CN206584041U - A kind of light path system - Google Patents
A kind of light path system Download PDFInfo
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- CN206584041U CN206584041U CN201621245213.1U CN201621245213U CN206584041U CN 206584041 U CN206584041 U CN 206584041U CN 201621245213 U CN201621245213 U CN 201621245213U CN 206584041 U CN206584041 U CN 206584041U
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Abstract
The utility model is applied to laser radar range field there is provided a kind of light path system, including：Laser beam emitting device for launching from least two laser signals to target object；For the signal receiving device for the laser echo signal for receiving the angle that the target object reflects；And for driving the laser beam emitting device and a vertical axis of the signal receiving device in the horizontal plane around the laser radar apparatus to do the drive device of circular-rotation.To realize the scanning of level angle, and at least two, the collimation laser signal close to circular light spot are launched by laser beam emitting device, to realize the scanning of vertical angle, and after scanning successfully, according to the time difference between the laser signal after transmitting laser signal and reception reflection, the distance for obtaining target object is calculated, to realize 360 degree of horizontal sweep, vertical scan direction scope can be added, large-scale three-dimensional detection is realized.
Description
Technical field
The utility model belongs to laser radar range field, more particularly to a kind of light path system.
Background technology
Laser radar is as a kind of distance-measuring equipment, with precision height, strong antijamming capability, and the advantages of reaction speed is fast is fitted
For a variety of use environments.
In actual applications, current laser ranging mainly includes flight time ranging, range of triangle, wherein, the flight time
Ranging be by laser radar inside optical texture, laser signal is projected to the object on specific direction, works as laser signal
When touching on object, fraction of laser light echo-signal can be reflected back, laser radar receives the return laser beam letter that the object is reflected back
After number, can by calculate the laser signal of transmitting and receive laser echo signal that object returns during this when
Between, to calculate radar the distance between to testee.But, at present, when carrying out three-dimensional laser radar ranging, it is necessary to same
Shi Jinhang horizontal sweeps and vertical scanning, and laser measurement is limited in scope at present, horizontal scan angle can not realize that 360 degree are swept
Retouch, vertical scanning line number is a line and four lines, vertical scan angle very little, it is impossible to realize a wide range of surrounding three-dimensional detection, scanning
Effect is undesirable.
Utility model content
The utility model embodiment provides a kind of light path system, it is intended to solve in prior art, is carrying out three-dimensional laser survey
Away from when, horizontal scan angle can not realize 360 degree of scannings, and vertical scanning line number is a line and four lines, vertical scan angle very little,
The problem of a wide range of surrounding three-dimensional is detected can not be realized.
The utility model embodiment is achieved in that a kind of light path system, including：
Laser beam emitting device for launching from least two laser signals to target object；
For the signal receiving device for the laser echo signal for receiving the target object reflection respectively；And
For driving the laser beam emitting device to be set in the horizontal plane around the laser radar with the signal receiving device
A standby vertical axis does the drive device of circular-rotation.
It is preferred that, the laser beam emitting device includes：
Laser emission element for sending at least two laser signals；
For the first optical path-deflecting unit for being conducted the laser signal that the laser emission element is launched；And
For the laser signal that the first optical path-deflecting cell conducts come to be collimated, to be formed close to circular light
The collimation unit of spot.
It is preferred that, the signal receiving device includes：
For the first focusing unit for being focused the laser echo signal that the target object reflects；
The second optical path-deflecting unit that laser echo signal after for first focusing unit to be focused on is conducted；
At least two are arranged in the conduction light path of the laser echo signal, and second light path is passed through available for receiving
The laser echo signal of deflection unit conduction, and the second focusing unit being focused；And
At least two are arranged in the conduction light path of the laser echo signal, and list is focused on for receiving described second respectively
The photoelectric detection unit of laser echo signal after member focusing.
It is preferred that, the laser emission element also includes：
At least two laser emitting modules available for the laser signal for launching different angles, and each Laser emission mould
The line of centres of block is perpendicular to the plane where the laser beam emitting device and signal receiving device progress circular-rotation.
