably, a first notch is formed in the bottom of the laser assembly mounting frame, and the first flexible circuit board is tightly attached to the supporting connecting piece and penetrates through the bottom of the laser assembly mounting frame to be connected with the main control board through the first notch.
Preferably, the bottom end of the laser assembly mounting frame is provided with a plurality of supporting legs, and the laser assembly mounting frame is inclined through the plurality of supporting legs, or the top end of the laser assembly mounting frame is arranged to be a chamfer so as to be convenient for the inclined mounting of the converging lens.
Preferably, the converging lens is mounted on top of the laser assembly mounting frame by a snap ring.
Preferably, the laser assembly is fixed on a chassis of the movement, a driving part is arranged at the bottom of the chassis of the movement, and the driving part is fixed in the radar base.
Preferably, the first code wheel is downwards distributed on the edge of the chassis of the movement, and a first code wheel detection piece is arranged in a gap formed by the radar base and the first driving part.
Preferably, a main control circuit board is further arranged in the radar base and is respectively connected with the first code wheel detection piece and the first driving part, and the main control circuit board is used for controlling the first driving part according to the detection result of the first code wheel detection piece;
preferably, in the rotary mirror assembly, the rotary mirror is obliquely arranged on the second code disc, the second code disc is fixed on the second code disc base, and is connected with the second driving part in the second code disc base, and the second code disc base is further provided with a supporting plate for mounting the second code disc detection part.
Preferably, a sub-control circuit board is further arranged in the second code wheel base, and the sub-control circuit board is respectively connected with the second code wheel detection piece and the second driving component and is used for controlling the second driving component according to the detection result of the second code wheel detection piece;
preferably, the second code wheel detecting member is connected to a main control circuit board in the radar base through a second flexible circuit board.
Preferably, the second code disc base is fixed in the outer cover, the inner part of the outer cover is outwards protruded to form a strip-shaped concave part for fixing the second flexible circuit board, and the second flexible circuit board is tightly connected to the radar base by being tightly adhered to the strip-shaped concave part.
Compared with the prior art, the invention discloses a rotating mirror multi-line radar, which realizes vertical and circumferential scanning by controlling the rotation of the laser component and the rotating mirror component respectively, namely when the laser component and the rotating mirror component rotate to different positions, the rotating mirror and the laser emission tube can form different angles, and the emitted light is deflected to different directions; the invention can realize the scanning of the circular cylindrical surface around the radar through the rotation of the upper rotating mirror, and the progressive scanning can be realized through the different rotation speed ratios of the chassis and the rotating mirror.
The multi-line radar disclosed by the invention has a simple structure, and can effectively avoid a strip-shaped transmitting and receiving structure so as to reduce a receiving view field; the method can be widely used for laser radar navigation map building or obstacle avoidance in the fields of business, industry and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a laser module mounting frame according to the present invention;
FIG. 2 is a schematic diagram of a main control board according to the present invention;
FIG. 3 is a schematic view of the internal structure of a laser module according to the present invention;
FIG. 4 is a schematic view of the overall structure of the laser module of the present invention;
FIG. 5 is a schematic view of a radar base structure according to the present invention;
FIG. 6 is a schematic diagram of a turning mirror assembly according to the present invention;
FIG. 7 is a schematic diagram of a relay lens assembly according to the present invention;
FIG. 8 is a schematic view of the structure of the outer cover of the present invention;
FIG. 9 is a schematic diagram of an explosion structure of a multi-line radar with a rotating mirror according to the present invention;
FIG. 10 is a cross-sectional view of a transfer mirror multi-line radar of the present invention;
FIG. 11 is a schematic diagram of the appearance of a transfer mirror multi-line radar in accordance with the present invention;
FIG. 12 is a graph of horizontal angle versus vertical angle for a single scan laser beam in accordance with the present invention;
FIG. 13 is a graph of horizontal angle versus vertical angle for a multi-turn scanned laser beam in accordance with the present invention.
Description of the reference numerals
1 is a radar base, 2 is a movement chassis, 3 is an outer cover, 4 is a main control board, 5 is a laser component, 6 is a flexible circuit board, 7 is a converging lens, 8 is a turning mirror component, 101 is a first driving part, 102 is a first code wheel detecting part, 201 is a first code wheel, 202 is a laser component mounting frame, 203 is a first notch, 204 is a second notch, 301 is a concave part, 401 is a laser processor, 501 is a clamping ring, 502 is a supporting connecting part, 503 is a laser emitting pipe, 504 is a laser emitter, 601 is a first flexible circuit board, 602 is a second flexible circuit board, 801 is a second code wheel base, 802 is a second code wheel, 803 is a turning mirror, 804 is a second code wheel detecting part, 805 is a connecting rod, and 806 is a supporting plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses a turning mirror multi-line radar, which comprises the following specific structures:
first comprising a laser assembly 5 and a turning mirror assembly 8; the laser assembly 5 and the rotating mirror assembly 8 rotate respectively, and vertical and circumferential scanning is realized through cooperation;
the laser assembly 5 comprises a laser assembly mounting frame 202, preferably, as shown in fig. 1, the laser assembly mounting frame 202 is hollow and cylindrical and is fixed on the movement chassis 2, wherein a main control board 4 is mounted at the bottom of the laser assembly mounting frame 202, as shown in fig. 2, and a laser processor 401 is arranged on the main control board 4; in order to facilitate the connection of the main control board 4 and other components, a power strip is further arranged at one end of the main control board 4.
