CN207318710U - A kind of more harness hybrid laser radars of list laser - Google Patents
A kind of more harness hybrid laser radars of list laser Download PDFInfo
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- CN207318710U CN207318710U CN201721441364.9U CN201721441364U CN207318710U CN 207318710 U CN207318710 U CN 207318710U CN 201721441364 U CN201721441364 U CN 201721441364U CN 207318710 U CN207318710 U CN 207318710U
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Abstract
It the utility model is related to laser radar field.The utility model discloses a kind of more harness hybrid laser radars of single laser, including laser emitter, light-splitting device, reflecting mechanism, rotating mechanism and sensor array, the light-splitting device is used to single beam exploring laser light of laser transmitter projects being divided into multi beam exploring laser light arranged in the first direction, the reflecting mechanism is used to the multi beam exploring laser light reflexing to target to be measured, the sensor array is used to receive the multi beam reflection laser that target to be measured reflects, the rotating mechanism is used to drive reflecting mechanism to rotate, so that by the multi beam exploring laser light that reflecting mechanism reflects away second direction angle cyclically-varying, the second direction is vertical with first direction.The utility model only needs a laser emitter, you can realizes the multi-thread scanning of two dimension, becomes much larger the scope of scanning, scanning element is more, precision higher, and the volume of product will not increase very much, and cost is low.
Description
Technical field
The utility model belongs to laser radar field, more particularly to a kind of more harness hybrid laser radars of single laser.
Background technology
Laser radar has that structure is relatively easy, high monochromaticity, high directivity, coherence is good, measurement accuracy is higher, space
The advantages that high resolution, detection range are remote, cheap, it has also become carry out high-precision remote sensing to air, ocean and land at present
The effective ways of detection, are widely used.
Laser radar is to launch the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.Its principle is：
To objective emission laser, then will receive from the laser that target reflects compared with launching laser, after making proper treatment,
It is achieved with target for information about, such as target range, orientation, height, speed, even posture, shape parameter.
Existing low side list laser radar is typically only capable to do the one-dimensional scanning of single line, such as publication：CN1847881A,
The scope of this radar scanning is smaller, and scanning element is few, and precision is low, there is certain limitation in the use of application field.It is and high-end
More harness laser radars often use multi-laser scheme, such as Velodyne companies of the U.S. laser radar VLP-16 use
16 lasers, although it solves the above problem, of high cost, volume is also bigger, and controls cumbersome.
The content of the invention
The purpose of this utility model is to provide a kind of more harness hybrid laser radars of single laser are above-mentioned to solve
Problem.
To achieve the above object, the technical solution adopted in the utility model is：A kind of more harness hybrid lasers of list laser
Radar, including laser emitter, light-splitting device, reflecting mechanism, rotating mechanism and sensor array, the light-splitting device is used for will
Single beam exploring laser light of laser transmitter projects is divided into multi beam exploring laser light arranged in the first direction, and the reflecting mechanism is used for
The multi beam exploring laser light is reflexed into target to be measured, the sensor array is anti-for receiving the multi beam that target to be measured reflects
Laser is penetrated, the rotating mechanism is used to drive reflecting mechanism to rotate, so that the multi beam reflected away by reflecting mechanism detects
For laser in the angle cyclically-varying of second direction, the second direction is vertical with first direction.
Further, the light-splitting device is diffraction grating.
Further, the energy of every beam exploring laser light of the multi beam exploring laser light is identical, and adjacent detector laser
Angle is identical.
Further, the reflecting mechanism includes body and multiple reflectings surface, and multiple reflectings surface are uniformly set along direction of rotation
Put on body, with the rotation of reflecting mechanism, the multi beam exploring laser light gone out by each reflective surface is at the angle of second direction
Degree change turns to a cycle.
Further, the reflecting mechanism is regular polygonal prism column, and the side of the regular polygonal prism column is reflecting surface.
Further, the reflecting mechanism is regular hexagonal prism.
Further, the sensor array is APD array sensor.
Further, Fresnel Lenses is further included, the multi beam reflection laser that target to be measured reflects passes through Fresnel
Correspondence is incident to APD array sensor to lens again.