It is preferred that, the laser emitting module includes：
Laser diode for launching the laser signal；And
In the light path for being arranged at the laser signal, the laser signal for the laser diode to be launched carries out accurate
Directly, so that the angle of divergence of the fast axle of the laser signal and slow axis is close to consistent collimater.
It is preferred that, the first optical path-deflecting unit includes：
In the light path for being arranged at the laser signal, for the laser signal that the laser emission element is launched to be passed
The first reflecting module led；And
In the light path for being arranged at the laser signal, for the laser signal that first reflecting module reflects to be transmitted to
Second reflecting module of the collimation unit.
It is preferred that, the signal receiving device also includes：
It is arranged between the second optical path-deflecting unit and second focusing unit, the filtering for filtering clutter
Unit.
It is preferred that, the second optical path-deflecting unit includes：
Be arranged in the conduction light path of the laser echo signal, for by first focusing unit focus on after laser
The 3rd reflecting module that echo-signal is conducted；And
It is arranged in the conduction light path of the laser echo signal, the laser for the 3rd reflecting module to be reflected is returned
Fourth reflecting module of the ripple signal transduction to second focusing unit.
It is preferred that, the collimation unit is three aspherical mirror lens groups.
It is preferred that, first focusing unit is three non-sphere lens groups, and second focusing unit is miniature cylinder
Lens.
The utility model embodiment provides a kind of light path system, is launched at least to target object by laser beam emitting device
Two laser signals, and receive by signal receiving device the laser echo signal of the target object reflection respectively, by
When carrying out laser ranging, laser beam emitting device and signal receiving device are driven in the horizontal plane around laser thunder by drive device
A vertical axis up to equipment does circular-rotation, to realize the scanning of level angle, and by laser beam emitting device transmitting at least
Two laser signals, to realize the scanning of vertical angle, and after scanning successfully, after transmitting laser signal and reception reflection
Laser signal between time difference, calculate and obtain the distance of target object, to realize 360 degree of horizontal sweep, and can increase vertical
Nogata to scanning range, realize large-scale three-dimensional detection.
Brief description of the drawings
Fig. 1 is a kind of structural representation for light path system that the utility model embodiment is provided；
Fig. 2 is the structural representation for another light path system that the utility model embodiment is provided；
Fig. 3 is a kind of structural representation for laser beam emitting device that the utility model embodiment is provided；
Fig. 4 is a kind of reception schematic diagram for signal receiving device that the utility model embodiment is provided.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
The utility model embodiment provides a kind of light path system, is launched at least to target object by laser beam emitting device
Two laser signals, and receive by signal receiving device the laser echo signal of the target object reflection respectively, by
When carrying out laser ranging, laser beam emitting device and signal receiving device are driven in the horizontal plane around laser thunder by drive device
A vertical axis up to equipment does circular-rotation, to realize the scanning of level angle, and by laser beam emitting device transmitting at least
Two laser signals, to realize the scanning of vertical angle, and after scanning successfully, after transmitting laser signal and reception reflection
Laser signal between time difference, calculate and obtain the distance of target object, to realize 360 degree of horizontal sweep, and can increase vertical
Nogata to scanning range, realize large-scale three-dimensional detection.
Of the present utility model implement is described in detail below in conjunction with specific embodiment.
As shown in Figure 1, Figure 2, there is provided a kind of light path system in one embodiment of the present utility model, it is arranged at laser thunder
Up to equipment, including：Laser beam emitting device 10 for launching from least two laser signals to target object；For receiving object
The signal receiving device 20 of the laser echo signal of body reflection；And for driving laser beam emitting device 10 and signal receiving device
The 20 vertical axis in the horizontal plane around laser radar apparatus does the drive device 30 of circular-rotation, wherein, drive device 30
It can be motor.At least two laser signals are launched to target object by laser beam emitting device 10, it is possible to achieve vertical angle
Scanning, and laser beam emitting device 10 and signal receiving device 20 are driven in the horizontal plane around laser radar by drive device 30
One vertical axis of equipment does circular-rotation, to realize 360 degree of horizontal sweep, and after scanning successfully, according to transmitting laser letter
Number and receive the time difference between the laser signal after reflection, calculate and obtain the distance of target object, realize three-dimensional on a large scale
Detection.