Further, as shown in fig. 3, a supporting connecting piece 502 is installed to extend inwards from the middle part of the ring direction of the laser assembly mounting frame 202, a laser emitter 504 is installed at the other end of the supporting connecting piece 502, and the laser emitter 504 is connected with the main control board 4 and emits through a laser emitting tube 503;
in this embodiment, the laser transmitter 504 is connected to the main control board 4 through the first flexible circuit board 601, i.e. one end of the first flexible circuit board 601 is connected to the laser transmitter 504, and the other end is closely attached to the supporting connection piece 502 and passes through the laser assembly mounting frame 202 to be connected to the main control board 4;
in one embodiment, a first notch 203 is formed at the junction between the support connector 502 and the laser assembly mounting frame 202, and a second notch 204 is formed at the bottom of the laser assembly mounting frame 202, so that the first flexible circuit board 601 passes through the laser assembly mounting frame 202 and is connected to the power strip on the main control board 4.
The converging lens 7 is obliquely arranged on the top of the laser assembly mounting frame 202, and the laser emitting tube 503 is coaxial with the converging lens 7 and exposed outside through the converging lens 7; as shown in fig. 4.
In the invention, in order to facilitate the inclined installation of the converging lens 7, a plurality of supporting legs are preset at intervals at the bottom end of the laser component installation frame 202, the laser component installation frame 202 is inclined through the plurality of supporting legs, or the top end of the laser component installation frame 202 is set to be a bevel, and the converging lens 7 is further arranged at the top of the laser component installation frame 202 in an inclined mode through the clamping ring 501.
It should be noted that the supporting connection member 502 is parallel to the top end surface of the laser assembly mounting frame 202, so that the laser emitting tube 503 is coaxially mounted with the converging lens 7.
Meanwhile, the laser component has a rotatable structure. Specifically, the laser assembly 5 is fixed on the chassis 2 of the movement, as shown in fig. 4, the edge of the chassis 2 of the movement is downward provided with a first code wheel 201, and further, the bottom of the chassis 2 of the movement is provided with a first driving component 101, as shown in fig. 5, and the first driving component 101 is fixed in the radar base 1. In order to monitor the rotation angle of the first code wheel 201, a first code wheel detecting member 102 is disposed in a gap formed between the radar base 1 and the first driving component 101, and the first code wheel detecting member 102 is connected with the first driving component 101 through a main control circuit board, preferably, the main control circuit board is disposed in the radar base 1.
In the present invention, the turning mirror assembly 8 mainly includes a turning mirror 803, where the turning mirror 803 is located above the laser assembly, is obliquely installed facing the laser emitting tube 503, and coincides with the center of the converging lens 7.
In one embodiment, as shown in fig. 6 and 7, the turning mirror 803 is obliquely mounted on the second code wheel 802 through a connecting rod 805, the second code wheel 802 is fixed on the second code wheel base 801, and is connected to a second driving component in the second code wheel base 801, and a support plate 806 is further provided on the second code wheel base 801 for mounting the second code wheel detecting member 804. Meanwhile, a sub-control circuit board is arranged in the second code wheel base 801 and is respectively connected with the second code wheel detecting element 804 and the second driving element for controlling the second driving element according to the detection information of the second code wheel detecting element 804,
further, the sub control circuit board is connected to the main control circuit board on the radar base 1 through the second flexible circuit board 602.
Optionally, the second code wheel base 801 is fixed in the housing 3, as shown in fig. 8, the interior of the housing 3 is protruded outwards to form a strip-shaped concave portion 301, so as to fix the second flexible circuit board 602, and the second flexible circuit board 602 is connected to the radar base 1 in a manner of being tightly attached to the strip-shaped concave portion 301.
The whole internal structure of the turning mirror 803 multi-line radar of the invention is shown in fig. 9, the sectional view is shown in fig. 10, and the structure diagram of the completed structure is shown in fig. 11.
In this embodiment, the working principle of the rotating mirror multi-line radar is as follows:
the first driving part 101 on the radar base 1 drives the movement chassis 2 to move, the second driving part on the second code wheel base 801 drives the second code wheel 802 and the turning mirror 803 on the second code wheel to move, the movement chassis 2 and the turning mirror 803 perform independent autorotation movement, the first code wheel 201 and the first code wheel detecting part 102 acquire the angle position of the movement chassis 2, and the angle position is sent to the main control circuit board to control the first driving part; the second code wheel 802 and the second code wheel detecting element 804 acquire the angular position of the turning mirror 803 and send the angular position to the sub-control circuit board to control the second driving component.
