CN207851282U

CN207851282U - Laser radar

Info

Publication number: CN207851282U
Application number: CN201820060124.2U
Authority: CN
Inventors: 邱纯鑫; 刘乐天
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2018-01-15
Filing date: 2018-01-15
Publication date: 2018-09-11
Anticipated expiration: 2028-01-15

Abstract

A kind of laser radar is disclosed in the embodiments of the present invention, laser radar includes：At least two optical subsystems, the optical subsystem include：At least two transmitters, for emitting shoot laser；Transmitting terminal collimation unit, for collimating the shoot laser；Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, and the optical axis of the optical subsystem is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.The utility model can improve the launch point frequency of laser radar, improve the angular resolution of laser radar.

Description

Laser radar

Technical field

The utility model is related to detection field, more particularly to a kind of laser radar.

Background technology

Laser radar is to emit laser beam come the radar system of the characteristic quantities such as the position, the speed that detect target, work It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal 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.

Transmitter is the component for emitting shoot laser in laser radar, is the important component of laser radar.It is real On border, the laser of transmitter transmitting is discontinuous, is sent with impulse form, the pulse that transmitter generates in one second Number is known as the repetition of transmitter.The repetition of transmitter is higher, and the points being presented in the unit interval on laser radar are more, So also referred to as laser radar launch point frequency.And it is presented on that the points on laser radar are more, in the visual field one of laser radar In the case of fixed, then at angle interval between points with regard to smaller, i.e. the angular resolution of laser radar is higher.

In the prior art, the launch point frequency that there are no a kind of by improving laser radar is to improve laser radar angular resolution The method of rate.

Utility model content

A kind of laser radar is provided in the utility model embodiment, can be improved the launch point frequency of laser radar, be improved and swash The angular resolution of optical radar.

In order to solve the above-mentioned technical problem, the utility model embodiment discloses following technical solution：

On the one hand, a kind of laser radar is provided, including：

At least two optical subsystems, the optical subsystem include：

At least two transmitters, for emitting shoot laser；

Transmitting terminal collimation unit, for collimating the shoot laser；

Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, the light of the optical subsystem Axis is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.

Optionally, the optical subsystem that the laser radar includes is identical.

Optionally, in the optical subsystem, the light-emitting window of the transmitter is set to the transmitting terminal collimation unit On focal plane.

Optionally, in the optical subsystem, the shoot laser and the transmitting terminal collimation unit of different transmitter transmittings Optical axis between angle it is different.

Optionally, the laser radar further includes scanning subsystem, for changing the direction of the shoot laser after collimation.

A kind of laser radar, including multiple optical subsystems, each optics are disclosed in the embodiments of the present invention System includes multiple transmitters and transmitting terminal collimation unit, after the emitted end collimation unit of shoot laser that transmitter is sent out, Each transmitter covers certain transmitting visual field scope, due to there is multiple transmitters, then has in same visual field scope A plurality of shoot laser, multiple transmitters launch point frequency can be superimposed, be equivalent to improved in the visual field scope it is sharp The launch point frequency of optical radar, to improve the angular resolution of laser radar.

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, the accompanying drawings in the following description is 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 structural schematic diagram of the laser radar of the utility model embodiment；

Fig. 2 show the schematic diagram of the laser radar of the utility model embodiment.

Specific implementation mode

The utility model following examples provide a kind of laser radar, can improve the launch point frequency of laser radar, improve The angular resolution of laser radar.

Fig. 1 show the structural schematic diagram of the laser radar of the utility model embodiment, as shown in Figure 1, the laser thunder Up to including：

At least two optical subsystems 100, the optical subsystem 100 include：

At least two transmitters 110, for emitting shoot laser；

Transmitting terminal collimation unit 130, for collimating the shoot laser；

In the utility model embodiment, including multiple optical subsystems, each optical subsystem include multiple transmitters With transmitting terminal collimation unit, after the emitted end collimation unit of shoot laser that transmitter is sent out, each transmitter covers certain Transmitting visual field scope then has a plurality of shoot laser, multiple transmittings due to there is multiple transmitters in same visual field scope The launch point frequency of device can be superimposed, and be equivalent to the launch point frequency that laser radar is improved in the visual field scope, to Improve the angular resolution of laser radar.

Fig. 2 show the schematic diagram of the laser radar of the utility model embodiment, as shown in Fig. 2, in laser radar, including Two optical subsystems, respectively 101 and 102, each optical subsystem includes three transmitters, in optical subsystem 101 Transmitter be 111,112 and 113, the transmitter in optical subsystem 102 is 121,122 and 123.Optical subsystem 101 is also Including transmitting terminal collimation unit 131, optical subsystem 102 further includes transmitting terminal collimation unit 132.

