CN207352155U - solid-state laser radar - Google Patents
solid-state laser radar Download PDFInfo
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- CN207352155U CN207352155U CN201721204773.7U CN201721204773U CN207352155U CN 207352155 U CN207352155 U CN 207352155U CN 201721204773 U CN201721204773 U CN 201721204773U CN 207352155 U CN207352155 U CN 207352155U
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- state laser
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Abstract
A kind of solid-state laser radar is disclosed in the embodiment of the utility model, the solid-state laser radar includes：Cylindrical lens, are arranged between focusing unit and receiver, for convergence reflex laser；The reflection laser is the laser after the shoot laser of solid-state laser radar emission is reflected by testee.The utility model embodiment can make solid-state laser radar have larger field angle.
Description
Technical field
Detection field is the utility model is related to, more particularly to a kind of solid-state 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 for then reflecting the slave target received and transmitting signal 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.
Existing laser radar is divided into hybrid solid-state laser radar and solid-state laser radar, hybrid solid-state laser radar
Volume is big, and vertical resolution is relatively low, can not meet higher and higher demand.The vertical resolution of solid-state laser radar is higher, and
Small volume, therefore application field is more and more extensive.
Solid-state laser radar includes transmitting terminal and receiving terminal, and receiving terminal generally use array APD, i.e. array connect
Receive device.Due to bottlenecks such as technique, technologies, the APD of the receiving terminal of existing solid-state laser radar is based on linear array APD.In solid-state
The receiving terminal of laser radar, linear array APD coordinate traditional reception camera lens to use, can obtain larger regard on a direction wherein
Rink corner, but field angle is then smaller on another direction vertical with above-mentioned direction.Field angle is too small, can influence solid-state laser thunder
Up to the accuracy and distance of detection, existing solid-state laser radar can not also obtain larger at the same time in two perpendicular direction at the same time
Field angle.
Utility model content
A kind of solid-state laser radar is provided in the utility model embodiment, can make solid-state laser radar that there is larger regard
Rink corner.
In order to solve the above-mentioned technical problem, the utility model embodiment discloses following technical solution：
On the one hand, there is provided a kind of solid-state laser radar, the solid-state laser radar include：
Cylindrical lens, are arranged between focusing unit and receiver, for convergence reflex laser；
The reflection laser is the laser after the shoot laser of solid-state laser radar emission is reflected by testee.
Preferably, the cylindrical lens are plano-convex type cylindrical lens.
Preferably, the cylindrical lens are convex surface facing the focusing unit.
Preferably, the receiver of the solid-state laser radar is linear array APD, and the linear array APD is horizontal positioned.
Preferably, if the working method of the linear array APD is parallel at the same time, the convergence directions of the cylindrical lens perpendicular to
Horizontal plane.
Preferably, if the working method of the linear array APD is chronologically triggers, the convergence direction of the cylindrical lens is parallel
In horizontal plane.
Preferably, the linear array APD is arranged on the focal plane of the cylindrical lens.
A kind of solid-state laser radar is disclosed in the embodiment of the utility model, is set between focusing unit and receiver
Cylindrical lens, cylindrical lens can with convergence reflex laser, equivalent to the focal length that reduces solid-state laser radar receiving terminal optical system,
Therefore the field angle of solid-state laser radar can be expanded, make solid-state laser radar that there is larger field angle.
Brief description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, drawings in the following description are only the utility model
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 show the schematic diagram of the utility model embodiment solid-state laser radar；
Fig. 2 show the schematic diagram of the cylindrical lens of the utility model embodiment；
Fig. 3 show the schematic diagram of solid-state laser radar field angle in the prior art；
Fig. 4 show the schematic diagram of the utility model solid-state laser radar field angle；
Fig. 5 show the hot spot schematic diagram of the solid-state laser radar of the utility model embodiment；
Fig. 6 show the hot spot schematic diagram of solid-state laser radar of the prior art；
Fig. 7 show the hot spot schematic diagram of the solid-state laser radar of the utility model embodiment；
Fig. 8 show the hot spot schematic diagram of the solid-state laser radar of the utility model embodiment.