Further, the sensor array is used to receive the multi beam reflection laser reflected through reflecting mechanism.
Further, the multi beam reflection laser and multi beam exploring laser light by reflecting mechanism same angle reflection face into
Row reflection.
The advantageous effects of the utility model：
Single beam exploring laser light of single laser transmitter projects is divided into along first party by the utility model by light-splitting device
To the multi beam exploring laser light of arrangement, by rotating reflecting mechanism cyclomorphosis multi beam exploring laser light second direction angle,
The quantity of laser emitter need not be increased, you can make original one-dimensional one-line scanning, become the multi-thread scanning of two dimension, realize high score
The big visual field angle sweep of resolution, becomes much larger the scope of scanning, and scanning element is more, precision higher, and the volume of product will not increase
Much larger, cost is low, and controls simpler.
Brief description of the drawings
Fig. 1 is the top view of the utility model specific embodiment；
Fig. 2 is the operation principle schematic diagram of the utility model specific embodiment.
Embodiment
The utility model is further illustrated in conjunction with the drawings and specific embodiments.
As shown in Figs. 1-2, a kind of single more harness hybrid laser radars of laser, including laser emitter 1, light-splitting device 2,
Reflecting mechanism 3, rotating mechanism and sensor array 6, single beam that the optical splitter 2 is used to launch laser emitter 1 detect
Laser is divided into multi beam exploring laser light arranged in the first direction, and in this specific embodiment, first direction is defined as vertical direction, then
Second direction is horizontal direction, and certainly, in other embodiments, first direction can be defined as any direction, this is this area
What technical staff can realize easily, no longer describe in detail.
This specific embodiment, the quantity of laser emitter 1 is one, and laser emitter 1 launches single beam exploring laser light, when
So, in order to make single beam exploring laser light collimation more preferable, collimater can be set in the exit portal of laser emitter 1, this is ability
What field technique personnel can realize easily, no longer describe in detail.
In this specific embodiment, optical splitter 2 is preferably diffraction grating, for the single beam detection for launching laser emitter 1
Laser is divided into the multi beam exploring laser light vertically arranged, and using diffraction grating, can separate more harness exploring laser light,
And realize that simply so as to reduce cost, certainly, in other embodiments, optical splitter 2 can also use existing other light splitting
Device, this is that those skilled in the art can realize easily, is no longer described in detail.
Preferably, in order to improve scanning accuracy and reduce calculation amount, in the present embodiment, every beam detection of multi beam exploring laser light
The energy of laser is identical, and the angle of adjacent detector laser is identical, can such as select suitable diffraction grating 2, make Laser emission
Single beam exploring laser light that device 1 is launched is divided into 300 beam exploring laser lights after diffraction grating 2,0.2 ° of angle between adjacent beams, this
Sample can realize nearly 60 ° of scanning angle, and the Polaroid distance that can obtain 300 points of vertical direction in vertical direction
Information.
The reflecting mechanism 2 is used to the multi beam exploring laser light reflexing to target 4 to be measured, and the sensor array 6 is used for
Receive mesh 4 to be measured and mark the multi beam reflection laser reflected, in this specific embodiment, sensor array 6 is preferably that APD array passes
Sensor.
In order to make APD array sensor 6 more accurately receive multi beam reflection laser, avoid multi beam reflection laser mutually dry
Disturb, so as to improve accuracy, a Fresnel Lenses 5 is additionally provided with before APD array sensor 6, what target 4 to be measured reflected
Multi beam reflection laser corresponds to and is incident to APD again by the multi beam reflection laser that the imaging formation of Fresnel Lenses 5 will not interfere with each other
Sensor array 6.Certainly, in other embodiments, Fresnel Lenses 5 can also use lenticule etc. it is other can realize it is identical
The optics of function replaces, this is that those skilled in the art can realize easily, is no longer described in detail.