Wherein, laser beam emitting device 10 is arranged symmetrically with signal receiving device 20.By by laser beam emitting device 10 and letter
Number reception device is symmetrical, makes whole system structure distribution uniform, rotates more steady, structure is substantially in a center of symmetry, improves
The rotational stability of system.
In one embodiment of the present utility model, vertical axis can be arranged on laser radar base, with laser thunder
It is fixedly connected up to base, when laser beam emitting device 10 is rotated with signal receiving device 20, axis can be regard as center
Carry out circular-rotation, it is preferred that vertical axis may be provided at the center of radar base.
In one embodiment of the present utility model, laser radar is used for by measuring transmitting laser and receiving target
Time difference between the echo laser signal that object is reflected back calculates the distance between laser radar and target object information.
And the optical system in the utility model embodiment be arranged at on laser radar apparatus, for formed laser transmitting system and swash
Optical echo receiving system, to support the normal work of laser radar apparatus.Wherein, laser radar apparatus is flight laser thunder
Reach.
In one embodiment of the present utility model, referring to Fig. 1, Fig. 3, laser beam emitting device 10 includes：For sending extremely
The laser emission element 11 of few two laser signals, for the laser signal that laser emission element 11 is launched is conducted the
One optical path-deflecting unit 12, and collimated for the first optical path-deflecting unit 12 to be conducted through into the laser signal come, with shape
Into the collimation unit 13 close to circular light spot.At least two laser signals are launched to target object by laser emission element 11,
The scanning range of vertical scanning can be increased, and by being collimated to laser signal, the energy of laser signal can be increased, visited
Ranging is from can reach more than 100 meters, and detectable range is more, and detectivity is stronger.
Wherein, collimation unit 13 includes but is not limited to Cook three-chip type non-spherical lens group or spherical lens group, this reality
Cook three-chip type non-spherical lens group is preferable over new embodiment.
In one embodiment of the present utility model, referring to Fig. 3, laser emission element 11 includes：At least two can be used for
Launch the laser emitting module 111 of the laser signal of different angles, and each laser emitting module 111 the line of centres perpendicular to
Laser beam emitting device 10 carries out the plane where circular-rotation with signal receiving device 20.By setting multiple laser emitting modules
111, the laser signal of the different angle of multichannel can be launched, scanning range is added, also, multiple laser emitting modules 111
The line of centres vertically carries out with laser beam emitting device 10 and signal receiving device 20 plane where circular-rotation, can have
Various arrangement mode, can increase the scanning range of vertical direction and horizontal direction.
Wherein, the arrangement mode of multiple laser emitting modules 111, for the scanning range in increase vertical direction, it is arranged
Multiple laser emitting modules 111 that can include of mode generally up-down structure are in from top to bottom arranged perpendicularly successively, handed over
It is preferably to be arranged vertically in mistake arrangement or the arrangement of arbitrary shape, such as semi-circular, the utility model, passes through vertical arrangement
Mode can make it that the starting distance of laser that laser emitting module 111 launches is consistent, laser signal is evenly distributed on spy
In the range of survey.
In one embodiment of the present utility model, laser emission element 111 include can laser or laser diode,
Wherein, laser includes but is not limited to optical fiber laser, gas laser, solid state laser.
It is described for launching when laser emission element 111 includes referring to Fig. 3 in one embodiment of the present utility model
The laser diode 1111 of laser signal, and be arranged in the light path of laser signal, for swashing of launching laser diode
Optical signal is collimated, so that the angle of divergence of the fast axle of laser signal and slow axis is close to consistent collimater 1112.By using
Laser diode 1111 as signal source, the laser signal launched by the collimation laser diode 1111 of collimater 1112 it is fast
Axle, makes the fast axle and slow axis divergence of the laser signal of the transmitting of laser diode 1111 basically identical so that the hair of laser signal
Scattered angle is smaller, and energy is more concentrated, and detectable is farther, up to more than 100 meters.
