CN206945969U

CN206945969U - Optical radar

Info

Publication number: CN206945969U
Application number: CN201720567509.3U
Authority: CN
Inventors: 伍昕
Original assignee: Shenzhen Rui Da Technology Co Ltd
Current assignee: Shenzhen Rui Da Technology Co Ltd
Priority date: 2017-05-19
Filing date: 2017-05-19
Publication date: 2018-01-30
Anticipated expiration: 2027-05-19

Abstract

The utility model discloses a kind of optical radar, wherein, optical radar includes：Radar body, luminescence component, light guide, opto-electronic receiver component and processor；For luminescence component on radar body, luminescence component launches the first light to target object；The distance of light guide light guide and radar body is definite value, and luminescence component launches the second light to light guide；For opto-electronic receiver component on radar body, opto-electronic receiver component receives the first light reflected through target object, and the second light transmitted through light guide, and the first light and the second light are converted into electric signal；On the radar body, processor electrically connects processor with opto-electronic receiver component, and processor is calculating the detecting distance of target object and radar body, and the detecting distance of light guide and radar body.Optical radar provided by the utility model is used as calibration light by launching the second light, calibrates optical radar system error.

Description

Optical radar

Technical field

Field of radar is the utility model is related to, more particularly to a kind of optical radar.

Background technology

Radar is widely used in measurement the distance between target object and other objects and other objects relative to object Automobile or the distance between aircraft and peripheral obstacle and relative velocity in speed between body, such as traveling.

By taking the non-scanning type optical radar of in the market main flow as an example, the course of work of optical radar is simply introduced：Non-scanning mode Formula optical radar includes a photophore and a receiver.Photophore is generated and transmitted by a branch of light pulse, beats on object simultaneously It is reflected back, finally being received it receives.Receiver accurately measures light pulse from being transmitted into the propagation that is reflected back Time.In view of the light velocity is known, the propagation time measured can be converted into the measurement adjusted the distance.

During the present invention is realized, inventor has found that prior art has problems with：Due to variation of ambient temperature And the heating of measuring system circuit part can all produce certain error to processor range measurement, when particularly closer to the distance, The error proportion will significantly increase so that radar can not normally judge whether the event that will collide.

Utility model content

Main purpose of the present utility model is to propose a kind of optical radar, it is intended to which system when calibrating optical radar ranging is missed Difference.

To achieve the above object, the utility model proposes optical radar, including：

Radar body；

Luminescence component, on the radar body, the luminescence component launches the first light to target object；

Light guide, the distance of the light guide and the radar body are definite value, and the luminescence component is to the light guide Launch the second light；

Opto-electronic receiver component, on the radar body, the opto-electronic receiver component is received through target object reflection First light, and the second light transmitted through the light guide, and first light and the second light are converted into Electric signal；

Processor, on the radar body, the processor electrically connects with the opto-electronic receiver component, the processing Device is calculating the detecting distance of target object and the radar body, and the detection of the light guide and the radar body Distance.

Preferably, the luminescence component includes the first photophore, and first photophore is launching first light With the second light.

Preferably, the luminescence component includes the first photophore and the second photophore, and first photophore is launching First light, second photophore is launching second light.

Preferably, the opto-electronic receiver component includes the first photelectric receiver, and first photelectric receiver is receiving First light through target object reflection and second light through light guide transmission.

Preferably, the opto-electronic receiver component includes the first photelectric receiver and the second photelectric receiver, first light Electric receiver is to receive first light reflected through target object, and second photelectric receiver is receiving described in warp Second light of light guide transmission.

Preferably, the light guide is reflector.

Preferably, the light guide is light guiding lens.

Preferably, the optical radar also includes the first lens, and first lens are in first light arrival First light described in the prefocusing of target object.

Preferably, the optical radar also includes the second lens, second lens in first light through mesh First light is focused on after mark object reflection.

Preferably, the optical radar also includes optical filter, and the optical filter removes first light to filter in environment Light beyond line.

