CN206975215U - A kind of laser radar apparatus - Google Patents
A kind of laser radar apparatus Download PDFInfo
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- CN206975215U CN206975215U CN201720960371.3U CN201720960371U CN206975215U CN 206975215 U CN206975215 U CN 206975215U CN 201720960371 U CN201720960371 U CN 201720960371U CN 206975215 U CN206975215 U CN 206975215U
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Abstract
The utility model discloses a kind of laser radar apparatus, the device includes：Laser beam emitting device, there is N number of semiconductor laser, be arranged in emission array, for launching N number of emergent light, N number of semiconductor laser is arranged on M radiating circuit plate of the laser beam emitting device, and M is less than N；Launch microscope group, for adjusting the angle of N number of emergent light；Microscope group is received, for adjusting the angle of incident light；Laser receiver, there is N number of photoelectric sensor, be arranged in receiving array, for receiving the incident light after reception microscope group regulation；Position of position of n-th of semiconductor laser in the emission array with n-th of photoelectric sensor in the receiving array is identical, transmitting microscope group has respective optical path with receiving microscope group, and the emergent light that n-th of semiconductor laser is sent is incident to n-th of photoelectric sensor after object reflects.The utility model mounting process is succinct, is easy to implement low cost and the miniaturization of equipment.
Description
Technical field
Multi-channel laser fields of measurement is the utility model is related to, more particularly to a kind of laser radar apparatus.
Background technology
It is as shown in Figure 1, 2 the scanning array in U.S. Patent application US8767190B2 laser radar.
Wherein, motherboard 20 is arranged on framework 22.Multiple transmitting panels 30 are plugged on motherboard 20 successively, multiple detection faces
Plate 32 is plugged on motherboard 20 successively.Multiple transmitting panels 30 are arranged in vertical, and multiple detection panels 32 are vertically
Set.A transmitter is provided with each transmitting panel 30, a detector is provided with each detection panel 32.
Set as shown in Fig. 2 the plurality of detection panel 32 is overall in fan-shaped, with produce one above the horizon 10 degree to level
30 degree of visual field below line, continuous multiple detection panels tilt an angle and set successively so that continuous multiple inspections
Panel is surveyed to be sequentially distributed with respect to a central shaft.
And the plurality of transmitting panel 30 is symmetrical set with the plurality of detection panel 32, the plurality of transmitting panel 30 is overall
Set in sector, to produce the above the horizon visual field of 10 degree to 30 degree below horizontal line, continuous multiple transmitting panels
Tilt an angle successively to set so that continuous multiple transmitting panels are sequentially distributed with respect to a central shaft.
The defects of automatically controlled scanning array of the prior art, is, each to launch panel 30, transmitting in installation process
Panel 32 is required to individually to correct it and plugs angle with respect to motherboard 20.In order to obtain accurate scanning result, the reality of the product
In the installation process of border, its error plugged has to reach micron order, and adjusts the angle between two plate faces and be fixed on one
The technique of special angle is also complex.So the installation process cumbersome corresponding to this structure, production efficiency is low, into
This height, yield are low.
In addition, each transmitter of this structure or detector are both needed to be separately provided on one panel, required face
Plate quantity is more, adds the weight and volume of system, it is difficult to realizes low cost and the miniaturization of equipment.
The content of the invention
The technical problem that the utility model solves is to provide a kind of laser radar apparatus so that mounting process is succinct, effect
Rate is high, and yield is high.
Further, volume is reduced, in order to realize the low cost of equipment and miniaturization.
The utility model discloses a kind of laser radar apparatus, the device includes：
Laser beam emitting device, the laser beam emitting device has N number of semiconductor laser, is arranged in emission array, for sending out
N number of emergent light is penetrated, N number of semiconductor laser is arranged on M radiating circuit plate of the laser beam emitting device, and M is less than N；
Launch microscope group, for adjusting the angle of N number of emergent light；
Microscope group is received, for adjusting the angle of incident light；
Laser receiver, the laser receiver has N number of photoelectric sensor, is arranged in receiving array, for receiving
Incident light after reception microscope group regulation；
Wherein, position of n-th of semiconductor laser in the emission array connects with n-th of photoelectric sensor at this
The position received in array is identical, and n=1,2 ... N, N are positive integer, and M is positive integer, and the transmitting microscope group has with the reception microscope group
Respective optical path so that the emergent light that n-th of semiconductor laser is sent is incident to this n-th photoelectricity after object reflects
Sensor.