The optical subsystem that the laser radar includes is identical, i.e., optical subsystem 101 and 102 is identical.

In the utility model embodiment, in the optical subsystem, the light-emitting window of the transmitter is set to the transmitting On the focal plane for holding collimation unit.

In the utility model embodiment, the optical axis of the shoot laser and the transmitting terminal collimation unit of different transmitter transmittings Between angle it is different.

In the utility model embodiment, the optical subsystem that the laser radar includes is identical.

In the utility model embodiment, the light-emitting window of the transmitter is set to the focal plane of the transmitting terminal collimation unit On.

That is, as shown in Fig. 2, optical subsystem 101 and 102 is identical, include the transmitter of same number, transmitter class Type, parameter etc. are also identical；Storage subsystem 101 and 102 also include identical optical parameter transmitting terminal collimation unit, transmitter and hair The relative position for penetrating end collimation unit is also identical.

Transmitter is set to for 111,112 and 113 on the focal plane in optical subsystem 101, that is, is set to transmitting terminal standard On the focal plane of straight unit 131；The optical axis for the shoot laser and transmitting terminal collimation unit 131 that transmitter 111,112 and 113 is sent out Between angle be respectively a, b, c, the light for the shoot laser and transmitting terminal collimation unit 132 that transmitter 121,122 and 123 is sent out Angle between axis is also respectively a, b, c.

When the optical subsystem that laser radar includes is identical, the field angle of the shoot laser of corresponding transmitter transmitting is It is identical, such as the shoot laser field angle that transmitter shown in Fig. 2 111 and transmitter 121 emit is identical, 112 He of transmitter The field angle for the shoot laser that transmitter 122 emits is identical, it is ensured that multiple field angles of tested region have shoot laser Superposition, therefore the launch point frequency of laser radar can be improved, to improve the angular resolution of laser radar.Theoretically, if Laser radar includes M identical optical subsystems, then the launch point frequency of laser radar only includes single optical subsystem M times of laser radar.

In the utility model embodiment, the laser radar further includes scanning subsystem, for changing the outgoing after collimation The direction of laser.

Scanning subsystem can be galvanometer, MEMS, mechanical rotational structure etc..

A kind of laser radar is disclosed in the embodiments of the present invention, laser radar includes multiple optical subsystems, often A optical subsystem includes multiple transmitters and transmitting terminal collimation unit, the emitted end collimation of shoot laser that transmitter is sent out After unit, each transmitter covers certain transmitting visual field scope, due to there is multiple transmitters, then in same field angle model There are a plurality of shoot laser, the launch point frequency of multiple transmitters that can be superimposed, be equivalent to and carried in the visual field scope in enclosing The high launch point frequency of laser radar, to improve the angular resolution of laser radar.

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model 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 embodiments of the present invention, those of ordinary skill in the art are without creative efforts The every other embodiment obtained, shall fall within the protection scope of the present invention.

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 by specialized hardware include application-specific integrated circuit, dedicated cpu, private memory, special components and parts etc. It realizes, but the former is more preferably embodiment in many cases.Based on this understanding, the skill in the utility model embodiment Substantially the part that contributes to existing technology can be expressed in the form of software products art scheme in other words, the calculating Machine software product can be stored in a storage medium, as read-only memory (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.) executes each embodiment of the utility model or embodiment Method described in certain parts.

Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to embodiment of the method Part explanation.

Above-described the utility model embodiment, does not constitute 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

1. a kind of laser radar, which is characterized in that including：

At least two optical subsystems, the optical subsystem include：

At least two transmitters, for emitting shoot laser；

Transmitting terminal collimation unit, for collimating the shoot laser；

Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, and the optical axis of the optical subsystem is The optical axis of the transmitting terminal collimation unit, the optical center of the optical subsystem are the optical center of the transmitting terminal collimation unit.

2. laser radar as described in claim 1, which is characterized in that the optical subsystem phase that the laser radar includes Together.

3. laser radar as claimed in claim 2, which is characterized in that in the optical subsystem, the light extraction of the transmitter Mouth is set on the focal plane of the transmitting terminal collimation unit.

4. laser radar as claimed in claim 3, which is characterized in that in the optical subsystem, different transmitter transmittings Angle between shoot laser and the optical axis of the transmitting terminal collimation unit is different.

5. such as Claims 1-4 any one of them laser radar, which is characterized in that the laser radar further includes scanning System, for changing the direction of the shoot laser after collimation.