Optical radar provided by the utility model to light guide by launching the second light, light guide and radar body Distance is definite value, by calculating the distance between the light guide detected through optical radar and radar body and light guide and radar The difference between actual range between body, to obtain the systematic error coefficient of optical radar, can effectively correct due to Error caused by the position of processor (not shown) measurement target object caused by the change of the environment such as temperature, improves measurement Stability and measurement accuracy, the particularly nearby measurement accuracy of failure object.

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 Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work Under, other accompanying drawings can also be obtained according to the structure shown in these accompanying drawings.

Fig. 1 is the structural representation of the embodiment of the utility model optical radar one；

Fig. 2 is the structural representation of another embodiment of the utility model optical radar；

Fig. 3 is the structural representation of the another embodiment of the utility model optical radar.

Drawing reference numeral explanation：

Label	Title	Label	Title	Label	Title
						1	Radar body	112	Second photophore	162	Light guiding lens
2	Target object	141	First lens	121	First photelectric receiver
						11	Light insulation pad	142	Second lens	122	Second photelectric receiver
111	First photophore	161	Reflector	15	Optical filter
						17	Optical channel

Realization, functional characteristics and the advantage of the utility model purpose will be described further referring to the drawings in conjunction with the embodiments.

Embodiment

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 Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, belong to the scope of the utility model protection.

If it is to be appreciated that related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding, Afterwards ...), then directionality instruction be only used for explain it is relative between each part under a certain particular pose (as shown in drawings) Position relationship, motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.

If, should " first ", " the in addition, relate to the description of " first ", " second " etc. in the utility model embodiment Two " etc. description is only used for describing purpose, and it is not intended that instruction or implying its relative importance or implicit indicating meaning The quantity of the technical characteristic shown.Thus, " first " is defined, the feature of " second " can express or implicitly include at least one Individual this feature.In addition, the technical scheme between each embodiment can be combined with each other, but must be with ordinary skill Personnel can be implemented as basis, and this technical side is will be understood that when the combination appearance of technical scheme is conflicting or can not realize The combination of case is not present, also not within the protection domain of the requires of the utility model.

The utility model proposes a kind of optical radar, for measuring distance or the institute of the optical radar and target object 2 State the speed of target object 2.

In the utility model embodiment, as shown in figure 1, the optical radar includes：

Radar body 1；

Luminescence component, on the radar body 1, the luminescence component launches the first light to target object 2；

Light guide, the distance of the light guide and the optical radar are definite value, and the luminescence component is to the light guide Launch the second light；

Opto-electronic receiver component, on the radar body 1, the opto-electronic receiver component receives to be reflected through target object 2 First light, and through the light guide transmit the second light, and will first light and the second light conversion For electric signal；

Processor (not shown), on the radar body 1, the processor (not shown) connects with the photoelectricity Component electrical connection is received, to calculate the detecting distance of target object 2 and the optical radar, and the light guide and the light Learn the detecting distance of radar.

In the present embodiment, it is necessary to measure target object 2 apart from when, luminescence component to target object 2 launch the first light Line, the first light are received after being reflected by opto-electronic receiver component, and the first light is converted into manageable by opto-electronic receiver component Electric signal, due to light velocity constant, processor (not shown) can pass through time difference or phase between target object 2 and optical radar Potential difference measures to measure the position of the opposing optical radar of target object 2, or by measuring the position of target object 2 at least twice The speed of target object 2, to judge whether to bump against with target object 2.

When needing calibration, luminescence component launches the second light to light guide, and the second light is oriented to through light guide and connect by photoelectricity To receive component to receive, and be converted into manageable electric signal, the distance sheet of light guide and radar body 1 is known definite value, The distance between light guide and radar body 1 for being measured by processor (not shown) are with optical radar system error Distance, the error coefficient of system can be calculated according to both differences, using the error as suppressed zero, pass through correction calculation Method can correct the drift of the measurement distance of the first light, to obtain more accurate range measurements, specifically, Ke Yitong The program or software for the systematic error that design passes through error calculation radar are crossed, also can manually be calculated.

