CN208092232U - A kind of airborne laser radar system - Google Patents
A kind of airborne laser radar system Download PDFInfo
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Abstract
The utility model discloses a kind of airborne laser radar system, which is equipped on flying platform, which includes：Laser radar apparatus, device for filming image, POS device, for electric installation and data processing equipment；The laser radar apparatus, device for filming image, POS device are connect with the data processing equipment respectively, this connect with the laser radar apparatus, the device for filming image, the POS device, the data processing equipment to provide electricity respectively for electric installation.The mounting process of the utility model is succinct, efficient, and yield is high, is convenient for volume production, is easy to implement low cost and the miniaturization of equipment.Meanwhile the utility model is integrated by circuit and automatically controlled scanning, realizes the integration and miniaturization of array laser ballistic device, reduces system dimension and weight.
Description
Technical field
The utility model is related to multi-channel laser fields of measurement, more particularly to a kind of airborne laser radar system.
Background technology
Currently, airborne laser radar is positive fast-developing at home, due to its rapidity, untouchable and penetrability, extensively
It is general to be applied to each fields such as digital electric network, cybercity construction, digital water conservancy, forestry.Usual airborne laser radar needs to carry
On flying platform, such as unmanned plane, helicopter etc., airborne laser radar measuring system are also integrated with high resolution CCD number
Code camera, the same area digital image data is obtained while acquiring laser point cloud data.
Airborne laser radar is needed with more succinct mounting process, smaller volume, realization low cost and miniaturization,
More rich and changeful application environment can be adapted to, the application scenarios of expansion equipment play the effect of bigger.
Invention content
The utility model intends to solve the technical problem by providing a kind of airborne laser radar systems so that mounting process letter
Clean, efficient, yield is high.
Further, volume is reduced, in order to realize low cost and the miniaturization of equipment.
The utility model discloses a kind of airborne laser radar system, which is equipped on flying platform, the system packet
It includes：Laser radar apparatus, device for filming image, POS device, for electric installation and data processing equipment；
The laser radar apparatus, device for filming image, POS device are connect with the data processing equipment respectively, this is for Denso
It sets and is connect respectively with the laser radar apparatus, the device for filming image, the POS device, the data processing equipment to provide electricity.
The laser radar apparatus includes：Laser beam emitting device, the laser beam emitting device have N number of semiconductor laser, row
Emission array is arranged into, for emitting N number of emergent light, which is set to M transmitting of the laser beam emitting device
On circuit board, M is less than N；
Emit microscope group, the angle for adjusting N number of emergent light；
Receive microscope group, the angle for adjusting incident light；
Laser receiver, the laser receiver have N number of photoelectric sensor, receiving array are arranged in, for receiving
Incident light after reception microscope group adjusting；
Wherein, position of n-th of semiconductor laser in the emission array and n-th of photoelectric sensor connect at this
The position received in array is identical, and n=1,2 ... N, N are positive integer, and M is positive integer, which has with the reception microscope group
Respective optical path so that the emergent light that n-th of semiconductor laser is sent out 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 the radiating circuit plate, more placed vertically
A semiconductor laser and driving circuit, multiple semiconductor lasers are placed on the radiating circuit plate, the driving circuit
It is connect with multiple semiconductor lasers to drive multiple semiconductor lasers to shine, the light extraction of multiple semiconductor lasers
The light-emitting surface of direction composition is parallel with the radiating circuit plate；
Laser emission control module is connect with the laser emitting module, to control driving circuit driving corresponding half
Conductor laser shines.
Multiple radiating circuit plates of multiple laser emitting module are arranged parallel, and multiple semiconductor lasers are placed in this
The one side edge of radiating circuit plate.
Multiple radiating circuit plates of multiple laser emitting module are divided into multiple rows of, the often parallel setting of row, multiple semiconductors
Laser is placed in the one side edge of the radiating circuit plate.