The laser beam emitting device further comprises：
One or more laser emitting modules, the laser emitting module include radiating circuit plate placed vertically, more
The individual semiconductor laser and drive circuit, multiple semiconductor lasers are placed on the radiating circuit plate, the drive circuit
It is connected with multiple semiconductor lasers to drive multiple semiconductor lasers to light, the light extraction of multiple semiconductor lasers
The exiting surface of direction composition is parallel with the radiating circuit plate；
Laser emission control module, it is connected with the laser emitting module, to control half corresponding to drive circuit driving
Conductor laser lights.
Multiple radiating circuit plates of the plurality of laser emitting module are set parallel, and multiple semiconductor lasers are placed in this
One lateral edges of radiating circuit plate.
Multiple radiating circuit plates of the plurality of laser emitting module are divided into multiple rows of, the often parallel setting of row, multiple semiconductors
Laser is placed in a lateral edges of the radiating circuit plate.
The laser beam emitting device further comprises：
At least one laser emitting module, the laser emitting module includes the radiating circuit plate placed vertically, this is N number of
Semiconductor laser and drive circuit, N number of semiconductor laser are placed on the radiating circuit plate, and the drive circuit is more with this
Individual semiconductor laser connection is to drive the plurality of semiconductor laser to light, the light direction of each row in the emission array
The exiting surface of composition is vertical with the radiating circuit plate；
Laser emission control module, it is connected with the laser emitting module, to control the drive circuit of the laser emitting module
Semiconductor laser lights corresponding to driving.
The laser emitting module has one or more drive circuits, and each drive circuit driving is one or more should
Semiconductor laser.
The Laser emission control module is arranged on the radiating circuit plate, or, the Laser emission control module is arranged on
In control board, the control board is connected to the radiating circuit plate by connector.
The direction of emergent light of any two after transmitting microscope group regulation differs.
The laser receiver includes：
N number of photoelectric transducer element, each photoelectric transducer element include the photoelectric sensor and its peripheral circuit；
The circuit board for receiving placed vertically, N number of photoelectric sensor are arranged on the circuit board for receiving；
Sensor array control circuit, for controlling the gating of N number of photoelectric sensor.
The light-emitting area of N number of semiconductor laser is located on the focal plane of the transmitting microscope group, and N number of photoelectric sensor is located at should
In the reception image planes for receiving microscope group.
Mounting process of the present utility model is succinct, efficiency high, and yield is high, is easy to volume production.Meanwhile the utility model passes through electricity
Road integrates and automatically controlled scanning, realizes the integration and miniaturization of array laser ballistic device, reduces system dimension and weight, be easy to
Realize low cost and the miniaturization of equipment.
Brief description of the drawings
Fig. 1,2 show scanning array schematic diagram in U.S. Patent application US8767190B2 laser radar.
Fig. 3 A show the structural representation of laser radar apparatus of the present utility model.
Fig. 3 B show the structural representation of a light path of laser radar apparatus of the present utility model.
Fig. 4 show the structural representation of laser beam emitting device of the present utility model.
Fig. 5 show the structural representation of another embodiment of laser beam emitting device of the present utility model.
Fig. 6 show the structural representation of the another embodiment of laser beam emitting device of the present utility model.
Fig. 7 show the structural representation of the another embodiment of laser beam emitting device of the present utility model.
Fig. 8 A show order gated transmission control mode schematic diagram of the present utility model.
Fig. 8 B show order gating of the present utility model and receive control mode schematic diagram.
Fig. 9 show the array laser emitter and projection spot array that the specific embodiment of the utility model one is provided
Exemplary plot.