Specifically, luminescence component can be laser or LED light emitter, wherein, LED light emitter can launch visible ray and purple Outside, the black light such as infrared.Especially, when luminescence component is LED light emitter, flat luminous device can be used or pass through removal Silica-gel lens in LED light emitter make the LED light emitter be changed into flat luminous device, can make the launch angle of the light of reduction first.

Opto-electronic receiver component can be PIN photodiode or APD snowslide pipes, PIN photodiode high sensitivity, and noise It is low,

Optical radar provided by the utility model to light guide by launching the second light, light guide and radar body Distance is definite value, by calculating the distance between the light guide detected through optical radar and radar body and light guide and radar The difference between actual range between body, to obtain the systematic error coefficient of optical radar, can effectively correct due to Error caused by the position of processor (not shown) measurement target object 2 caused by the change of the environment such as temperature, improves and surveys Stability and measurement accuracy are measured, particularly the nearby measurement accuracy of failure object.

Further, as shown in Figure 2,3, the luminescence component includes the first photophore 111, first photophore 111 To launch the first light and the second light.

In the present embodiment, need measure target object 2 apart from when, the first photophore 111 is launched to target object 2 First light is, it is necessary to when calibrating, and the first photophore 111 launches the second light to light guide, thus by a photophore Measurement and calibration are realized, equipment is saved, the structure of optical radar is more simplified.In order that light guide is in measurement target object 2 apart from when the first light do not blocked by light guide, light guide is rotatable, and in calibration, light guide is just towards target object 2. Fig. 2 and Fig. 3 shows that the first photophore 111 launches the embodiment that the first light also launches the second light.

Further, it is described as shown in figure 1, the luminescence component includes the first photophore 111 and the second photophore 112 First photophore 111 is to launch first light, and second photophore 112 is launching second light.

In the present embodiment, the first photophore 111 and the second photophore 112 can work simultaneously, quickly to measure mesh Mark the accurate location of object 2.In addition, the position that can adjust the second photophore 112 is closer to the first photelectric receiver 121, to reduce the propagation distance of the second light, to reduce the interference except environmental factor, improve the position of measurement target object 2 Accuracy.

Further, as illustrated in fig. 1 and 2, the opto-electronic receiver component includes the first photelectric receiver 121, and described first Photelectric receiver 121 to receive through the target object 2 reflection first light and through the light guide be oriented to Second light.

In the present embodiment, the first light and the second light share the first photelectric receiver 121, cost-effective, make optics The structure of radar is more simplified.

Further, as shown in figure 3, the opto-electronic receiver component includes the first photelectric receiver 121 and first light Electric receiver 121, first photelectric receiver 121 to receive through the target object 2 reflect first light, institute The second photelectric receiver 122 is stated to receive second light being oriented to through the light guide.

In the present embodiment, the position that can adjust the second photelectric receiver 122 is closer to the first photophore 111, with Reduce the propagation distance of the second light, to reduce the interference of environmental factor, improve the accuracy of the position of measurement target object 2.

Further, as illustrated in fig. 1 and 2, the light guide is reflector 161.In the present embodiment, principle of reflection is utilized Measure the distance between light guide and radar body 1, as a result accurately, algorithm simplicity, and reflector 161 is easily made, cost compared with It is low.Especially, reflector 161 can change material and color as needed, to reach different effects.

Further, the light guide is light guiding lens 162.In the present embodiment, in order that the second light is according to default Light path irradiation, corresponding light guiding lens 162 can be designed, the second light is passed through light guiding lens 162, and along default rail Mark is launched, meanwhile, the light guiding lens 162 can set filtering function, can filter the light of the wavelength of non-second light.

Further, as shown in Figure 1,2 and 3, the optical radar also includes the first lens 141, first lens 141 To reach the first light described in the prefocusing of target object 2 in first light.

In the present embodiment, particularly, the optical radar also includes transmitting driver, and processor (not shown) passes through hair Sine wave signal or pulse signal that driver modulates a specific frequency are penetrated, because photophore dispersion angle is generally larger, First light collimation is the small less light wave of a branch of dispersion angle by the first lens 141, light wave utilization rate is improved, to improve long distance From measurement capability.Through measurement, the first light angle of divergence after the first lens 141 collimation is less than 10 °.Also in luminescence component and can lead First lens 141 are set between light part, to focus on the second light, improve the measurement accuracy of the second light.

