CN206818875U - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN206818875U CN206818875U CN201720177383.9U CN201720177383U CN206818875U CN 206818875 U CN206818875 U CN 206818875U CN 201720177383 U CN201720177383 U CN 201720177383U CN 206818875 U CN206818875 U CN 206818875U
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Abstract
A kind of laser radar is disclosed in embodiment of the present utility model, laser radar includes the first MEMS galvanometers and the 2nd MEMS galvanometers, the first MEMS galvanometers and the 2nd MEMS galvanometers are arranged between transmitter and transmitting collimation unit, for changing the optical path direction of shoot laser.The utility model embodiment can improve vertical resolution, reduce volume, reduce cost.
Description
Technical field
Detection field is the utility model is related to, more particularly to a kind of laser radar.
Background technology
Laser radar is to launch the system of the characteristic quantities such as the position of detecting laser beam target, speed, is widely used in swashing
Optical detection field.Need to rotate to be adapted to two dimension and/or three-dimensional detection, the laser beam that laser radar is launched.In order to
Reach the laser beam rotation for launching laser radar, the mode of generally use is laser radar is sent out in itself using mechanical device
Raw rotation.
Laser radar is set to rotate in itself using mechanical device, the requirement to machining is higher, its service life
Also influenceed by mechanical wear, the life-span is shorter, thus use cost is higher.Meanwhile laser radar of the prior art is hanging down
Nogata due to the conflict of space and volume, can only be distributed more than ten tunnels or tens road laser, so as to limit laser radar upwards
Vertical resolution, and laser radar of the prior art requires very high to assembly precision, while the volume of parts has again
Strict limitation, so production difficulty is high, automation scheme is difficult to.
It can be seen that in the prior art also without one kind without using mechanical rotational structure, and vertical resolution is higher, cost again compared with
Low laser radar.
Utility model content
A kind of laser radar is provided in the utility model embodiment, without using mechanical rotational structure, vertical resolution compared with
High and cost is relatively low.
In order to solve the above-mentioned technical problem, the utility model embodiment discloses following technical scheme：
On the one hand, there is provided a kind of laser radar, including the first MEMS galvanometers and the 2nd MEMS galvanometers, the first MEMS
Galvanometer and the 2nd MEMS galvanometers are arranged between transmitter and transmitting collimation unit, for changing the optical path direction of shoot laser.
Optionally, the first MEMS galvanometers and the 2nd MEMS galvanometers change the optical path direction of shoot laser, including：
The first MEMS galvanometers rotate around X-direction, and the 2nd MEMS galvanometers rotate around Y direction, to change
Become the optical path direction of shoot laser；And/or
The first MEMS galvanometers rotate around Y direction, and the 2nd MEMS galvanometers rotate around X-direction, to change
Become the optical path direction of shoot laser.
Optionally, the first MEMS galvanometers rotate around X-direction, and the 2nd MEMS galvanometers revolve around Y direction
Turn, including：
The one MEMS galvanometers rotate under the control of driver around X-direction, and the 2nd MEMS galvanometers are driving
Rotated under the control of device around Y direction；
The first MEMS galvanometers rotate around Y direction, and the 2nd MEMS galvanometers rotate around X-direction, including：
The one MEMS galvanometers rotate under the control of driver around Y direction, and the 2nd MEMS galvanometers are driving
Rotated under the control of device around X-direction.
Optionally, the laser radar also includes the 3rd MEMS galvanometers of bag and the 4th MEMS galvanometers, the 3rd MEMS shake
Between mirror and the 4th MEMS galvanometers are arranged at receiver and receive collimation unit, for changing the optical path direction of reflection laser.
Optionally, the 3rd MEMS galvanometers and the 4th MEMS galvanometers change the optical path direction of reflection laser, including：
The 3rd MEMS galvanometers rotate around X-direction, and the 4th MEMS galvanometers rotate around Y direction, anti-to change
Penetrate the optical path direction of laser；And/or
The 3rd MEMS galvanometers rotate around Y direction, and the 4th MEMS galvanometers rotate around X-direction, anti-to change
Penetrate the optical path direction of laser.
Optionally, the 3rd MEMS galvanometers rotate around X-direction, and the 4th MEMS galvanometers rotate around Y direction, bag
Include：
The 3rd MEMS galvanometers rotate under the control of driver around X-direction, and the 4th MEMS galvanometers are driving
Rotated under the control of dynamic device around Y direction；
The 3rd MEMS galvanometers rotate around Y direction, and the 4th MEMS galvanometers rotate around X-direction, including：
The 3rd MEMS galvanometers rotate under the control of driver around Y direction, and the 4th MEMS galvanometers are driving
Rotated under the control of dynamic device around X-direction.