Figure 10 show the structural representation of laser beam emitting device of the present utility model.
Figure 11,11A show the arrangement schematic diagram of semiconductor laser and photoelectric sensor of the present utility model.
Embodiment
The implementation process of the technical solution of the utility model is described below in conjunction with specific embodiment, not as new to this practicality
The limitation of type.
The utility model discloses a kind of laser radar apparatus so that mounting process is succinct, efficiency high, and yield is high.Meanwhile
Volume can be reduced, in order to realize the low cost of equipment and miniaturization.
It is as shown in Figure 3A the structural representation of laser radar apparatus of the present utility model, wherein eliminating laser radar dress
Other known features put.Laser radar apparatus obtains the three-dimensional information of object X in environment by laser scanning.
Laser radar apparatus includes laser beam emitting device 100, transmitting microscope group 60, receives microscope group 70, laser receiver
200。
The laser beam emitting device 100 has N number of semiconductor laser 1 in emission array arrangement, for launching N number of outgoing
Light.N number of semiconductor laser is arranged on M radiating circuit plate of the laser beam emitting device 100, and M is less than N, shown in figure
For N=16, M=2, it is not limited, the semiconductor laser 1 and radiating circuit plate of other quantity are also of the present utility model
In open scope.The utility model is by the way that multiple semiconductor laser concentrated settings on radiating circuit plate, are launched with reducing
The quantity of circuit board, compression volume.
Launch microscope group 60, the front of laser beam emitting device 100 is arranged on, for receiving and adjusting the angle of N number of emergent light.
Microscope group 70 is received, is arranged side by side with transmitting microscope group 60, and is arranged on the front of the laser receiver 200, is received
Microscope group 70 is used for the angle for adjusting incident light.
Laser receiver 200, the laser receiver 200 have N number of photoelectric sensor 6 in receiving array arrangement,
For receiving the incident light after the reception microscope group 70 regulation.The quantity of photoelectric sensor 6 and the quantity one of semiconductor laser 1
Cause, meanwhile, emission array, the arrangement mode of receiving array are identical.That is, n-th of semiconductor laser is in the hair
It is identical to penetrate position of the position in array with n-th of photoelectric sensor in the receiving array, n=1,2 ... N, N are just whole
Number.
There is a corresponding photoelectric sensor in each semiconductor laser, that is to say, that no matter semiconductor swashs
How light device is arranged, and photoelectric sensor is arranged in the same fashion, and the emergent light that n-th of semiconductor laser is sent is through object
N-th of photoelectric sensor is incident to after reflection, the two mutual cooperation work.
The transmitting microscope group 60 is identical with the optical parametric of the reception microscope group 70, meanwhile, emission array relative transmission mirror
The position of the position of group 60 reception microscope group 70 relative with receiving array is identical, so so that the transmitting microscope group 60 connects with this
Receiving microscope group 70 has respective optical path.
It is the schematic diagram of a light path of laser radar apparatus of the present utility model as shown in Figure 3 B.With from top to bottom, from
The right order to a left side is ranked up to the semiconductor laser in emission array, meanwhile, with identical order in receiving array
Photoelectric sensor be ranked up, then the emergent light that the 13rd semiconductor laser is sent in Fig. 3 B, emitted microscope group 60 is adjusted
Afterwards, it is radiated on object, the reflection through the object, then after receiving microscope group 70 and adjusting, by the 13rd photoelectric sensor
Receive.Other sortords are also disclosed in scope of the present utility model, the working method of other semiconductor lasers and this phase
Together.
It is the structural representation of laser beam emitting device disclosed in the utility model as shown in figs. 4-7.
Laser beam emitting device 100 of the present utility model includes at least one laser emitting module 10, the laser emitting module
10 further comprise a radiating circuit plate 3, multiple semiconductor lasers 1 and drive circuit 2.