The laser beam emitting device further comprises：
At least one laser emitting module, the laser emitting module include one place vertically the radiating circuit plate, this is N number of
Semiconductor laser and driving circuit, N number of semiconductor laser are placed on the radiating circuit plate, and the driving circuit is more with this
A semiconductor laser connection is to drive multiple semiconductor laser to shine, the light direction of each row in the emission array
The light-emitting surface of composition is vertical with the radiating circuit plate；
Laser emission control module is connect with the laser emitting module, to control the driving circuit of the laser emitting module
Corresponding semiconductor laser is driven to shine.
The laser emitting module has one or more driving circuits, and each driving circuit driving is one or more should
Semiconductor laser.
The Laser emission control module is arranged on the radiating circuit plate, alternatively, Laser emission control module setting exists
In control circuit board, which is connected to the radiating circuit plate by connector.
The direction of emergent light of any two after transmitting microscope group adjusting differs.
The laser receiver includes：
N number of photoelectric transducer element, each photoelectric transducer element includes 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, the gating for controlling N number of photoelectric sensor.
The light-emitting surface of N number of semiconductor laser is located on the focal plane of the transmitting microscope group, which is located at should
In the reception image planes for receiving microscope group.
The mounting process of the utility model is succinct, efficient, and yield is high, is convenient for volume production, is easy to implement the low cost of equipment
And miniaturization.Meanwhile the utility model is by the way that circuit is integrated and automatically controlled scanning, realize the integrated of array laser ballistic device and
Miniaturization reduces system dimension and weight.
Description of the drawings
Fig. 1 show the structural schematic diagram of the airborne laser radar system of the utility model.
Fig. 2 show the structural schematic diagram of the POS device of the utility model.
Fig. 3 A show the structural schematic diagram of laser radar apparatus.
Fig. 3 B show the structural schematic diagram of a light path of laser radar apparatus.
Fig. 4 show the structural schematic diagram of laser beam emitting device.
Fig. 5 show the structural schematic diagram of another embodiment of laser beam emitting device.
Fig. 6 show the structural schematic diagram of the another embodiment of laser beam emitting device.
Fig. 7 show the structural schematic diagram of the another embodiment of laser beam emitting device.
Fig. 8 A show the sequence gated transmission control mode schematic diagram of the utility model.
The sequence gating that Fig. 8 B show the utility model receives control mode schematic diagram.
Fig. 9 show the array laser emitter and projection spot array that one specific embodiment of the utility model is provided
Exemplary plot.
Figure 10 show the structural schematic diagram of laser beam emitting device.
Figure 11,11A show the arrangement schematic diagram of semiconductor laser and photoelectric sensor.
Specific implementation mode
The realization process that 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 airborne laser radar systems, are as shown in Figure 1 the airborne laser radar system
Structural schematic diagram.Fig. 2 show the structural schematic diagram of the POS device of the utility model.
The airborne laser radar system is equipped on flying platform, which includes unmanned plane, helicopter etc..
As shown in Figure 1, the basic framework of the airborne laser radar system includes：Laser radar apparatus, device for filming image,
POS device, for electric installation and data processing equipment；
The laser radar apparatus, device for filming image, POS device are connect with the data processing equipment respectively.
This is filled with the laser radar apparatus, the device for filming image, the POS device, the data processing respectively for electric installation
Connection is set to provide electricity.
The POS device further comprises IMU and navigation positional device, the navigation positional device include GPS device and/or
GNSS device.
Wherein, laser radar apparatus is the core component of the airborne laser radar system, succinct, the volume of mounting process
Compression, can make whole efficient of airborne laser radar system, yield is high, realizes low cost and miniaturization.
In addition, an AD converter is also provided between the laser radar apparatus and the data processing equipment, for swashing
The collected data of optical radar device are converted, and are sent to the data processing equipment and are carried out follow-up data processing.