The central axis of the laser emitting tube obliquely arranged on the laser assembly mounting frame 202 coincides with the center of the upper oblique mirror, when the bottom disc of the machine core rotates to different positions, the relative angles of the mirror and the laser emitting tube can be different, so that emitted light rays can be deflected to different directions; the rotation of the upper rotating mirror realizes the scanning of the circular cylindrical surface around the radar, the rotation mode of the base realizes the scanning in the vertical direction, and the progressive scanning can be realized by different rotation speed ratios of the chassis and the rotating mirror.
The laser is reflected back to the radar through the object, reflected back to the converging lens through the rotating mirror, refracted in the converging lens, converged on a laser processor on a main control board in the chassis of the movement, and subjected to signal transmission after the laser processor processes the returned laser.
In this embodiment, the scan results of a single turn and a plurality of turns are shown in fig. 12 and 13.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The rotating mirror multi-line radar is characterized by comprising a laser component and a rotating mirror component; the laser component and the rotating mirror component rotate respectively to realize vertical and circumferential scanning in a matched manner;
the laser assembly comprises a laser assembly mounting frame, a main control board is mounted at the bottom of the laser assembly mounting frame, and a laser processor is arranged on the main control board; a supporting connecting piece is arranged in the middle, a laser emitter is arranged at the other end of the supporting connecting piece, and the laser emitter is connected with the main control board and emits through a laser emitting tube; the top part of the laser emission tube is obliquely provided with a converging lens, and the laser emission tube is coaxial with the converging lens and is exposed outside through the converging lens;
the rotary mirror assembly comprises a rotary mirror, the rotary mirror is positioned above the laser assembly and is obliquely installed towards the laser emitting tube, and the center of the rotary mirror is coincident with the center of the converging lens.
2. The rotary mirror multi-line radar of claim 1, wherein the laser transmitter is connected to the main control board by a first flexible circuit board.
3. The rotating mirror multi-line radar according to claim 2, wherein a first notch is formed in the bottom of the laser assembly mounting frame, and the first flexible circuit board is tightly attached to the support connecting piece and penetrates through the bottom of the laser assembly mounting frame to be connected with the main control board through the first notch.
4. The rotating mirror multi-line radar according to claim 1, wherein a plurality of supporting legs are arranged at intervals at the bottom end of the laser assembly mounting frame, the laser assembly mounting frame is inclined through the plurality of supporting legs, or the top end of the laser assembly mounting frame is arranged to be a chamfer so as to be convenient for inclined mounting of the converging lens.
5. The rotating mirror multi-line radar according to claim 4, wherein the converging lens is mounted on top of the laser assembly mounting frame by a snap ring.
6. A rotary mirror multi-line radar according to claim 1, wherein the laser assembly is fixed to a chassis of the movement, the chassis bottom of the movement being provided with a first drive member, the first drive member being fixed within the radar base.
7. The rotating mirror multi-line radar according to claim 6, wherein a first code wheel is downwards distributed on the edge of the chassis of the movement, a first code wheel detection part is arranged in a gap formed by the radar base and the first driving part, and a main control circuit board is further arranged in the radar base and is respectively connected with the first code wheel detection part and the first driving part.
8. The rotary mirror multi-line radar according to claim 1, wherein in the rotary mirror assembly, the rotary mirror is obliquely arranged on a second code wheel, the second code wheel is fixed on a second code wheel base and is connected with a second driving component in the second code wheel base, a second code wheel detecting component and a sub-control circuit board are further arranged in the second code wheel base, and the sub-control circuit board is respectively connected with the second code wheel detecting component and the second driving component.
9. The rotary mirror multi-line radar according to claim 8, wherein the sub-control circuit board is connected to the main control circuit board through a second flexible circuit board.
10. The multi-line radar of claim 9, wherein the second code wheel base is fixed in a housing, the housing protrudes from the inside to the outside to form a strip-shaped recess for fixing the second flexible circuit board, and the second flexible circuit board is connected to the radar base closely to the strip-shaped recess.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311771837.1A CN117741621A (en) | 2023-12-21 | 2023-12-21 | Rotating mirror multi-line radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311771837.1A CN117741621A (en) | 2023-12-21 | 2023-12-21 | Rotating mirror multi-line radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117741621A true CN117741621A (en) | 2024-03-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311771837.1A Pending CN117741621A (en) | 2023-12-21 | 2023-12-21 | Rotating mirror multi-line radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117741621A (en) |
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2023
- 2023-12-21 CN CN202311771837.1A patent/CN117741621A/en active Pending
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