Further, first lens 141 are planoconvex spotlight or prefocus cup.In the present embodiment, planoconvex spotlight and poly- Directional light can be pooled spot light by light cup, if using prefocus cup, the osculum of prefocus cup is arranged on into the first photophore 111 Below, big mouth is arranged on before the first photophore 111.Certainly, the selection not limited to this of the first lens 141, as long as can realize The device of optically focused can be used as the first lens 141.

Further, as shown in Figure 1,2 and 3, the optical radar also includes the second lens 142, second lens 142 To focus on first light after the reflection of target object 2 in first light.

In the present embodiment, the second lens 142 or planoconvex spotlight, or other can be focused on or the device of collimated ray. If using planoconvex spotlight, by the side of planoconvex spotlight plane towards the first photophore 111, by the convex side of planoconvex spotlight towards mesh Mark object 2.Second lens 142 can be also set between opto-electronic receiver component and light guide, to focus on the second light, improve second The measurement accuracy of light.

Further, the optical radar also includes optical filter 15, and the optical filter 15 is filtering in environment except described Light beyond first light.

In the present embodiment, receiving lens not only receive reflecting light, can also receive ambient light, and optical filter 15 leads to Band is close with the wavelength of the first light, and optical filter 15 reduces to filter out other light such as the ambient light of non-first light light wave The interference of other light, improve the precision of measurement.

Further, radar body 1 is provided with the light insulation pad 11 for separating the first light and the second light, to avoid first Light and the second light disturb each other.

The combination of each embodiment more than, existing Fig. 1, Fig. 2 and Fig. 3 respectively illustrate the implementation of three kinds of optical radars Example.

Fig. 1 shows embodiment one, and the optical radar includes radar body 1, luminescence component, light guide, opto-electronic receiver group Part and processor (not shown), luminescence component on the radar body 1, to target object 2 launch by the luminescence component First light；The distance of light guide described in light guide and the optical radar is definite value, and the luminescence component is to the light guide Launch the second light；On the radar body 1, the opto-electronic receiver component receives through target object 2 opto-electronic receiver component First light of reflection, and the second light transmitted through the light guide, and by first light and the second light It is converted into electric signal；Processor (not shown) is on the radar body 1, the processor (not shown) and the light Electric receiving unit electrical connection, to calculate the detecting distance of target object 2 and the optical radar, and the light guide and institute State the detecting distance of optical radar.

Luminescence component includes the first photophore 111 and the second photophore 112, and opto-electronic receiver component includes the first opto-electronic receiver Device 121, light guide are reflector 161, and the first lens 141, target object 2 are provided between the first photophore 111 and target object 2 And first be provided with the second lens 142 between photelectric receiver 121, it is provided between the second lens 142 and the first photelectric receiver 121 Optical filter 15.

Need measure target object 2 apart from when, processor (not shown) unit is by launching driver in the first light The sine wave signal or pulse signal of a specific frequency are modulated in the light wave of source, because photophore dispersion angle is generally larger, It is the less light wave of a branch of dispersion angle by the first light collimation to need by the first lens 141, to improve telemeasurement energy Power.First light is irradiated to after target object 2 to be reflected to and received by the first photelectric receiver 121, the first photelectric receiver 121 First light is converted into manageable electric signal, because the first light received is light wave by being transmitted between reception The signal of propagation path delay, due to light velocity constant, processor (not shown) can by target object 2 and optical radar it Between time difference or phase difference measure the position of the opposing optical radar of target object 2, or by measuring target object 2 at least twice Position measure the speed of target object 2, to judge whether to bump against with target object 2.