In the utility model embodiment, wherein, laser diode 1111 can be multiple, referring to Fig. 3, laser diode
1111 exemplified by 16, by setting 16 laser diodes 1111 in vertical direction, pass through 16 laser being arranged above and below
Diode 1111 can realize the scanning of 30 degree of scopes in vertical direction, and pass through the driving of drive device 30 so that light
Road system realizes 360 degree of horizontal sweep, and detectable big more than 100 meters of target object, significantly increases three-dimensional spy
The scope of survey.
Wherein, collimater 1112 can be micro-column face mirror.
In one embodiment of the present utility model, the first optical path-deflecting unit 12 includes being arranged at the light path of laser signal
On, for the first reflecting module 121 for being conducted the laser signal that laser emission element 11 is launched, and it is arranged at sharp
In the light path of optical signal, the second reflection for the laser signal that the first reflecting module 121 reflects to be transmitted to collimation unit 13
Module 122.Change the direction of the launch of laser signal by using the first reflecting module 121 and the second reflecting module 122, make whole
Individual light path system volume is more compact.
Wherein, the first reflecting module 121 and the second reflecting module 122 include but is not limited to speculum, prism, this practicality
It is new to be preferable over speculum.
Wherein, the first reflecting module 121 can be arranged parallel to the second reflecting module 122.
In one embodiment of the present utility model, referring to Fig. 1, Fig. 4, signal receiving device 20 includes：For by target
The first focusing unit 21 for being focused of laser echo signal of object reflection, for the first focusing unit 21 to be focused on after swash
The second optical path-deflecting unit 22 that optical echo signal is conducted, at least two are arranged on the conduction light path of laser echo signal
On, available for the laser echo signal received by the conduction of the second optical path-deflecting unit 22, and second be focused focuses on list
Member 23, and at least two be arranged in the conduction light path of laser echo signal, gathers for receiving the second focusing unit 23 respectively
The photoelectric detection unit 24 of defocused laser echo signal.By setting multiple laser emission elements 111, such as laser diode
1111, the transmitting of laser signal is carried out, the launch angle of laser signal is different.After being reflected by target object, pass through first
After the processing of focusing unit 21, the second optical path-deflecting unit 22 and the second focusing unit 23, pass through corresponding photodetection list
Member 24 is received, and the only corresponding photoelectric detection unit 24 of laser signal of different angles can be received, and pass through the flight time
Calculated, it is possible to the angle information of target, and range information are obtained, so as to realize three-dimensional detection.
In one embodiment of the present utility model, the first focusing unit 21 is 3 non-spherical lens groups, non-using 3
Spherical lens group focuses on laser echo signal, and the laser echo signal of reception is smaller than spherical lens group hot spot, photodetection list
The energy ratio spherical lens group for the laser echo signal that member 24 is received is stronger, and signal to noise ratio is higher, and detection range is farther.
In one embodiment of the present utility model, the second optical path-deflecting unit 22 includes：It is arranged at laser echo signal
Conduction light path on, for the first focusing unit 21 to be focused on after the 3rd reflecting module conducted of laser echo signal
221, and be arranged in the conduction light path of laser echo signal, the return laser beam for the 3rd reflecting module 221 to be reflected is believed
Number it is transmitted to the 4th reflecting module 222 of second focusing unit 23.It is anti-by using the 3rd reflecting module 221 and the 4th
The Return-ing direction that module 222 changes laser echo signal is penetrated, makes whole light path system volume more compact.
Wherein, the 3rd reflecting module 221 and the 4th reflection mould 222 include but is not limited to speculum, prism, and this practicality is new
Type is preferable over speculum.
Wherein, the 3rd reflecting module 221 can be arranged parallel to the 4th reflecting module 222.
In one embodiment of the present utility model, the second focusing unit 23 can be miniature cylinder lens, can effectively prevent
The crosstalk of other laser echo signals.
In one embodiment of the present utility model, combined and received by using non-spherical lens group and miniature cylinder lens
Echo-signal, signal hot spot is small, and reception system bore is big, and small volume effectively prevents signal cross-talk.
