CN207096438U - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN207096438U CN207096438U CN201720595148.3U CN201720595148U CN207096438U CN 207096438 U CN207096438 U CN 207096438U CN 201720595148 U CN201720595148 U CN 201720595148U CN 207096438 U CN207096438 U CN 207096438U
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- dimensional galvanometer
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Abstract
The utility model discloses a kind of laser radar, the laser radar includes：One generating laser, for launching shoot laser；One-dimensional galvanometer, for changing the optical path direction of the shoot laser in vertical direction；Rotational structure, the generating laser and one-dimensional galvanometer are arranged on the rotational structure, and the rotational structure is used to drive the generating laser and one-dimensional galvanometer to rotate.The utility model embodiment can reduce the cost of laser radar, improve the vertical resolution of laser radar.
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 detect the radar system of the characteristic quantities such as the position of target, speed to launch laser beam, its work
It is first the signal reflected from target and transmission signal that then will be received to objective emission exploring laser light light beam as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Laser radar of the prior art, if to realize 3-D scanning, that is, the scanning of 360 scopes is realized, it is necessary to multiple
Generating laser.The cost of the generating laser used in laser radar is higher, therefore the multiple laser of use of the prior art
The cost of the laser radar of transmitter is also very high.In addition, the vertical resolution of laser radar of the prior art is by unit length
On generating laser number determine, because generating laser has certain volume, can not wirelessly be arranged in unit length,
Therefore the vertical resolution of laser radar of the prior art is also than relatively low.
Utility model content
A kind of laser radar is provided in the utility model embodiment, the cost of laser radar can be reduced, improves laser thunder
The vertical resolution reached.
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：
One generating laser, for launching shoot laser；
One-dimensional galvanometer, for changing the optical path direction of the shoot laser in vertical direction；
Rotational structure, the generating laser and one-dimensional galvanometer are arranged on the rotational structure, and the rotational structure is used
Rotated in driving the generating laser and one-dimensional galvanometer.
Optionally, the laser radar also includes collimation unit, is arranged at the generating laser and the one-dimensional galvanometer
Between, for collimating the shoot laser of the laser transmitter projects.
Optionally, the laser radar also includes receiver, and for receiving reflection laser, the reflection laser is change light
Laser of the shoot laser after testee reflects behind the direction of road.
Optionally, the receiver is planar array type receiver.
Optionally, the laser radar also includes focusing unit, is arranged at before the receiver, described anti-for focusing on
Penetrate laser, laser of the reflection laser for the shoot laser after change optical path direction after testee reflects, the focusing
Reflection laser afterwards is received by the receiver.
Disclose a kind of laser radar in embodiment of the present utility model, including a generating laser, one-dimensional galvanometer and
Rotational structure, can be with cost-effective because the utility model embodiment has only used a generating laser；Meanwhile this practicality
New pattern laser radar makes a shoot laser of a laser transmitter projects change light in vertical direction using one-dimensional galvanometer
Road, because the reverse speed of one-dimensional galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to
Improve the vertical resolution of laser radar；In addition, the rotational structure in the utility model embodiment can drive generating laser
Rotated with one-dimensional galvanometer, so as to realize the 3-D scanning of 360 deg.
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 schematic diagram of the laser radar of the utility model embodiment；
The shoot laser that Fig. 2 show the laser transmitter projects of the utility model embodiment passes through after one-dimensional galvanometer
Hot spot figure；
Fig. 3 show the schematic diagram of the laser radar of the utility model embodiment.
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
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.
The utility model following examples provide a kind of laser radar, can reduce the cost of laser radar, improve laser
The vertical resolution of radar.
Fig. 1 show the schematic diagram of the laser radar of the utility model embodiment, as shown in figure 1, the laser radar bag
Include：
One generating laser 110, for launching shoot laser；
One-dimensional galvanometer 120, for changing the optical path direction of the shoot laser in vertical direction；
Rotational structure 130, the Laser emission 110 and one-dimensional galvanometer 120 are arranged on the rotational structure 130, described
Rotational structure 130 is used to drive the generating laser 110 and one-dimensional galvanometer 120 to rotate.
One-dimensional galvanometer needs load driver signal at work, and at the resonant frequency fx, the minute surface of one-dimensional galvanometer is at one for work
Reversed at a high speed on direction of principal axis, by laser beam by spot scan into line.
Conventional galvanometer can be MEMS galvanometers (MEMS, Micro-Electro-Mechanical System), or can be with
It is mechanical galvanometer, or can is other functional units with same or similar function.
Rotational structure 130 in Fig. 1 shows relative between generating laser 110 and one-dimensional galvanometer with being merely illustrative
Position, and the concrete structure of non-rotational structure 130.
Fig. 2 show the hot spot figure that the shoot laser of the transmitting of generating laser 110 passes through after one-dimensional galvanometer 120, theoretical
On, the shoot laser after one-dimensional galvanometer can whether there is several in vertical direction, i.e., the laser being distributed in vertical direction
Light beam can have many bars.The bar number of laser beam in vertical direction determines the vertical resolution of laser radar, and bar number is got over
More, vertical resolution is higher, therefore, can be very high using the vertical resolution of the laser radar of one-dimensional MEMES galvanometers 120.
The laser radar of the utility model embodiment has only used a generating laser 110, compared to conventional laser radar,
Can be greatly cost-effective.
Laser radar in the utility model embodiment also includes rotational structure 130, Laser emission 110 and one-dimensional galvanometer
120 are arranged on the rotational structure 130, and rotational structure 130 is used to drive the generating laser and one-dimensional galvanometer 120 to revolve
Turn.Generating laser 110 and one-dimensional galvanometer 120 rotate, and can make 360 degree of multi-stripe laser Beam rotation in vertical direction, so as to
Realize 360 degree of scanning.