When needing calibration, the second photophore 112 launches the second light to reflector 161, and the second light is anti-through reflector 161 Received after penetrating by the first photelectric receiver 121, and be converted into manageable electric signal, reflector 161 and radar body 1 This distance between definite value, the reflector 161 and radar body 1 that are measured by processor (not shown) for known to of distance For the distance with optical radar system error, the error coefficient of system can be calculated according to both differences, with the error As suppressed zero, the drift of the measurement distance of the first light can be corrected by correcting algorithm, with obtain more accurately away from From measurement result.

Fig. 2 shows embodiment two, and the optical radar includes radar body 1, luminescence component, light guide, opto-electronic receiver group Part and processor (not shown), luminescence component on the radar body 1, to target object 2 launch by the luminescence component First light；The distance of light guide described in light guide and the optical radar is definite value, and the luminescence component is to the light guide Launch the second light；On the radar body 1, the opto-electronic receiver component receives through target object 2 opto-electronic receiver component First light of reflection, and the second light transmitted through the light guide, and by first light and the second light It is converted into electric signal；Processor (not shown) is on the radar body 1, the processor (not shown) and the light Electric receiving unit electrical connection, to calculate the detecting distance of target object 2 and the optical radar, and the light guide and institute State the detecting distance of optical radar.

Luminescence component includes the first photophore 111, and opto-electronic receiver component includes the first photelectric receiver 121, and light guide is Reflector 161, the first lens 141, the opto-electronic receiver of target object 2 and first are provided between the first photophore 111 and target object 2 The second lens 142 are provided between device 121, optical filter 15 is provided between the second lens 142 and the first photelectric receiver 121, in addition, Optical channel 17 is additionally provided between light guide and the first photelectric receiver 121.

Need measure target object 2 apart from when, processor (not shown) unit is by launching driver in the first light The sine wave signal or pulse signal of a specific frequency are modulated in the light wave of source, because photophore dispersion angle is generally larger, It is the less light wave of a branch of dispersion angle by the first light collimation to need by the first lens 141, to improve telemeasurement energy Power, now, reflector 161 is deflected into an angle, the first light is exposed on target object 2.First light is irradiated to mesh It is reflected to after mark object 2 and is received by the first photelectric receiver 121, the first light is converted into by the first photelectric receiver 121 can With the electric signal of processing, due to the first light received be light wave by be transmitted into receive between the letter that is delayed of propagation path Number, due to light velocity constant, processor (not shown) can pass through time difference or phase difference between target object 2 and optical radar To measure the position of the opposing optical radar of target object 2, or by measuring the position of target object 2 at least twice measure target The speed of object 2, to judge whether to bump against with target object 2.

When needing calibration, the first photophore 111 launches the second light to reflector 161, and the second light is anti-through reflector 161 Penetrate, due to having a segment distance between the first photelectric receiver 121 and the first photophore 111, connect in the photoelectricity of reflector 161 and first Receive and an optical channel 17 is set between device 121, unnecessary refraction and anti-occurs when the second light is propagated in atmosphere to reduce Penetrate, improve measurement accuracy, the second light is received by the first photelectric receiver 121, and is converted into manageable electric signal, instead The distance sheet of tabula rasa 161 and radar body 1 is known definite value, the reflector 161 measured by processor (not shown) The distance between radar body 1 is the distance with optical radar system error, and system can be calculated according to both differences Error coefficient, using the error as suppressed zero, the drift of the measurement distance of the first light can be corrected by correcting algorithm Move, to obtain more accurate range measurements.

Fig. 3 shows embodiment three, and the optical radar includes radar body 1, luminescence component, light guide, opto-electronic receiver group Part and processor (not shown), luminescence component on the radar body 1, to target object 2 launch by the luminescence component First light；The distance of light guide described in light guide and the optical radar is definite value, and the luminescence component is to the light guide Launch the second light；On the radar body 1, the opto-electronic receiver component receives through target object 2 opto-electronic receiver component First light of reflection, and the second light transmitted through the light guide, and by first light and the second light It is converted into electric signal；Processor (not shown) is on the radar body 1, the processor (not shown) and the light Electric receiving unit electrical connection, to calculate the detecting distance of target object 2 and the optical radar, and the light guide and institute State the detecting distance of optical radar.

