CN206114894U - Laser radar optic system based on flight time principle - Google Patents
Laser radar optic system based on flight time principle Download PDFInfo
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- CN206114894U CN206114894U CN201621156617.3U CN201621156617U CN206114894U CN 206114894 U CN206114894 U CN 206114894U CN 201621156617 U CN201621156617 U CN 201621156617U CN 206114894 U CN206114894 U CN 206114894U
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Abstract
The utility model is suitable for a radar equipment field provides a laser radar optic system based on flight time principle. Optic system includes the casing, and is located inside the casing, the laser emission receiving arrangement of scanning can rotate the target range environment, laser emission receiving arrangement includes the laser emission module, and locate the reflection optical receiver module of laser transmitting module one side, wherein, laser transmitting module with between reflection optical receiver module's the light path, be equipped with that to be used for the separation lasing to produce right on the casing reflection optical receiver module's return light disturbs separates light. Compared with the prior art, the utility model discloses a between laser transmitting module and reflection optical receiver module's light path, set up and come separation laser at the inside diffuse reflection return light that produces of laser radar at a distance from the light piece to the chance that reduction reflection optical receiver module was disturbed by the return light improves laser radar's range accuracy and the reliable degree in the working process.
Description
Technical field
This utility model belongs to radar equipment field, more particularly to a kind of laser radar light path based on time-of-flight
System.
Background technology
Laser radar has the advantages such as precision is high, operating speed is fast and efficiency is high, extensively application and automatic driving,
The fields such as robot localization navigation, spatial environmentss mapping, security security protection.Laser radar (LiDAR) be by launch laser beam come
The radar system of the characteristic quantities such as detection target location, speed, has the advantages that certainty of measurement height, good directionality, in military field
And the field such as civilian geographical mapping is all widely used.As laser radar can form high precision up to the 3D of Centimeter Level
Environmental map, therefore there is in ADAS and Unmanned Systems important function.When laser radar is operated, only noncontact need to be carried out
Scanning can obtain the three-dimensional data and information of object and environment space point at short notice, be to put due to the data collected
Form is constituted, so these data are referred to as cloud data, can be the process for carrying out the later stage the characteristics of which is maximum, by acquisition
Data just can set up complete three-dimensional stereo model, the now is sent out with commercial GPS's and IMU (Inertial Measurement Unit)
Exhibition, from mobile platform (such as on robot, aircraft) obtains high-precision data by LIDAR and has become possible and quilt
Extensively apply.
The existing laser radar based on time-of-flight typically adopts Laser emission and receiver module placed side by side
Mode, as radar internal structure needs to carry out rotating under the drive of motor at a high speed to realize comprehensive scanning detection work(
Can, and radar shell is not allow to rotate, thus must keep between radar internal structure and the diffuser of shell certain
Spacing.In the course of work of laser radar, the fraction of laser light of laser instrument transmitting needs the diffuser for penetrating shell launch
To on target object, but diffuser does not ensure that laser very passes through, and always has effect of a small amount of light in diffuser
Lower formation diffuse-reflectance, and then make laser pick-off module produce certain heliogram.
So, the design of prior art can increased the detectable signal noise of laser radar, and then affect laser radar
Range accuracy, reduces the reliability of equipment.
Utility model content
This utility model embodiment provides a kind of laser radar light path system based on time-of-flight, it is intended to solve existing
The design for having technology can increased the detectable signal noise of laser radar, and then the range accuracy of impact laser radar, reduce setting
The problem of standby reliability.
This utility model embodiment is achieved in that a kind of laser radar light path system based on time-of-flight,
The light path system includes housing, and positioned at enclosure interior, the Laser emission of rotary scanning can be carried out to target zone environment
Reception device；
The Laser emission reception device includes：
Laser emitting module；And
Located at the reflection Optical Receivers of the laser emitting module side；
Wherein, between the light path of the laser emitting module and the reflection Optical Receivers, it is provided with for intercepting transmitting
Laser is produced to the light echo interference for reflecting Optical Receivers on housing every light part.
Preferably, the laser emitting module includes：
Laser instrument；And
First shading piece of shading is carried out to the transmitting light path of the laser instrument；
The reflection Optical Receivers includes：
Laser detector；And
Mutually lean on first shading piece, the second shading piece of shading is carried out to the receiving light path of the laser detector.
Preferably, first shading piece and the tubular structure that second shading piece is axial horizontal positioned, and it is described
First shading piece is relative up and down with second shading piece.
Preferably, the housing is the column structure for being internally formed cavity, and described is that level is located at the housing every light part
On annular plate-like structure.
Preferably, the front end every light part near first shading piece and the second shading piece mutually by part.