The plurality of semiconductor laser 1 is successively set on the radiating circuit plate 3, and the radiating circuit plate 3 is placed vertically, and
It is placed on a horizontal body (not shown), in the embodiment of an optimization, the plurality of semiconductor laser 1 is successively set on
One lateral edges of the radiating circuit plate 3, it is easy to the edge light extraction from circuit board.
The drive circuit 2 is connected with the plurality of semiconductor laser 1 to drive the plurality of semiconductor laser 1 luminous.
In one embodiment, same drive circuit 2 can drive multiple semiconductor lasers 1.In another embodiment, can be each partly to lead
Body laser 1 sets one drive circuit 2 respectively, is each driven.
The bottom surface of the plurality of semiconductor laser 1 is soldered to radiating circuit plate 3, the side light extraction perpendicular to bottom surface, i.e. more
The exiting surface D of the light direction composition of individual semiconductor laser 1 is parallel with the radiating circuit plate 3 and all semiconductor lasers 1
Light direction towards the same side of the circuit board, be outwards emitted from edge.In addition, any two is adjusted through the transmitting microscope group 60
The direction of emergent light afterwards is different.
Specifically, as shown in figure 5,8 semiconductor lasers 1 of longitudinal arrangement and corresponding drive on a radiating circuit plate 3
Dynamic circuit (Fig. 5 does not show the drive circuit).Semiconductor laser 1 sends laser and is emitted by launching microscope group 60.8 semiconductors
Laser arranges from top to bottom, has successively at regular intervals, and each spacing can be the same or different.It is for example, two neighboring
The center spacing of semiconductor laser 1 can be D1, D1, D2, D3, D3, D2 and D1 respectively, D1>D2>D3.8 semiconductor lasers
The left side light extraction of device radiating circuit plate 3 from Fig. 5, after transmitting microscope group 60 reflects, 8 semiconductor lasers 1 are with respect to AA '
The laser emitting angle of line is different, and changes an angle successively, to form the laser scanning within certain angle scope
Laser scanning field of view angle in the range of field of view angle, such as 20 ° -30 °, to realize the automatically controlled array scanning to target.It can be seen that
The sensing of the optical axis of each semiconductor laser 1 is different with putting position, and corresponds to a local emission visual field respectively.Each half
The sensing of the optical axis of conductor laser 1 and putting position need to join with reference to Laser emission light path design in transmitting microscope group 60 and system
Number is set.
Because the exiting surface D that the light direction of semiconductor laser 1 forms is parallel with the radiating circuit plate 3, and multiple half
Conductor laser 1 is located on same radiating circuit plate 3, so, in installation process, in order to adjust specific light direction,
Only need to adjust the angle of the AA ' lines of the light emission side relative transmission circuit board 3 of semiconductor laser 1 and realize welding, adjust
It is whole to certain special angle and be fixed on the special angle technique it is more succinct, efficiency high, yield is high, is easy to volume production.Meanwhile
Because semiconductor laser 1 is located on same radiating circuit plate 3, so without being each semiconductor laser such as prior art
Device 1 sets a circuit board, saves substantial amounts of radiating circuit plate 3, so as to reduce volume, reduces weight, be easy to implement and set
Standby low cost and miniaturization.
As shown in fig. 6, in another embodiment of the present utility model, laser beam emitting device 10 may also include multiple Laser emissions
Module 10, such as four.As shown in fig. 6, being set parallel between four, preferably it be arranged in parallel, can also corresponds to and be stacked
It is and fixed.The light direction of all semiconductor lasers is towards the same side.8 semiconductors on each laser emitting module 10 swash
Light device 1 is with different spacing stationary arrangements on radiating circuit plate, and the emergent light of any two is through hair in 32 semiconductor lasers 1
Penetrating after microscope group 60 is adjusted all has each different shooting angles, forms the 32 linear array laser beam emitting devices that 8 rows × 4 arrange.
The setting angle of semiconductor laser 1 can be adjusted according to the light path parameter of transmitting microscope group 60.For example, each Laser emission mould
For block 10 as shown in figure 5, after transmitting microscope group 60 reflects, 8 semiconductor lasers are each with respect to the laser emitting angle of AA ' lines not
It is identical, form covering of the fan distribution so that laser emitting is more intensive.