The rotating mechanism is used to drive reflecting mechanism 4 to rotate, so that the multi beam reflected away by reflecting mechanism 4 is visited
Laser angle cyclically-varying in the horizontal direction is surveyed, i.e. dealing is repeatedly scanned with.In this specific embodiment, rotating mechanism is preferably
Electric rotating machine, it is easy to accomplish and control, the shaft of electric rotating machine are fixedly connected with the shaft of reflecting mechanism 4, drive reflecting mechanism 4
360 degree of rotations in the horizontal plane.
In this specific embodiment, the reflecting mechanism 3 includes body and multiple reflectings surface 31, and multiple reflectings surface 31 are along rotation
Direction is uniformly arranged on body, with the rotation of reflecting mechanism 3, the multi beam exploring laser light reflected away by each reflecting surface 31
Angle change in the horizontal direction is a cycle.
Preferably, in this specific embodiment, the reflecting mechanism 3 is regular hexagonal prism, and six sides of regular hexagonal prism 3 are anti-
Face 31 is penetrated, certainly, in other embodiments, can be made choice according to actual needs, such as four-prism, positive pentagonal prism is just more
Face prism, this is that those skilled in the art can realize easily, is no longer described in detail.
In this specific embodiment, in order to make more compact structure, it is easier to receive the multi beam reflection that target 4 to be measured reflects and swash
Optical signal, APD array sensor 6 and Fresnel Lenses 5 are arranged on the same side with laser emitter 1 and optical splitter 2, and are located at
The top of laser emitter 1 and optical splitter 2, the multi beam that Fresnel Lenses 5 reflects the reflecting surface 31 through regular hexagonal prism 3, which reflects, to swash
Photoimaging forms the multi beam reflection laser that will not be interfered with each other, and correspondence is incident to APD array sensor 6 again.Preferably, multi beam is anti-
Penetrate laser and multi beam exploring laser light to be reflected by the reflecting surface 31 of the same angle of regular hexagonal prism 3, as illustrated in fig. 1 and 2.
Operation principle：
Single beam exploring laser light that laser emitter 1 is launched is converted into the uniform angle of multi beam, uniform energy by diffraction grating 2
The linear probing laser of amount.
1. vertical scan direction
Sometime, multi beam exploring laser light reflects away at the same time by reflecting surface 31, after running into target 4 to be measured, occurs
Diffusing reflection, reflecting surface 31 of irreflexive multi beam reflection laser by the same angle just reflected are reflexed on Fresnel Lenses 5
After be imaged on corresponding point on APD array sensor 6.This makes it possible to the ranging for realizing disposable points multiple in vertical direction
Information.
2. horizontal direction scans
When positive six face prism 3 rotates, multi beam exploring laser light gets to the different position of some reflecting surface 31, realizes level side
The reflection of upward different angle, has been achieved in that horizontal direction necessarily differentiates the scanning of angle.
With reference to the ranging information of both direction, it becomes possible to realize the multi-thread beam scanning imaging of two dimension.
For example, single beam exploring laser light that laser emitter 1 is launched is converted into 300 beam exploring laser lights by diffraction grating 2,
0.2 ° of angle between each light beam, can so realize nearly 60 ° of scanning angle in vertical direction, and vertical direction is Polaroid
It can obtain the range information of 300 points.
By taking positive six face prism 3 as an example, positive six face prism 3 often rotates through 0.1 °, and laser emitter 1 launches pulsatile once, that
The laser of reflection can be realized as 0.2 ° in the horizontal direction of scanning accuracy, then horizontal direction can complete nearly 120 °
Scanning range.
After one complete reflecting surface 31 turns over, the scanning range that a FOV is 120 ° × 60 ° can be realized, in Fig. 2
Label 7 shown in.The scanning accuracy of both direction is set to 0.2 °, then once the complete scanning of reflecting surface 31 realizes 300
The range sweep measurement of × 600 points.
The utility model is divided into along first by single beam exploring laser light that light-splitting device 2 launches single laser emitter 1
The multi beam exploring laser light of direction arrangement, by rotating 3 cyclomorphosis multi beam exploring laser light of reflecting mechanism at the angle of second direction
Degree, without increasing the quantity of laser emitter 1, you can make original one-dimensional one-line scanning, become the multi-thread scanning of two dimension, realize
High-resolution large-viewing-field angle sweep, becomes much larger the scope of scanning, and scanning element is more, precision higher, and the volume of product is not yet
It can increase very much, cost is low, and controls simpler.