It is as shown in Figure 3A the structural schematic diagram of the laser radar apparatus in the airborne laser radar system of the utility model,
The known features such as the driving circuit of laser radar apparatus are wherein omitted.Laser radar apparatus obtains environment by laser scanning
The three-dimensional information of middle object X.
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 emitting N number of outgoing
Light.N number of semiconductor laser is set on M radiating circuit plate of the laser beam emitting device 100, and M is less than N, as shown in the figure
It for N=16, M=2, is not limited, the semiconductor laser 1 and radiating circuit plate of other quantity are also in the utility model
In the open scope.The utility model to reduce by radiating circuit plate, emitting multiple semiconductor laser concentrated settings
The quantity of circuit board, compression volume.
Emit microscope group 60, setting is in 100 front of laser beam emitting device, the angle for receiving and adjusting N number of emergent light.
Microscope group 70 is received, is arranged side by side with transmitting microscope group 60, and is arranged in the front of the laser receiver 200, is received
Microscope group 70 is used to adjust the angle of 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 adjusting.The quantity of photoelectric sensor 6 and the quantity one of semiconductor laser 1
It causes, 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 as position of n-th of photoelectric sensor in the receiving array to penetrate the position in array, n=1,2 ... N, N are just whole
Number.
There are a corresponding photoelectric sensors for each semiconductor laser, that is to say, that no matter semiconductor swashs
How light device arranges, and photoelectric sensor is arranged in the same fashion, and the emergent light that n-th of semiconductor laser is sent out is through object
N-th of photoelectric sensor is incident to after reflection, the two cooperates with each other.
The transmitting microscope group 60 is identical with the optical parameter of the reception microscope group 70, meanwhile, emission array relative transmission mirror
The position of group 60 position of microscope group 70 that receives opposite 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 as shown in Figure 3B the schematic diagram of a light path of laser radar apparatus.With from top to bottom, sequence from right to left
Semiconductor laser in emission array is ranked up, meanwhile, with identical sequence to the photoelectric sensor in receiving array
It is ranked up, then the emergent light that the 13rd semiconductor laser is sent out in Fig. 3 B, after emitted microscope group 60 is adjusted, is radiated at target
On object, the reflection through the object is received after receiving the adjusting of microscope group 70 by the 13rd photoelectric sensor.Other sequences
Also in the open scope of the utility model, the working method of other semiconductor lasers is identical with this mode.
It is the structural schematic diagram of laser beam emitting device disclosed by the utility model as shown in figs. 4-7.
The laser beam emitting device 100 of the 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 driving circuit 2.
Multiple semiconductor laser 1 is successively set on the radiating circuit plate 3, which places vertically, and
It is placed on a horizontal body (not shown), in the embodiment of an optimization, multiple semiconductor laser 1 is successively set on
The one side edge of the radiating circuit plate 3 is convenient for the edge light extraction from circuit board.
The driving circuit 2 is connect with multiple semiconductor laser 1 to drive multiple semiconductor laser 1 to shine.?
In one embodiment, the same driving circuit 2 can drive multiple semiconductor lasers 1.In another embodiment, can be each partly to lead
One drive circuit 2 is respectively set in body laser 1, is respectively driven.
The bottom surface of multiple semiconductor laser 1 is soldered to radiating circuit plate 3, the side light extraction perpendicular to bottom surface, that is, more
The light-emitting surface D of the light direction composition of a 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 emitted outward 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 driving circuit).1 sent out laser of semiconductor laser is emitted by emitting 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.For example, two neighboring
The center spacing of semiconductor laser 1 can be D1, D1, D2, D3, D3, D2 and D1, D1 respectively>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 range
Laser scanning field of view angle within the scope of field of view angle, such as 20 ° -30 °, to realize the automatically controlled array scanning to target.As it can be seen that
The direction of the optical axis of each semiconductor laser 1 and placement position difference, and a local emission visual field is corresponded to respectively.Each half
The direction of the optical axis of conductor laser 1 and placement position need to join with reference to Laser emission light path design in transmitting microscope group 60 and system
Number is set.