Embodiment
The utility model following examples provide a kind of solid-state laser radar, solid-state laser radar is had larger regard
Rink corner.
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clear, complete description, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts
All other embodiments obtained, shall fall within the protection scope of the present invention.
Fig. 1 show the schematic diagram of the utility model embodiment solid-state laser radar, as shown in Figure 1, the solid-state laser
Radar includes：
Cylindrical lens 110, are arranged between focusing unit 120 and receiver 130, for convergence reflex laser；
The reflection laser is the laser after the shoot laser of solid-state laser radar emission is reflected by testee.
In solid-state laser radar shown in Fig. 1, transmitter 140 is further included, collimation unit 150, galvanometer 160, is also wrapped in Fig. 1
Include testee 170.
Fig. 2 show the schematic diagram of the cylindrical lens of the utility model embodiment, as shown in Fig. 2, the utility model embodiment
Cylindrical lens be plano-convex type cylindrical lens, i.e., be simultaneously plane, another side is the lens of convex lens.
In the utility model embodiment, the cylindrical lens are convex surface facing the focusing unit.
Cylindrical lens shown in Fig. 2 can be to the light in a direction into line convergence, and the direction is known as assembling direction, in Fig. 2
200 be to assemble direction.
Fig. 3 show the schematic diagram of solid-state laser radar field angle in the prior art, as shown in figure 3, θ is field angle, d is
The length of image planes width, i.e. linear array APD in this direction, f are the focal length of solid-state laser radar focusing unit.
Meet between field angle and focal length f, image planes width d
Fig. 4 show the schematic diagram of the utility model solid-state laser radar field angle, as shown in figure 3, in focusing unit and
Cylindrical lens are inserted between receiver, cylindrical lens have converging action to light, equivalent to reducing solid-state laser radar receiving terminal light
The focal length of system, field angle is θ ' at this time, and receiving terminal optical system focal length is f', and d is image planes width in this direction, then
Due to f'＜ f, θ ' ＞ θ.
As it can be seen that the solid-state laser radar of the utility model embodiment has larger field angle.
In solid-state laser radar disclosed in the utility model, cylindrical lens, column are provided between focusing unit and receiver
Lens can be with convergence reflex laser, equivalent to reducing the focal length of solid-state laser radar receiving terminal optical system, therefore can expand
The field angle of big solid-state laser radar, makes solid-state laser radar have larger field angle.In addition, the utility model embodiment
In the control method of solid-state laser radar and solid-state laser radar, field angle is expanded, but Jiao of camera lens is received without reducing
Away from without reducing the bore of reception camera lens, so as to will not reduce the detection range of laser radar.
The following detailed description of the structure chart of the solid-state laser radar for employing cylindrical lens of the utility model embodiment.
With reference to figure 1, in the utility model embodiment, the receiver of solid-state laser radar is linear array APD, the linear array
APD is horizontal positioned.
Linear array APD has two kinds of working methods, and one kind is while parallel, another kind is chronologically to trigger.
In the utility model embodiment, if the working method of the linear array APD is parallel at the same time, the meeting of the cylindrical lens
Poly- direction is perpendicular to horizontal plane.
Parallel at the same time to mean, all APD units in linear array APD open reception at the same time when receiving, common to receive
Wave output signal is returned, i.e., receives reflection laser jointly, is worked at the same time in same 1*N APD unit of time.In linear array APD at the same time
When parallel, as a result of cylindrical lens, assembled in advance for the reflection light in the range of central vision, the hot spot in horizontal direction
For wire, as shown in Figure 5.Hot spot still can be received by linear array APD for wire, and energy loss is minimum, so solid-state swashs
The detection range of optical radar is ensured.
In the utility model embodiment, if the working method of the linear array APD is parallel at the same time, the meeting of the cylindrical lens
Poly- direction is perpendicular to horizontal plane.
Chronologically triggering means that each APD units on linear array APD open reception successively according to regular hour order
Signal.Linear array APD is arranged on the horizontal direction focal plane of receiving terminal optical system, then is a vertical line on test surface.