In one embodiment of the present utility model, photoelectric detection unit 24 is identical with the number of laser emission element 111,
Referring to Fig. 4, the number of laser emission element 111 is exemplified by 16, photoelectric detection unit 24 is also 16, each Laser emission
Laser signal, after being reflected through target object, all received by corresponding photoelectric detection unit 24, and different launch angle laser
Signal, after being reflected through target object, the laser echo signal of the different angles of formation is received by different photoelectric detection units 24,
Each laser emission element 111 has unique corresponding photoelectric detection unit 24.
In one embodiment of the present utility model, one second focusing is both provided with before each photoelectric detection unit
Unit 23, first will be from certain angle by the second focusing unit 23 when signal receiving device 20 receives laser echo signal
The laser echo signal reflected is focused, after the crosstalk for removing other signals, is received by photoelectric detection unit 24,
To obtain the angle information of target object.
In one embodiment of the present utility model, the second optical path-deflecting unit 22 and the second focusing unit 23 are arranged at
Between, in addition to the filter element 25 for filtering clutter.Wherein, the filter element 25 can be optical filter, return laser beam letter
Number when by optical filter, the light of other wavelength is all filtered out, and improves system signal noise ratio, detection of the increase system under strong light
Distance.
It is preferably to filter out clutter in one embodiment of the present utility model, can be respectively in photoelectric detection unit 24
Between the second focusing unit 23, between the second focusing unit 23 and the second optical path-deflecting unit 22, the second optical path-deflecting list
Optical filter can be set between the focusing unit 21 of member 22 and first, effectively clutter can be filtered out, improve system noise
Than detection range of the increase system under strong light.
A kind of light path system is above mentioned embodiment provided, launches at least two to target object by laser beam emitting device and swashs
Optical signal, and the laser echo signal that the target object reflects is received by signal receiving device respectively, by being swashed
During ligh-ranging, laser beam emitting device and signal receiving device are driven in the horizontal plane around laser radar apparatus by drive device
A vertical axis do circular-rotation, to realize the scanning of level angle, and launch at least two by laser beam emitting device and swash
Optical signal, to realize the scanning of vertical angle, and after scanning successfully, according to the laser after transmitting laser signal and reception reflection
Time difference between signal, the distance for obtaining target object is calculated, to realize 360 degree of horizontal sweep, and vertical direction can be increased
Scanning range, realize large-scale three-dimensional detection.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of light path system, applied to laser radar apparatus, it is characterised in that the light path system includes：
Laser beam emitting device for launching from least two laser signals to target object；
For the signal receiving device for the laser echo signal for receiving the target object reflection；And
For driving the laser beam emitting device with the signal receiving device in the horizontal plane around the laser radar apparatus
One vertical axis does the drive device of circular-rotation.
2. light path system as claimed in claim 1, it is characterised in that the laser beam emitting device includes：
Laser emission element for sending at least two laser signals；
For the first optical path-deflecting unit for being conducted the laser signal that the laser emission element is launched；And
For the laser signal that the first optical path-deflecting cell conducts come to be collimated, to form the hot spot close to circle
Collimation unit.
3. light path system as claimed in claim 1, it is characterised in that the signal receiving device includes：
For the first focusing unit for being focused the laser echo signal that the target object reflects；
The second optical path-deflecting unit that laser echo signal after for first focusing unit to be focused on is conducted；
At least two are arranged in the conduction light path of the laser echo signal, and second optical path-deflecting is passed through available for receiving
The laser echo signal of cell conducts, and the second focusing unit being focused；And
At least two are arranged in the conduction light path of the laser echo signal, gather for receiving second focusing unit respectively
The photoelectric detection unit of defocused laser echo signal.
4. light path system as claimed in claim 2, it is characterised in that the laser emission element also includes：
At least two laser emitting modules available for the laser signal for launching different angles, and each laser emitting module
The line of centres is perpendicular to the plane where the laser beam emitting device and signal receiving device progress circular-rotation.