Although specifically showing and describing the utility model with reference to preferred embodiment, those skilled in the art should
This is understood, in the spirit and scope for not departing from the utility model that the appended claims are limited, in form and details
On the utility model can be made a variety of changes, be the scope of protection of the utility model.
Claims (10)
- A kind of 1. more harness hybrid laser radars of list laser, it is characterised in that：Including laser emitter, light-splitting device, reflection Mechanism, rotating mechanism and sensor array, the light-splitting device are used to single beam exploring laser light of laser transmitter projects being divided into Multi beam exploring laser light arranged in the first direction, the reflecting mechanism are used to the multi beam exploring laser light reflexing to target to be measured, The sensor array is used to receive the multi beam reflection laser that target to be measured reflects, and the rotating mechanism, which is used to drive, to be reflected Mechanism rotate so that by the multi beam exploring laser light that reflecting mechanism reflects away second direction angle cyclically-varying, The second direction is vertical with first direction.
- 2. the more harness hybrid laser radars of list laser according to claim 1, it is characterised in that：The light-splitting device is Diffraction grating.
- 3. the more harness hybrid laser radars of list laser according to claim 2, it is characterised in that：The multi beam detection swashs The energy of every beam exploring laser light of light is identical, and the angle of adjacent detector laser is identical.
- 4. the more harness hybrid laser radars of list laser according to claim 1, it is characterised in that：The reflecting mechanism bag Body and multiple reflectings surface are included, multiple reflectings surface are uniformly arranged on body along direction of rotation, with the rotation of reflecting mechanism, by every The multi beam exploring laser light that a reflective surface is gone out is a cycle in the angle change of second direction.
- 5. the more harness hybrid laser radars of list laser according to claim 4, it is characterised in that：The reflecting mechanism is Regular polygonal prism column, the side of the regular polygonal prism column is reflecting surface.
- 6. the more harness hybrid laser radars of list laser according to claim 5, it is characterised in that：The reflecting mechanism is Regular hexagonal prism.
- 7. the more harness hybrid laser radars of list laser according to claim 1, it is characterised in that：The sensor array For APD array sensor.
- 8. the more harness hybrid laser radars of list laser according to claim 7, it is characterised in that：It is saturating to further include Fresnel Mirror, by Fresnel Lenses, correspondence is incident to APD array sensor to the multi beam reflection laser that target to be measured reflects again.
- 9. the more harness hybrid laser radars of list laser according to claim 1, it is characterised in that：The sensor array For receiving the multi beam reflection laser reflected through reflecting mechanism.
- 10. the more harness hybrid laser radars of list laser according to claim 9, it is characterised in that：The multi beam reflection Laser and multi beam exploring laser light are reflected by the reflecting surface of the same angle of reflecting mechanism.
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| CN201721441364.9U CN207318710U (en) | 2017-11-02 | 2017-11-02 | A kind of more harness hybrid laser radars of list laser |
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| CN201721441364.9U CN207318710U (en) | 2017-11-02 | 2017-11-02 | A kind of more harness hybrid laser radars of list laser |
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| CN108490420A (en) * | 2018-06-12 | 2018-09-04 | 深圳市镭神智能系统有限公司 | A kind of micro mirror scanning optics |
| CN108646405A (en) * | 2018-06-29 | 2018-10-12 | 中国科学院光电研究院 | A kind of system for realizing multi-thread scanning |
| CN108963750A (en) * | 2018-07-18 | 2018-12-07 | 度亘激光技术（苏州）有限公司 | A kind of VCSEL and APD integrated chip and preparation method thereof |
| CN109116366A (en) * | 2018-06-27 | 2019-01-01 | 上海禾赛光电科技有限公司 | A kind of multi-thread beam laser radar of non-homogeneous pulse energy |
| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
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