Rotational structure in the utility model embodiment can any can drive transmitter 110 and one-dimensional galvanometer 120
The structure of rotation, such as can be rotary shaft and swivel base, or can be rotatable magnet ring structure, it is specifically no longer superfluous herein
State.
The laser radar of the utility model embodiment, due to only having used a generating laser, because can save into
This；Meanwhile the laser radar of the utility model embodiment makes shoot laser change light path in vertical direction using one-dimensional galvanometer,
Because the reverse speed of one-dimensional galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to carry
The vertical resolution of high laser radar.In addition, rotational structure can make to make the multi-stripe laser Beam rotation 360 in vertical direction
Degree, so as to realize 360 degree of scanning.
Fig. 3 show the schematic diagram of the laser radar of the utility model embodiment, as shown in figure 3, the utility model is implemented
Example laser radar includes generating laser 110, one-dimensional galvanometer 120 and rotational structure 130, in addition to collimation unit 140, sets
Between the generating laser 110 and the one-dimensional galvanometer 120, for collimating the outgoing of the transmitting of generating laser 110
Laser.
In the utility model embodiment, collimation unit 140 can be collimating mirror, and collimating mirror can be simple lens, can also
The lens group being made up of multi-disc lens.
If the shoot laser sent of laser 110 arrives collimation unit 140 again after the deflection of one-dimensional galvanometer 120, due to
Single-point laser can be deflected into laser beam by one-dimensional galvanometer, equivalent to enter collimating mirror be wide-angle incident light, to correct
Large angle incidence light needs multi-disc eyeglass to correct, and adds product cost, also increases design difficulty, can also cause outgoing to swash
The decay of light.Therefore in the utility model embodiment, by one-dimensional galvanometer 120 after the directly collimated collimation of mirror 140 of transmitting laser
To deflect, the reflection of light does not introduce the factors such as aberration, simplifies design difficulty, is corrected without multi-disc eyeglass is introduced, can be with
It is cost-effective.
In the utility model embodiment, laser radar also includes receiver 150, for receiving reflection laser, the reflection
Laser of the laser for the shoot laser after change optical path direction after the reflection of testee 100.
In the utility model embodiment, the receiver is planar array type receiver.
Planar array type receiver can be APD (Avalanche Photo Diode, avalanche diode) array.APD is at one
It is evenly distributed in plane, after reflection laser is received by APD array, 3D rendering is generated after processor computing.
The laser radar of the utility model embodiment also includes focusing unit 160, be arranged at the receiver 150 it
Before, for focusing on the reflection laser, the reflection laser is anti-through testee 100 to change the shoot laser after optical path direction
Laser after penetrating, the reflection laser after the focusing are received by the receiver.
In the utility model embodiment, collimation unit 140, receiver 150 and focusing unit 160 are also disposed on rotation knot
On structure 130.
The laser radar of the utility model embodiment, a generating laser is only used, because can be with cost-effective；Together
When, the laser radar of the utility model embodiment makes shoot laser change light path in vertical direction using one-dimensional galvanometer, due to
The reverse speed of one-dimensional galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, sharp so as to improve
The vertical resolution of optical radar.In addition, rotational structure can make to make 360 degree of multi-stripe laser Beam rotation in vertical direction,
So as to realize 360 degree of scanning.
A kind of laser radar is disclosed in embodiment of the present utility model, the laser radar of the utility model embodiment includes
One generating laser, one-dimensional galvanometer and rotational structure, because the utility model embodiment has only used a generating laser,
Because can be with cost-effective；Meanwhile the utility model laser radar makes the one of a laser transmitter projects using one-dimensional galvanometer
Bar shoot laser changes light path in vertical direction, because the reverse speed of one-dimensional galvanometer is exceedingly fast, therefore divides in vertical direction
The laser beam of cloth can be a lot, so as to improve the vertical resolution of laser radar；In addition, in the utility model embodiment
Rotational structure generating laser and one-dimensional galvanometer can be driven to rotate, so as to realize the 3-D scanning of 360 deg.
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 (5)
- A kind of 1. laser radar, it is characterised in that including：One generating laser, for launching shoot laser；One-dimensional galvanometer, for changing the optical path direction of the shoot laser in vertical direction；Rotational structure, the generating laser and one-dimensional galvanometer are arranged on the rotational structure, and the rotational structure is used for band Move the generating laser and the rotation of one-dimensional galvanometer.
- 2. laser radar as claimed in claim 1, it is characterised in that the laser radar also includes collimation unit, is arranged at Between the generating laser and the one-dimensional galvanometer, for collimating the shoot laser of the laser transmitter projects.
- 3. laser radar as claimed in claim 1 or 2, it is characterised in that the laser radar also includes receiver, for connecing Receive reflection laser, laser of the reflection laser for the shoot laser after change optical path direction after testee reflects.
- 4. laser radar as claimed in claim 3, it is characterised in that the receiver is planar array type receiver.
- 5. laser radar as claimed in claim 4, it is characterised in that the laser radar also includes focusing unit, is arranged at Before the receiver, for focusing on the reflection laser, the reflection laser after the focusing is received by the receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720595148.3U CN207096438U (en) | 2017-05-25 | 2017-05-25 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720595148.3U CN207096438U (en) | 2017-05-25 | 2017-05-25 | Laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207096438U true CN207096438U (en) | 2018-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720595148.3U Active CN207096438U (en) | 2017-05-25 | 2017-05-25 | Laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110133620A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
-
2017
- 2017-05-25 CN CN201720595148.3U patent/CN207096438U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110133620A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN110133620B (en) * | 2019-04-19 | 2021-10-19 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
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