It is illustrated in figure 7 the structural representation of the laser beam emitting device of another embodiment of the present utility model.
Visible in figure, laser beam emitting device 100 includes two rows laser emitting module 10 as shown in Figure 6, light direction court
To the same side.Multiple rows of arrangement of other rows is also in open scope of the present utility model.It is illustrated in figure 7 64 linear array laser
Emitter, the light direction of any two semiconductor laser differ, laser distribution more crypto set.
In addition to the set-up mode of the laser beam emitting device 100 in Fig. 3 A, in addition to mode as shown in Figure 10, with Fig. 3 A
Difference be only that the laser beam emitting device 100 includes at least one laser emitting module 10, the laser emitting module 10
Including the radiating circuit plate 3 placed vertically, N number of semiconductor laser is placed on the radiating circuit plate to form this
Emission array, the exiting surface D ' of the light direction composition of each row in the emission array is vertical with the radiating circuit plate, optics
The quantity and arrangement mode of sensor are identical with semiconductor laser, and remaining set-up mode is identical with previous embodiment.
16 semiconductor lasers 1 can be set on one block of radiating circuit plate 3, then be correspondingly arranged 16 photoelectric sensors, have compressed sharp
The volume of optical radar device, meanwhile, the semiconductor laser 1 described in also using China application CN201720845753.1,
Realize the shooting angle that different semiconductor lasers 1 is set on one piece of circuit board so that installation process is simple and easy, error
It is relatively low.Multiple laser emitting modules 10 can also be set, be set up in parallel, the semiconductor that each laser emitting module is included swashs
Light device collectively constitutes the emission array.
In addition, referring to Fig. 8 A, laser beam emitting device 100 also includes Laser emission control module 5, with all Laser emissions
Module 10 connects, and Laser emission control module 5 can control one or more semiconductor lasers 1 (LD) and its drive circuit 2,
And the drive circuit 2 is controlled to swash with semiconductor laser corresponding to driving 1 according to predesigned order, successively transmitting according to program setting
Light.
By the array arrangement of semiconductor laser 1, Laser emission control module 5 is divided each semiconductor laser
When control, realize the laser scanning to target area.
The Laser emission control module 5 may be provided on the radiating circuit plate 3, or, the Laser emission control module is set
Put on the control board (not shown) in addition to radiating circuit plate 3, control board is connected to transmitting by connector
Circuit board 3.
By above-mentioned laying mode, mounting process of the present utility model is succinct, efficiency high, and yield is high, the amount of being easy to
Production.Meanwhile the utility model is integrated by circuit and automatically controlled scanning, realizes the integrated and small-sized of array laser ballistic device
Change, reduce system dimension and weight, be easy to implement low cost and the miniaturization of equipment.
As shown in Figure 3A, laser receiver 200 of the present utility model further comprises：
N number of photoelectric transducer element, each photoelectric transducer element include the photoelectric sensor 6 and its peripheral circuit
(not shown).Each semiconductor laser and corresponding photoelectric sensor are considered as a passage, each photoelectric transducer element
To receive optical signal, and realize photoelectric signal transformation.The photoelectric sensor of the photoelectric transducer element can be APD, PIN
Or other opto-electronic conversion sensitive detection parts.
The circuit board for receiving 7 placed vertically, N number of photoelectric sensor 6 are arranged on the circuit board for receiving 7, periphery electricity
Road may be provided on the circuit board for receiving 7 or auxiliary circuit board 7 '.
Sensor array control circuit 8, for controlling the gating of N number of photoelectric sensor 6, sensor array control electricity
Road 8 may be provided on the circuit board for receiving 7 or auxiliary circuit board 7 ', or be provided separately within a control board (not shown)
On, the control board is connected to the circuit board for receiving 7 by connector.Sensor array control circuit 8 can control one
Or multiple photoelectric sensors and its peripheral circuit, and control the photoelectric sensor to be chosen according to predefined procedure according to program setting
It is logical, or, by the multiple co- controlling of sensor array control circuit 8 N number of photoelectric sensors.