Optionally, two MEMS galvanometer synchronous axial systems around the rotation of same axle.
Optionally, the X-direction is horizontal direction, and the Y direction is vertical direction；Or
The X-direction is vertical direction, and the Y-axis is horizontal direction.
A kind of laser radar is disclosed in embodiment of the present utility model, including the first MEMS galvanometers and the 2nd MEMS shake
Mirror, the first MEMS galvanometers and the 2nd MEMS galvanometers are arranged between transmitter and transmitting collimation unit, are emitted for changing
The optical path direction of laser.The utility model embodiment employs two MEMS galvanometers, can rotate in the two directions, therefore can
To change the light path of shoot laser, the direction of shoot laser is set to rotate in the two directions, therefore the utility model is implemented
The laser radar of example, which need not be equipped with mechanical rotational structure, can realize the rotation of laser beam, in addition, being tied without machinery rotation
Structure can reduce the volume and cost of laser radar, increase the service life.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description are only of the present utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 show the structural representation of the laser radar of the utility model embodiment；
Fig. 2 show the structural representation of the laser radar of the utility model embodiment；
Fig. 3 show the detects schematic diagram of the laser radar of the utility model embodiment.
Embodiment
The utility model following examples provide a kind of laser radar, can reduce cost, reduce volume, improve vertical
Resolution ratio.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clear, complete description, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 show the schematic diagram of the laser radar of the utility model embodiment, as shown in figure 1, the laser radar bag
The first MEMS galvanometers 110 and the 2nd MEMS galvanometers 120 are included, the first MEMS galvanometers 110 and the 2nd MEMS galvanometers 120 are arranged at
Between transmitter 130 and transmitting collimation unit 140, for changing the optical path direction of shoot laser.
MEMS galvanometers are that (MEMS galvanometers, Micro-Electro-Mechanical System's MEMS galvanometer shake
Mirror).MEMS refers to size at several millimeters or even smaller high-tech device, and its internal structure is typically in micron even nanometer amount
Level, is an independent intelligence system.Mainly it is made up of sensor, actuator and micro- energy three parts, it is mainly characterized by
Miniaturization and high integration.
In the utility model embodiment, MEMS galvanometers can be one-dimensional MEMS galvanometers, i.e., can only change in one direction
The MEMS galvanometer galvanometers of optical path direction.
In the utility model embodiment, change the laser radar of shoot laser optical path direction using two MEMS galvanometers,
Without mechanical structure, avoid because the drawbacks of life-span caused by mechanical structure abrasion is relatively low, simultaneously because without mechanical structure,
The size of laser radar can be reduced, reduce cost.Simultaneously because without mechanical structure, can be distributed more in identical space
Multichannel shoot laser, the vertical resolution of laser radar can be improved.Simultaneously as the cost of MEMS galvanometers is low, it is easy to advise greatly
Mould produces, and follow-up debugging is simple, therefore is also beneficial to the popularization of laser radar using two-dimentional MEMS galvanometers.
In the utility model embodiment, the first MEMS galvanometers 110 and the 2nd MEMS galvanometers 120 change shoot laser
Optical path direction, including：
The first MEMS galvanometers 110 rotate around X-direction, and the 2nd MEMS galvanometers 120 revolve around Y direction
Turn, to change the optical path direction of shoot laser；And/or
The first MEMS galvanometers 110 rotate around Y direction, and the 2nd MEMS galvanometers 120 revolve around X-direction
Turn, to change the optical path direction of shoot laser.
In the utility model embodiment, the first MEMS galvanometers 110 rotate around X-direction, and the 2nd MEMS shakes
Mirror 120 rotates around Y direction, including：
The one MEMS galvanometers 110 rotate under the control of driver around X-direction, the 2nd MEMS galvanometers 120
Rotated under the control of driver around Y direction；
The first MEMS galvanometers 110 rotate around Y direction, and the 2nd MEMS galvanometers 120 revolve around X-direction
Turn, including：
The one MEMS galvanometers 110 rotate under the control of driver around Y direction, the 2nd MEMS galvanometers 120
Rotated under the control of driver around X-direction.
In the utility model embodiment, the X-direction is horizontal direction, and the Y direction is vertical direction；Or
The X-direction is vertical direction, and the Y-axis is horizontal direction.
In other embodiment of the present utility model, X-axis and/or Y-axis can have necessarily with horizontal direction or vertical direction
Angle.
The laser radar of the utility model embodiment, two MEMS galvanometers are employed in transmitting terminal to change shoot laser
Direction, low without mechanical structure, small volume, cost, vertical resolution is higher.