Preferably, first shading piece is located above second shading piece, the axial length of first shading piece
Less than the axial length of second shading piece, and at the top of the bottom every light part one end and the second shading piece lateral surface
Mutually approach.
Preferably, the upper surface every light part is generally aligned in the same plane with the first shading piece medial surface bottom.
Preferably, first shading piece is located at below second shading piece, the axial length of first shading piece
More than the axial length of second shading piece, and the top every light part one end and the second shading piece lateral surface bottom
Mutually approach.
Preferably, it is generally aligned in the same plane at the top of the lower surface every light part and the first shading piece medial surface.
Preferably, the light-absorption layer that absorbable laser light echo on the housing is provided with every light part surface.
This utility model embodiment is by, between the light path of laser emitting module and reflection Optical Receivers, arranging every light
Part intercepting the diffuse-reflectance light echo that laser is produced inside laser radar, so as to reduce reflecting Optical Receivers by light echo interference
Chance, improves the reliability in the range accuracy and the course of work of laser radar.
Description of the drawings
Fig. 1 is a kind of laser radar light path system sectional structure chart that this utility model embodiment one is provided；
Fig. 2 is a kind of laser radar light path system top view that this utility model embodiment one is provided；
Fig. 3 is a kind of laser radar light path system sectional structure chart that this utility model embodiment two is provided；
Fig. 4 is a kind of laser radar light path system structure chart that this utility model embodiment three is provided.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
This utility model embodiment is by, between the light path of laser emitting module and reflection Optical Receivers, arranging every light
Part intercepting the diffuse-reflectance light echo that laser is produced inside laser radar, so as to reduce reflecting Optical Receivers by light echo interference
Chance, improves the reliability in the range accuracy and the course of work of laser radar.
Embodiment one
Referring to Fig. 1, it is a kind of laser radar light path system structure provided in this utility model embodiment one, for the ease of
Illustrate, the present embodiment is only described to the content related to this utility model, and details are as follows：
In this utility model embodiment, light path system includes housing 1, and be located inside housing 1, can be to target zone
Environment carries out the Laser emission reception device 2 of rotary scanning；Laser emission reception device 2 includes laser emitting module 21；And
Located at the reflection Optical Receivers 22 of 21 side of laser emitting module；Wherein, laser emitting module 21 and reflection Optical Receivers
Between 22 light path, it is provided with for intercepting what the light echo that transmitting laser is produced to reflecting Optical Receivers 22 on housing 1 was disturbed
Every light part 3.Arrange every light part 3 between laser emitting module 21 and reflection Optical Receivers 22, on the one hand can avoid laser
Transmitting light path is interfered with laser pick-off light path, moreover it is possible to reduce it is reflective on housing 1 in During laser emission caused by time
Light is disturbed, and improves the range accuracy of laser radar.
Used as this utility model one embodiment, laser emitting module 21 includes laser instrument 211；And to laser instrument 211
Transmitting light path carry out the first shading piece 212 of shading；Reflection Optical Receivers 22 includes laser detector 221；And with
One shading piece 212 is mutually leaned on, and carries out the second shading piece 222 of shading to the receiving light path of the laser detector 221.First shading
Part 212 and 222 inner surface of the second shading piece can coat light absorbent with outer surface, to protect Laser emission and receiving light path not
It is disturbed, strengthens the reliability of range finding.It is understood that laser instrument 211 and laser detector 221 are using based on flight
The existing conventional module of time principle institute, can adopt the laser instrument of the forms such as optical fiber laser 211, diode laser 211
211.And laser detector 221 generally includes concentration module and photoelectric detection module.Laser instrument 211 and laser detector 221 have
The structure of body, position and model can refer to existing design, and this utility model embodiment is not construed as limiting to this.
In this utility model embodiment, the first shading piece 212 and the tubular that the second shading piece 222 is horizontal positioned are tied
Structure, and first shading piece 212 is relative about 222 with second shading piece.The design can optimize the light of laser radar
Line structure, improves the precision of laser radar, it is, of course, understood that the first shading piece 212 and the second shading piece 222 it
Between relative position, can design as needed, for example, be designed to that left and right is relative etc., this utility model embodiment is not limited to this
It is fixed.
Referring to Fig. 2, for a kind of laser radar light path system plan structure that this utility model embodiment is provided, in this practicality
In new embodiment, housing 1 is the column structure for being internally formed cavity, every annular plate-like of the light part 3 for level on housing 1
Structure.As can be seen that Laser emission reception device 2 and a space is provided between light part 3, to facilitate Laser emission reception device
Rotary scanning in 2 courses of work, it is to avoid laser beam emitting device produces physical friction with every light part 3.Meanwhile, annular plate-like structure
Can ensure that whichever angle is Laser emission reception device 2 is being gone in, can be to reflection light-receiving mould therein every light part 3
Block 22 plays a part of to isolate light echo.