The photoelectric sensor 6 keeps synchronous corresponding gating to corresponding semiconductor laser 1, i.e. when n-th of semiconductor
When laser is strobed, n-th of photoelectric sensor is also strobed accordingly.
N number of photoelectric sensor is located in the reception image planes of the reception microscope group 70, here it is considered that receiving the reception of microscope group 70
Image planes are a plane or on-plane surface.Each photoelectric sensor can receive a branch of incidence reflected from object
Light, to carry out opto-electronic conversion and effective measurement to target.
It is illustrated in figure 9 array laser emitter and the projection hot spot battle array that the specific embodiment of the utility model one is provided
List illustration.Example, the light-emitting area of all semiconductor lasers 1 (LD), that is, all semiconductors is embodied as one kind
Laser 1 is used for the side of emergent light, is arranged on the transmitting focal plane of transmitting microscope group 60 (here it is considered that the hair of transmitting microscope group 60
It is a plane to penetrate focal plane), and make the transmitting laser beam horizontal direction of adjacent semiconductor laser 1 on transmitting focal plane be in β angles, hang down
Nogata is in γ angles.
Laser emission control module 5 triggers drive circuit 2, and making the semiconductor laser 1 of each passage, gated transmission swashs successively
Light, transmitting laser is along Laser emission light path primary optical axis 9, and emitted microscope group 60, is formed at object M corresponding to each laser beam
Discrete light spot, each laser corresponding to the discrete light spot will be received by the photoelectric sensor 6 in laser receiver 200,
It furthermore achieved that the automatically controlled scanning array detection of measured zone.The 2nd semiconductor laser 1 is sent the 2nd row in figure from right to left
Laser by the 2nd row, the photoelectric sensor 6 of the 2nd receives from right to left.
Further, Fig. 8 A are a kind of order gated transmission control mode schematic diagram, each semiconductor laser and right
The photoelectric sensor answered is considered as a passage, and Laser emission control module 5 controls and triggers each drive circuit successively, and then order
Driving ensures each channel semiconductor generating laser sequential transmission laser, realized to detection from the 1 to the n-th semiconductor laser
The automatically controlled scanning of array of target.According to Laser emission control circuit setting program, according to the order of setting to each semiconductor laser
Device and photoelectric sensor are gated, and realize the automatically controlled scanning purpose of array to detecting target.
As shown in Figure 8 B control mode schematic diagram is received for a kind of order gating.Sensor array control circuit 8 is according to pre-
First set photoelectricity gating control logic 4 control laser receiver 200 according to the order from the 1 to the n-th photoelectric sensor according to
Secondary gating.At the same time, laser beam emitting device 100 also uses the shooting sequence successively from the 1 to the n-th semiconductor laser.
So that during n-th of semiconductor laser gating, n-th of photoelectric sensor is also strobed.
Specifically, multiple blocks are divided into N number of semiconductor laser, according to the default first order, gated successively
The respectively block, each semiconductor laser is gated successively according to the default second order in each block.
More specifically, in the first gating embodiment, the emission array shares X rows Y row, x-th of semiconductor of each column
Laser constitution a line.X-th of the semiconductor laser respectively arranged can be located at identical or different height.It is as shown in Figure 11
The arrangement schematic diagram of semiconductor laser and photoelectric sensor, it is seen then that first semiconductor laser group 1 into first of each column
Row L1, the like, last first semiconductor laser composition eighth row L of each column8, the semiconductor laser per a line can be with
Straight line is formed positioned at identical height, different height can also be located at and form a broken line.
For the side of laser beam emitting device 100, when carrying out the passage gating of laser radar apparatus, can first according to from a left side to
It is right, from right to left or other predetermined orders, order gate L1In each semiconductor laser, then redirect next line and follow
Ring performs the step of order gating, last column L8After completing gating, continue to redirect the first row L1, until receiving end signal.