In the utility model embodiment, two one-dimensional MEMS galvanometers are employed in transmitting terminal to substitute mechanical rotating mechanism
Function, also use two one-dimensional MEMS galvanometers in receiving terminal accordingly.
Fig. 2 show the structural representation of the laser radar of the utility model embodiment, as shown in Fig. 2 the laser thunder
Up to also including the 3rd MEMS galvanometers 210 of bag and the 4th MEMS galvanometers 220, the 3rd MEMS galvanometers 210 and the 4th MEMS galvanometers
Between 110 are arranged at receiver 230 and receive collimation unit 240, for changing the optical path direction of reflection laser.
The 3rd MEMS galvanometers 210 and the 4th MEMS galvanometers 220 change the optical path direction of reflection laser, including：
The 3rd MEMS galvanometers 210 rotate around X-direction, and the 4th MEMS galvanometers 220 rotate around Y direction, with
Change the optical path direction of reflection laser；And/or
The 3rd MEMS galvanometers 210 rotate around Y direction, and the 4th MEMS galvanometers 220 rotate around X-direction, with
Change the optical path direction of reflection laser.
In the utility model embodiment, the 3rd MEMS galvanometers 210 rotate around X-direction, the 4th MEMS galvanometers 220
Rotated around Y direction, including：
The 3rd MEMS galvanometers 210 rotate under the control of driver around X-direction, the 4th MEMS galvanometers
220 rotate under the control of driver around Y direction；
The 3rd MEMS galvanometers 210 rotate around Y direction, and the 4th MEMS galvanometers 220 rotate around X-direction, bag
Include：
The 3rd MEMS galvanometers 210 rotate under the control of driver around Y direction, the 4th MEMS galvanometers
220 rotate under the control of driver around X-direction.
In the utility model embodiment, two MEMS galvanometer synchronous axial systems around the rotation of same axle.
If for example, the first MEMS galvanometers rotate around X-axis, the 2nd MEMS galvanometers rotate around Y-axis, the 3rd MEMS galvanometers
Being rotated around X-axis, the 4th MEMS galvanometers select around Y-axis, then the first MEMS galvanometers and the 3rd MEMS galvanometer synchronous axial systems, and second
MEMS galvanometers and the 4th MEMS galvanometer synchronous axial systems.
The laser radar of the utility model embodiment can improve vertical resolution, reduce volume, reduce cost.
Fig. 3 is the schematic diagram of the Monitoring by Lidar of the utility model embodiment, as shown in figure 3, LASER Light Source 310 is launched
Shoot laser, it is single via transmitting collimation after the direction of shoot laser is changed by the first MEMS galvanometers 320, the 2nd MEMS galvanometers 330
Member 340 is emitted.
Shoot laser reflected by object 300 after reflection laser, received collimation unit 350, the 3rd MEMS galvanometers
360th, after the 4th MEMS galvanometers 370, received by receiver 380.
Shoot laser changes direction by the first MEMS galvanometers 320, the 2nd MEMS galvanometers 330, and transmitting laser is by the 3rd MEMS
Galvanometer 360, the 4th MEMS galvanometers 370 change direction, so as to realize the detection without rotating machinery structure, can improve vertical point
Resolution, reduce volume, reduce cost.
Disclose a kind of laser radar in embodiment of the present utility model, the laser radar using two MEMS galvanometers come
Change shoot laser optical path direction, while change the optical path direction of reflection laser using two MEMS galvanometers, without mechanical structure,
Avoid because the drawbacks of life-span caused by mechanical structure abrasion is relatively low, simultaneously because without mechanical structure, can reduce laser
The size of radar, reduces cost.Simultaneously because without mechanical structure, the outgoing of more multichannel can be distributed in identical space and is swashed
Light, the vertical resolution of laser radar can be improved.
Those skilled in the art can be understood that the technology in the utility model embodiment can add by software
The mode of required common hardware realizes that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal element
Device etc., naturally it is also possible to which application specific integrated circuit, dedicated cpu, private memory, special components and parts etc. are included by specialized hardware
To realize, but the former is more preferably embodiment in many cases.Based on such understanding, the skill in the utility model embodiment
The part that art scheme substantially contributes to prior art in other words can be embodied in the form of software product, the calculating
Machine software product can be stored in storage medium, as read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc, CD etc., including some instructions are causing a computer equipment
(can be personal computer, server, either network equipment etc.) performs each embodiment of the utility model or embodiment
Method described in some parts.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.It is real especially for system
For applying example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
Above-described the utility model embodiment, does not form the restriction to scope of protection of the utility model.It is any
Made within spirit of the present utility model and principle modifications, equivalent substitutions and improvements etc., should be included in the utility model
Protection domain within.