5. light path system as claimed in claim 4, it is characterised in that the laser emitting module includes：
Laser diode for launching the laser signal；And
In the light path for being arranged at the laser signal, for the laser signal that the laser diode is launched to be collimated, with
Make the fast axle of the laser signal and the angle of divergence of slow axis close to consistent collimater.
6. light path system as claimed in claim 2, it is characterised in that the first optical path-deflecting unit includes：
In the light path for being arranged at the laser signal, for what the laser signal that the laser emission element is launched was conducted
First reflecting module；And
It is described for the laser signal that first reflecting module reflects to be transmitted in the light path for being arranged at the laser signal
Second reflecting module of collimation unit.
7. light path system as claimed in claim 3, it is characterised in that the signal receiving device also includes：
It is arranged between the second optical path-deflecting unit and second focusing unit, the filtering list for filtering clutter
Member.
8. light path system as claimed in claim 3, it is characterised in that the second optical path-deflecting unit includes：
Be arranged in the conduction light path of the laser echo signal, for by first focusing unit focus on after return laser beam
The 3rd reflecting module that signal is conducted；And
It is arranged in the conduction light path of the laser echo signal, the return laser beam for the 3rd reflecting module to be reflected is believed
Number it is transmitted to the 4th reflecting module of second focusing unit.
9. light path system as claimed in claim 2, it is characterised in that the collimation unit is three aspherical mirror lens groups.
10. light path system as claimed in claim 3, it is characterised in that first focusing unit is three non-sphere lens
Group, second focusing unit is miniature cylinder lens.
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| CN201621245213.1U CN206584041U (en) | 2016-11-14 | 2016-11-14 | A kind of light path system |
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| CN201621245213.1U CN206584041U (en) | 2016-11-14 | 2016-11-14 | A kind of light path system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088364A (en) * | 2017-11-29 | 2018-05-29 | 深圳慎始科技有限公司 | A kind of rotation transmitting light formula laser scanning device |
| CN109061667A (en) * | 2018-08-29 | 2018-12-21 | 陈杰 | A kind of four sides revolving mirror laser radar |
| CN109491639A (en) * | 2018-11-16 | 2019-03-19 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of Ray tracing calculation method and system |
| CN110456327A (en) * | 2018-05-08 | 2019-11-15 | 探维科技(北京)有限公司 | Laser radar reception device and laser radar system |
| CN111220994A (en) * | 2020-01-15 | 2020-06-02 | 北斗(天津)科学技术应用研究院(有限合伙) | Detection method for detecting position of person in swimming pool by using 360-degree laser range finder |
| WO2020142878A1 (en) * | 2019-01-07 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device and mobile platform |
| WO2021012963A1 (en) * | 2019-07-19 | 2021-01-28 | 深圳市镭神智能系统有限公司 | Multi-line lidar and drive method thereof |
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2016
- 2016-11-14 CN CN201621245213.1U patent/CN206584041U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088364A (en) * | 2017-11-29 | 2018-05-29 | 深圳慎始科技有限公司 | A kind of rotation transmitting light formula laser scanning device |
| CN110456327A (en) * | 2018-05-08 | 2019-11-15 | 探维科技(北京)有限公司 | Laser radar reception device and laser radar system |
| CN109061667A (en) * | 2018-08-29 | 2018-12-21 | 陈杰 | A kind of four sides revolving mirror laser radar |
| CN109491639A (en) * | 2018-11-16 | 2019-03-19 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of Ray tracing calculation method and system |
| CN109491639B (en) * | 2018-11-16 | 2019-08-13 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of Ray tracing calculation method and system |
| WO2020142878A1 (en) * | 2019-01-07 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device and mobile platform |
| CN111670383A (en) * | 2019-01-07 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| WO2021012963A1 (en) * | 2019-07-19 | 2021-01-28 | 深圳市镭神智能系统有限公司 | Multi-line lidar and drive method thereof |
| CN111220994A (en) * | 2020-01-15 | 2020-06-02 | 北斗(天津)科学技术应用研究院(有限合伙) | Detection method for detecting position of person in swimming pool by using 360-degree laser range finder |
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