For time interval between two semiconductor lasers of the adjoining sequentially gated to preset, the usual time interval keeps solid
Fixed, each moment only has a semiconductor laser and is strobed.
Row gating order can be L1, L2... ... L8Or other default row gating order.
The side of laser receiver 200 is also arranged according to arrangement mode shown in Figure 11 to photoelectric sensor, and according to
The same gated fashion with laser beam emitting device 100, gates all photoelectric sensors so that n-th of semiconductor laser choosing
When logical, n-th of photoelectric sensor is gated accordingly, and then realize the gating of the passage.
Similarly, it is different from the row gating of the first gating embodiment in the second gating embodiment, using row in the present embodiment
Gating.Each semiconductor laser in the row of gating one successively, redirects next column, and circulation performs the column selection and led to.Logical time of the column selection
Sequence can be C1, C2, C3, C4(referring to Figure 11) or other default row gating order.
In the 3rd gating embodiment, first gating odd number semiconductor laser, then gate successively successively can also be passed through
The mode of even number semiconductor laser, for example, it is assumed that totally 32 semiconductor lasers, then gating sequence can be 1,3,
5……31、2、4、6……32。
That is, step 100, the 2a+1 semiconductor laser is gated, a adds 1, and circulation performs step 100, until 2a+1=N
Or 2a+1=N-1, perform step 200, a=0,1,2 ...；
Step 200, gate the 2b+2 semiconductor laser, b adds 1, circulation execution step 200, until 2b+2=N or
2b+2=N-1, b=0,1,2 ....
In the 4th gating embodiment, it can also use by the way of other piecemeals gate, such as in Figure 11 A, every four and half
Conductor laser is divided into a block, then 8 blocks are shared in figure.
Then can by one it is default first order, such as the 1st, 3,5,7,2,4,6, the order of 8 blocks, gate each area successively
Block, can be according to clockwise or counterclockwise or diagonal or other random sequences are gated, in a block inside each block
After all semiconductor lasers in portion are strobed, then gate next block.
5th gating embodiment, is gated according to the gating sequence set at random.
The gated fashion of deformation based on above example is also in open scope of the present utility model, and randomness is stronger
Gating sequence, its detect encryption, anti-tampering effect it is better.
Laser radar apparatus of the present utility model, by predetermined gated fashion, semiconductor laser corresponding to control is sent out
Go out laser, after transmitting microscope group regulation, be radiated on object, produce the laser signal of reflection, it is as incident light beam strikes
To microscope group is received, after received microscope group regulation, focus on the photosurface of corresponding photoelectric sensor.Sensor array control electricity
Road 8 gates the photoelectric sensor of each respective channel according to the predetermined gated fashion, timesharing, receives the projection hot spot on object
The echo-signal returned, realize that leading to array scanning to the electric separation for detecting target receives.
Mounting process of the present utility model is succinct, efficiency high, and yield is high, is easy to volume production.Meanwhile the utility model pass through it is right
The logical control of the electric separation of array photoelectric, the order gating of array photoelectric or parallel gating are realized, improves sky
Between target acquisition reception flexibility and receiving ability, realize object automatically controlled scanning array detection, abandoned traditional machine
Tool sweep mechanism, improve the integration degree of system, improve detection intended recipient efficiency, it is easy to accomplish system it is small-sized
Change.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art in technical scope, can readily occur in disclosed in the utility model
Change or replacement, all cover within the scope of protection of the utility model.
Claims (10)
1. a kind of laser radar apparatus, it is characterised in that the device includes：
Laser beam emitting device, the laser beam emitting device has N number of semiconductor laser, is arranged in emission array, N number of for launching
Emergent light, N number of semiconductor laser are arranged on M radiating circuit plate of the laser beam emitting device, and M is less than N；
Launch microscope group, for adjusting the angle of N number of emergent light；
Microscope group is received, for adjusting the angle of incident light；
Laser receiver, the laser receiver have N number of photoelectric sensor, are arranged in receiving array, for receiving through being somebody's turn to do
Receive the incident light after microscope group regulation；
Wherein, position of n-th of semiconductor laser in the emission array and n-th of photoelectric sensor are in the reception battle array
Position in row is identical, and n=1,2 ... N, N are positive integer, and M is positive integer, and the transmitting microscope group has corresponding with the reception microscope group
Light path so that the emergent light that n-th of semiconductor laser is sent is incident to this n-th photoelectric sensing after object reflects
Device.