In this utility model embodiment, part is mutually leaned near the first shading piece 212 and the second shading piece 222 every light part 3
Front end.Specifically, every light part 3 because which is located on housing 1, and it is mutually leaned on the first shading piece 212 and the second shading piece 222
Place approaches, it is ensured that the effect of isolation light echo, improves the range finding precision of laser radar.
In this utility model embodiment, the extinction of light echo of the absorbable laser on housing 1 is provided with every 3 surface of light part
Layer.Light-absorption layer is being set every 3 surface of light part, the absorption efficiency of light echo can effectively improved, while light echo can be avoided every light
Secondary reflection is produced on part 3, the degree of accuracy of reflection Optical Receivers 22 is affected.
Embodiment two
Referring to Fig. 3, it is a kind of cross-section structure of the laser radar light path system provided in this utility model embodiment two, is
It is easy to explanation, the present embodiment only to describe to the content related to this utility model, details are as follows：
In this utility model embodiment, compared with embodiment one, its difference is the first shading piece 212, second
Shading piece 222 and the mutual alignment relation between light part 3.Except foregoing difference, other parts are embodied as
Mode refers to the description of embodiment one.
Used as this utility model one embodiment, the first shading piece 212 is located above the second shading piece 222, the first shading
Axial length of the axial length of part 212 less than the second shading piece 222, and every the bottom and the second shading piece 222 of 3 one end of light part
Mutually approach at the top of lateral surface.
In this utility model embodiment, the axial length of the first shading piece 212 is long less than the axial direction of the second shading piece 222
Degree, is easy to shell to can be made into the round table-like structure with certain gradient so that diffuser of the laser in shell is penetrated
When, if producing light echo as the gradient of shell and directive light insulation pad obliquely；On the other hand, under 3 one end of light part
Mutually approach at the top of portion and 222 lateral surface of the second shading piece, be so designed that and can cause the first shading piece 212, the second shading piece 222
With the dislocation that relative position is produced between light part 3 so that the second shading piece 222 and the space being located every light part 3, hide with first
The space that light part 212 is located is isolated.Phase in embodiment two between light insulation pad and the first shading piece 212, the second shading piece 222
To position, greatly enhance every light part 3 every light effect so that laser radar can be prevented effectively from laser during work
Diffuse-reflectance is produced inside housing 1 after transmitting, so as to cause to reflect the problem that Optical Receivers 22 receives light echo noise, significantly
Improve the range finding precision and reliability of laser radar.
In this utility model embodiment, it is located at every upper surface and the 212 medial surface bottom of the first shading piece of light part 3 same
Plane.It is understood that so can be designed so that swashing for the transmitting of laser instrument 211 set by 212 one end of the first shading piece
Light will not be by intercepting every light part 3 so that laser radar is arranged and do not interfere with its normal service behaviour every light part 3.
Embodiment three
Referring to Fig. 4, it is a kind of cross-section structure of the laser radar light path system provided in this utility model embodiment three, is
It is easy to explanation, the present embodiment only to describe to the content related to this utility model, details are as follows：
In this utility model embodiment, compare with embodiment one with embodiment two, its difference is the first shading
Part 212, the second shading piece 222 and the mutual alignment relation between light part 3.Except foregoing difference, other portions
Point specific embodiment refers to the description of embodiment one.
Used as this utility model one embodiment, the first shading piece 212 is located at below the second shading piece 222, the first shading
Axial length of the axial length of part 212 more than the second shading piece 222, and every the top and second shading of 3 one end of light part
222 lateral surface bottom of part mutually approaches.Be so designed that can cause the first shading piece 212, the second shading piece 222 with every light part 3 it
Between produce the dislocation of relative position so that the second shading piece 222 and the space being located every light part 3, be located with the first shading piece 212
Space be isolated.The design and implementation example two has similarity, but when laser instrument 211 is mutual with 221 position of laser detector
When displacement, need also exist for being adjusted every the position of light part 3, to greatly enhance every light part 3 every light effect so that laser
Radar produces diffuse-reflectance after being prevented effectively from Laser emission inside housing 1, so as to cause reflected light during work
Receiver module 22 receives the problem of light echo noise, greatly improves the range finding precision and reliability of laser radar.
In this utility model embodiment, it is located at the top of lower surface and 212 medial surface of the first shading piece of light part 3 same
Plane.It is understood that so can be designed so that swashing for the transmitting of laser instrument 211 set by 212 one end of the first shading piece
Light will not be by intercepting every light part 3 so that laser radar is arranged and do not interfere with its normal service behaviour every light part 3.