Luminescence component includes the first photophore 111, and opto-electronic receiver component includes the first photelectric receiver 121 and the second photoelectricity Receiver 122, light guide are guide lighting channel 17, and the first lens 141, target are provided between the first photophore 111 and target object 2 Be provided with the second lens 142 between the photelectric receiver 121 of object 2 and first, the second lens 142 and the first photelectric receiver 121 it Between be provided with optical filter 15.

When needing calibration, the first photophore 111 deflects an angle, launches the second light, the second light to guide lighting channel 17 Line is oriented to through guide lighting channel 17, and the second light is received by the first photelectric receiver 121, and is converted into manageable telecommunications Number, the distance sheet of guide lighting channel 17 and radar body 1 is known definite value, the leaded light measured by processor (not shown) The distance between passage 17 and radar body 1 are the distance with optical radar system error, can be calculated according to both differences To the error coefficient of system, using the error as suppressed zero, by correcting algorithm can correct the measurement of the first light away from From drift, to obtain more accurate range measurements.

Further, the optical radar also includes being used for distance or the relative velocity for measuring processor (not shown) The communication interface of the upper strata processing unit is passed to, communication interface electrically connects with processor (not shown).

Further, the host computer being connected with the optical radar can set the threshold of needs by sending instructions under communication interface Value, it is less than nearby threshold value or during more than distant place threshold value to the optical radar detective distance, is alarmed at once to host computer.

Further, the angle adjustable of relatively described second light of the reflector 161.In the present embodiment, may be used The change of the distance between emitter and reception device of second light through reflecting or being oriented to according to the second light of transmitting is reflective The angle of the relative emitter of plate 161.The angle for only adjusting the relative transmission device of reflector 161 just adapts to different rings Border.

Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, Every equivalent structure change under inventive concept of the present utility model, made using the utility model specification and accompanying drawing content Change, or directly/be used in other related technical areas indirectly and be included in scope of patent protection of the present utility model.

Claims

A kind of 1. optical radar, it is characterised in that including：

Radar body；

Luminescence component, on the radar body, the luminescence component launches the first light to target object；

Light guide, the distance of the light guide and the radar body is definite value, and the luminescence component is launched to the light guide Second light；

Opto-electronic receiver component, on the radar body, the opto-electronic receiver component is received through described in target object reflection First light, and the second light transmitted through the light guide, and first light and the second light are converted into telecommunications Number；

Processor, on the radar body, the processor is electrically connected with the opto-electronic receiver component, and the processor is used To calculate the detecting distance of target object and the radar body, and the light guide and the radar body detection away from From.
2. optical radar as claimed in claim 1, it is characterised in that the luminescence component includes the first photophore, and described One photophore is launching first light and the second light.
3. optical radar as claimed in claim 1, it is characterised in that the luminescence component includes the first photophore and the second hair Light device, first photophore is to launch first light, and second photophore is launching second light.
4. optical radar as claimed in claim 1, it is characterised in that the opto-electronic receiver component includes the first opto-electronic receiver Device, first photelectric receiver to receive through target object reflection first light and through the light guide transmit Second light.
5. optical radar as claimed in claim 1, it is characterised in that the opto-electronic receiver component includes the first photelectric receiver It is described to receive first light reflected through target object with the second photelectric receiver, first photelectric receiver Second photelectric receiver to receive through the light guide transmit second light.
6. optical radar as claimed in claim 1, it is characterised in that the light guide is reflector.
7. optical radar as claimed in claim 1, it is characterised in that the light guide is light guiding lens.
8. the optical radar as described in any one in claim 1-7, it is characterised in that the optical radar also includes first Lens, first lens are in the first light described in the prefocusing of first light arrival target object.
9. the optical radar as described in any one in claim 1-7, it is characterised in that the optical radar also includes second Lens, second lens after target object reflects in first light focusing on first light.
10. the optical radar as described in any one in claim 1-7, it is characterised in that the optical radar also includes filter Mating plate, the optical filter is filtering the light in environment in addition to first light.