2. device as claimed in claim 1, it is characterised in that the laser beam emitting device further comprises：
One or more laser emitting modules, the laser emitting module include the radiating circuit plate placed vertically, it is multiple should
Semiconductor laser and drive circuit, multiple semiconductor lasers are placed on the radiating circuit plate, the drive circuit with it is more
Individual semiconductor laser connection is to drive multiple semiconductor lasers to light, the light direction of multiple semiconductor lasers
The exiting surface of composition is parallel with the radiating circuit plate；
Laser emission control module, it is connected with the laser emitting module, to control semiconductor corresponding to drive circuit driving
Laser lights.
3. device as claimed in claim 2, it is characterised in that multiple radiating circuit plates of the plurality of laser emitting module are parallel
Set, multiple semiconductor lasers are placed in a lateral edges of the radiating circuit plate.
4. device as claimed in claim 2, it is characterised in that multiple radiating circuit plates of the plurality of laser emitting module are divided into
Multiple rows of, often row is parallel is set, and multiple semiconductor lasers are placed in a lateral edges of the radiating circuit plate.
5. device as claimed in claim 1, it is characterised in that the laser beam emitting device further comprises：
At least one laser emitting module, the laser emitting module includes the radiating circuit plate placed vertically, this N number of partly leads
Body laser and drive circuit, N number of semiconductor laser are placed on the radiating circuit plate, the drive circuit and the plurality of half
Conductor laser is connected to drive the plurality of semiconductor laser to light, the light direction composition of each row in the emission array
Exiting surface it is vertical with the radiating circuit plate；
Laser emission control module, it is connected with the laser emitting module, to control the drive circuit of the laser emitting module to drive
Corresponding semiconductor laser lights.
6. the device as described in claim 2 or 5, it is characterised in that the laser emitting module has one or more drivings
Circuit, each one or more semiconductor lasers of drive circuit driving.
7. the device as described in claim 2 or 5, it is characterised in that the Laser emission control module is arranged on the radiating circuit
On plate, or, the Laser emission control module is arranged in control board, and the control board is connected to this by connector
Radiating circuit plate.
8. device as claimed in claim 1, it is characterised in that the side of emergent light of any two after transmitting microscope group regulation
To differing.
9. device as claimed in claim 1, it is characterised in that the laser receiver includes：
N number of photoelectric transducer element, each photoelectric transducer element include the photoelectric sensor and its peripheral circuit；
The circuit board for receiving placed vertically, N number of photoelectric sensor are arranged on the circuit board for receiving；
Sensor array control circuit, for controlling the gating of N number of photoelectric sensor.
10. the device as described in claim 1 or 9, it is characterised in that the light-emitting area of N number of semiconductor laser is located at the hair
Penetrate on the focal plane of microscope group, N number of photoelectric sensor is located in the reception image planes of the reception microscope group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| WO2018176972A1 (en) * | 2017-04-01 | 2018-10-04 | 北科天绘（苏州）激光技术有限公司 | Laser radar device and channel gating method thereof |
| CN109031244A (en) * | 2018-08-16 | 2018-12-18 | 北醒（北京）光子科技有限公司 | A kind of laser radar coaxial optical system and laser radar |
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| WO2018176972A1 (en) * | 2017-04-01 | 2018-10-04 | 北科天绘（苏州）激光技术有限公司 | Laser radar device and channel gating method thereof |
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| CN109031244A (en) * | 2018-08-16 | 2018-12-18 | 北醒（北京）光子科技有限公司 | A kind of laser radar coaxial optical system and laser radar |
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