In the prior art, if without using being a circular light spot on test surface during cylindrical lens, as shown in Figure 6, then with
Field angle increases to a certain extent, and hot spot can quick disappearance
And after employing cylindrical lens, the shape of hot spot is a line, as shown in fig. 7, even if picture centre has been moved off
Effective imaging surface of linear array APD, but still to have portion of energy can enter effective imaging surface, so using cylindrical lens
The field angle increase of solid-state laser radar in vertical direction.
When linear array APD chronologically triggers, the convergence direction of cylindrical lens can also be horizontal plane, at this time on linear array APD
Hot spot is vertical wire, as shown in Figure 8.
The solid-state laser radar of the utility model embodiment, employs cylindrical lens, reflection laser is assembled in advance, Ke Yizeng
Reinforce the field angle of state laser radar.
A kind of solid-state laser radar is disclosed in the embodiment of the utility model, is set between focusing unit and receiver
Cylindrical lens, cylindrical lens can with convergence reflex laser, equivalent to the focal length that reduces solid-state laser radar receiving terminal optical system,
Therefore the field angle of solid-state laser radar can be expanded, make solid-state laser radar that there is larger field angle.In addition, this practicality is new
In the solid-state laser radar of type embodiment and the control method of solid-state laser radar, field angle is expanded, but connect without reducing
The focal length of camera lens is received, the bore of camera lens is received without reducing, so as to will not reduce the detection range of laser radar.
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 in other words contributes the prior art 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 used so that 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, since 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
Modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in the utility model
Protection domain within.
Claims (7)
1. a kind of solid-state laser radar, it is characterised in that the solid-state laser radar includes：
Cylindrical lens, are arranged between focusing unit and receiver, for convergence reflex laser；
The reflection laser is the laser after the shoot laser of solid-state laser radar emission is reflected by testee.
2. solid-state laser radar as claimed in claim 1, it is characterised in that the cylindrical lens are plano-convex type cylindrical lens.
3. solid-state laser radar as claimed in claim 2, it is characterised in that the cylindrical lens focus on list convex surface facing described
Member.
4. solid-state laser radar as claimed in claim 1, it is characterised in that the receiver of the solid-state laser radar is linear array
APD, the linear array APD are horizontal positioned.
5. solid-state laser radar as claimed in claim 4, it is characterised in that if the working method of the linear array APD is at the same time
Parallel, then the convergence direction of the cylindrical lens perpendicular to horizontal plane.
6. solid-state laser radar as claimed in claim 4, it is characterised in that if the working method of the linear array APD is on time
Sequence triggers, then the convergence of the cylindrical lens is oriented parallel to horizontal plane.
7. such as claim 4 to 6 any one of them solid-state laser radar, it is characterised in that the linear array APD is arranged at described
On the focal plane of cylindrical lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721204773.7U CN207352155U (en) | 2017-09-19 | 2017-09-19 | solid-state laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721204773.7U CN207352155U (en) | 2017-09-19 | 2017-09-19 | solid-state laser radar |
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| CN207352155U true CN207352155U (en) | 2018-05-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664760A (en) * | 2017-09-19 | 2018-02-06 | 深圳市速腾聚创科技有限公司 | Solid-state laser radar and solid-state laser radar control method |
| CN109188401A (en) * | 2018-11-09 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | laser radar optical system and laser radar |
| CN109782299A (en) * | 2019-02-14 | 2019-05-21 | 深圳市迈测科技股份有限公司 | A kind of solid-state laser radar installations |
-
2017
- 2017-09-19 CN CN201721204773.7U patent/CN207352155U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107664760A (en) * | 2017-09-19 | 2018-02-06 | 深圳市速腾聚创科技有限公司 | Solid-state laser radar and solid-state laser radar control method |
| WO2019056565A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市速腾聚创科技有限公司 | Solid state lidar and control method of solid state lidar |
| CN109188401A (en) * | 2018-11-09 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | laser radar optical system and laser radar |
| CN109782299A (en) * | 2019-02-14 | 2019-05-21 | 深圳市迈测科技股份有限公司 | A kind of solid-state laser radar installations |
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