Claims (8)
- A kind of 1. laser radar, it is characterised in that including the first MEMS galvanometers and the 2nd MEMS galvanometers, the first MEMS galvanometers And the 2nd MEMS galvanometers be arranged at transmitter and transmitting collimation unit between, for changing the optical path direction of shoot laser.
- 2. laser radar as claimed in claim 1, it is characterised in that the first MEMS galvanometers and the 2nd MEMS galvanometers change The optical path direction of shoot laser, including：The first MEMS galvanometers rotate around X-direction, and the 2nd MEMS galvanometers rotate around Y direction, with changing Penetrate the optical path direction of laser；And/orThe first MEMS galvanometers rotate around Y direction, and the 2nd MEMS galvanometers rotate around X-direction, with changing Penetrate the optical path direction of laser.
- 3. laser radar as claimed in claim 2, it is characterised in that the first MEMS galvanometers rotate around X-direction, institute The 2nd MEMS galvanometers are stated to rotate around Y direction, including：The one MEMS galvanometers rotate under the control of driver around X-direction, and the 2nd MEMS galvanometers are in driver Rotated under control around Y direction；The first MEMS galvanometers rotate around Y direction, and the 2nd MEMS galvanometers rotate around X-direction, including：The one MEMS galvanometers rotate under the control of driver around Y direction, and the 2nd MEMS galvanometers are in driver Rotated under control around X-direction.
- 4. laser radar as claimed in claim 3, it is characterised in that the laser radar also include bag the 3rd MEMS galvanometers and 4th MEMS galvanometers, between the 3rd MEMS galvanometers and the 4th MEMS galvanometers are arranged at receiver and receive collimation unit, use In the optical path direction for changing reflection laser.
- 5. laser radar as claimed in claim 4, it is characterised in that the 3rd MEMS galvanometers and the 4th MEMS galvanometers change The optical path direction of reflection laser, including：The 3rd MEMS galvanometers rotate around X-direction, and the 4th MEMS galvanometers rotate around Y direction, are swashed with changing reflection The optical path direction of light；And/orThe 3rd MEMS galvanometers rotate around Y direction, and the 4th MEMS galvanometers rotate around X-direction, are swashed with changing reflection The optical path direction of light.
- 6. laser radar as claimed in claim 5, it is characterised in that the 3rd MEMS galvanometers rotate around X-direction, the Four MEMS galvanometers rotate around Y direction, including：The 3rd MEMS galvanometers rotate under the control of driver around X-direction, and the 4th MEMS galvanometers are in driver Control under around Y direction rotate；The 3rd MEMS galvanometers rotate around Y direction, and the 4th MEMS galvanometers rotate around X-direction, including：The 3rd MEMS galvanometers rotate under the control of driver around Y direction, and the 4th MEMS galvanometers are in driver Control under around X-direction rotate.
- 7. the laser radar as described in any one of claim 4 to 6, it is characterised in that described around the two of the rotation of same axle Individual MEMS galvanometers synchronous axial system.
- 8. the laser radar as described in any one of claim 2 to 6, it is characterised in that the X-direction is horizontal direction, institute It is vertical direction to state Y direction；OrThe X-direction is vertical direction, and the Y-axis is horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720177383.9U CN206818875U (en) | 2017-02-24 | 2017-02-24 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720177383.9U CN206818875U (en) | 2017-02-24 | 2017-02-24 | Laser radar |
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| CN206818875U true CN206818875U (en) | 2017-12-29 |
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| CN201720177383.9U Active CN206818875U (en) | 2017-02-24 | 2017-02-24 | Laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107526071A (en) * | 2017-02-24 | 2017-12-29 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN113030912A (en) * | 2019-12-09 | 2021-06-25 | 觉芯电子(无锡)有限公司 | Laser radar system based on scanning galvanometer |
| CN113030912B (en) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | Laser radar system based on scanning galvanometer |
-
2017
- 2017-02-24 CN CN201720177383.9U patent/CN206818875U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107526071A (en) * | 2017-02-24 | 2017-12-29 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| WO2018214453A1 (en) * | 2017-05-25 | 2018-11-29 | 深圳市速腾聚创科技有限公司 | Laser radar and control method for laser radar |
| CN113030912A (en) * | 2019-12-09 | 2021-06-25 | 觉芯电子(无锡)有限公司 | Laser radar system based on scanning galvanometer |
| CN113030912B (en) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | Laser radar system based on scanning galvanometer |
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