Sum it up, this utility model embodiment by laser emitting module with reflection Optical Receivers light path it
Between, arrange every light part to intercept the diffuse-reflectance light echo that laser is produced inside laser radar, and by arrange the first shading piece, the
Two shading pieces and the relative position between light part so that the second shading piece and the space being located every light part, with the first shading piece
The space at place is isolated, and greatly enhances every light part every light effect so that laser radar, can be effective during work
Diffuse-reflectance is produced in enclosure interior after avoiding Laser emission, so as to cause reflection Optical Receivers to receive asking for light echo noise
Topic, greatly improves the range finding precision and reliability of laser radar.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (10)
1. a kind of laser radar light path system based on time-of-flight, it is characterised in that the light path system includes housing,
And positioned at the enclosure interior, the Laser emission reception device of rotary scanning can be carried out to target zone environment；
The Laser emission reception device includes：
Laser emitting module；And
Located at the reflection Optical Receivers of the laser emitting module side；
Wherein, between the light path of the laser emitting module and the reflection Optical Receivers, it is provided with for intercepting transmitting laser
Produce on housing to the light echo interference for reflecting Optical Receivers every light part.
2. the laser radar light path system based on time-of-flight as claimed in claim 1, it is characterised in that the laser
Transmitter module includes：
Laser instrument；And
First shading piece of shading is carried out to the transmitting light path of the laser instrument；
The reflection Optical Receivers includes：
Laser detector；And
Mutually lean on first shading piece, the second shading piece of shading is carried out to the receiving light path of the laser detector.
3. the laser radar light path system based on time-of-flight as claimed in claim 2, it is characterised in that described first
Shading piece and the tubular structure that second shading piece is axial horizontal positioned, and first shading piece and second shading
Part is relative up and down.
4. the laser radar light path system based on time-of-flight as claimed in claim 3, it is characterised in that the housing
To be internally formed the column structure of cavity, it is described every light part be annular plate-like structure of the level on the housing.
5. the laser radar light path system based on time-of-flight as claimed in claim 4, it is characterised in that described every light
Front end of the part near first shading piece and the second shading piece mutually by part.
6. the laser radar light path system based on time-of-flight as claimed in claim 4, it is characterised in that described first
Shading piece is located above second shading piece, and the axial length of first shading piece is less than the axial direction of second shading piece
Mutually approach at the top of length, and the bottom every light part one end and the second shading piece lateral surface.
7. the laser radar light path system based on time-of-flight as claimed in claim 6, it is characterised in that described every light
The upper surface of part is generally aligned in the same plane with the first shading piece medial surface bottom.
8. the laser radar light path system based on time-of-flight as claimed in claim 4, it is characterised in that described first
Shading piece is located at below second shading piece, and the axial length of first shading piece is more than the axial direction of second shading piece
Length, and the top every light part one end mutually approached with the second shading piece lateral surface bottom.
9. the laser radar light path system based on time-of-flight as claimed in claim 8, it is characterised in that described every light
It is generally aligned in the same plane at the top of the lower surface of part and the first shading piece medial surface.
10. the laser radar light path system based on time-of-flight as described in any one of claim 1-9, its feature exist
In the light-absorption layer that absorbable laser light echo on the housing is provided with every light part surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621156617.3U CN206114894U (en) | 2016-10-31 | 2016-10-31 | Laser radar optic system based on flight time principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621156617.3U CN206114894U (en) | 2016-10-31 | 2016-10-31 | Laser radar optic system based on flight time principle |
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| Publication Number | Publication Date |
|---|---|
| CN206114894U true CN206114894U (en) | 2017-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621156617.3U Active CN206114894U (en) | 2016-10-31 | 2016-10-31 | Laser radar optic system based on flight time principle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405525A (en) * | 2016-10-31 | 2017-02-15 | 深圳市镭神智能系统有限公司 | Flight time principle-based laser radar optical path system |
| CN113791418A (en) * | 2021-09-30 | 2021-12-14 | 北醒（北京）光子科技有限公司 | Laser range radar |
-
2016
- 2016-10-31 CN CN201621156617.3U patent/CN206114894U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405525A (en) * | 2016-10-31 | 2017-02-15 | 深圳市镭神智能系统有限公司 | Flight time principle-based laser radar optical path system |
| CN106405525B (en) * | 2016-10-31 | 2023-12-29 | 深圳市镭神智能系统有限公司 | Laser radar light path system based on time-of-flight principle |
| CN113791418A (en) * | 2021-09-30 | 2021-12-14 | 北醒（北京）光子科技有限公司 | Laser range radar |
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