Since the light-emitting 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 the same radiating circuit plate 3, so, during the installation process, in order to adjust specific light direction,
It only needs the angle of the AA ' lines of the light emission side relative transmission circuit board 3 of adjustment semiconductor laser 1 and realizes welding, adjust
It is whole to certain special angle and be fixed on the special angle technique it is more succinct, efficient, yield is high, is convenient for volume production.Meanwhile
Since semiconductor laser 1 is located on the same radiating circuit plate 3, so without being each semiconductor laser such as the prior art
A circuit board is arranged in device 1, and save a large amount of radiating circuit plate 3 reduces weight to reduce volume, is easy to implement and sets
Standby low cost and miniaturization.
As shown in fig. 6, in another embodiment of the utility model, laser beam emitting device 10 may also include multiple Laser emissions
Module 10, such as four.As shown in fig. 6, being arranged parallel between four, preferably it is arranged in parallel, can also corresponds to and be stacked
And it is 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 respectively 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
Block 10 as shown in figure 5, after transmitting microscope group 60 reflects, 8 semiconductor lasers with respect to AA ' lines laser emitting angle respectively 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 schematic diagram of the laser beam emitting device of the another embodiment of the utility model.
As it can be seen that laser beam emitting device 100 includes two rows of laser emitting modules 10 as shown in FIG. 6 in figure, light direction court
To the same side.Multiple rows of arrangement of other numbers of rows is also in the open scope of the utility model.It is illustrated in figure 7 64 linear array laser
The light direction of emitter, any two semiconductor laser differs, and laser is distributed more crypto set.
Further include mode as shown in Figure 10, with Fig. 3 A in addition to the set-up mode of the laser beam emitting device 100 in Fig. 3 A
Difference be only that, the laser beam emitting device 100 include at least one laser emitting module 10, the laser emitting module 10
The radiating circuit plate 3 placed vertically including one, N number of semiconductor laser are placed on the radiating circuit plate to form this
The light-emitting surface D ' of emission array, 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 as semiconductor laser, remaining set-up mode is identical as 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, also apply for the semiconductor laser 1 recorded in CN201720845753.1 using China,
Realize the shooting angle that different semiconductor lasers 1 is set on one piece of circuit board so that installation process is simple and practicable, 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 further 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 driving circuit 2,
And the driving circuit 2 is controlled to drive corresponding semiconductor laser 1 according to predesigned order according to program setting, transmitting successively swashs
Light.
By the array arrangement of semiconductor laser 1, Laser emission control module 5 divides each semiconductor laser
When control, realize laser scanning to target area.
The Laser emission control module 5 may be provided on the radiating circuit plate 3, alternatively, the Laser emission control module is set
It sets on the control circuit board (not shown) in addition to radiating circuit plate 3, control circuit board is connected to transmitting by connector
Circuit board 3.
Efficient it is found that the mounting process of the utility model is succinct by way of above-mentioned laying, yield is high, convenient for amount
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, and then reduce airborne laser radar system dimension and weight, is easy to implement low cost and the miniaturization of equipment.
As shown in Figure 3A, the laser receiver 200 of the utility model further comprises：
N number of photoelectric transducer element, each photoelectric transducer element includes the photoelectric sensor 6 and its peripheral circuit
(not shown).Each semiconductor laser and corresponding photoelectric sensor are considered as a channel, 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, the gating for controlling 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 circuit board (not shown)
On, which 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 it is selected according to predetermined order according to program setting to control the photoelectric sensor
It is logical, alternatively, by multiple 8 co- controlling of sensor array control circuit N number of photoelectric sensors.
The photoelectric sensor 6 synchronizes corresponding gating to the holding of corresponding semiconductor laser 1, that is, 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 flat surface, and can also be on-plane surface.Each photoelectric sensor can receive a branch of from the reflected incidence of object
Light, to carry out opto-electronic conversion and to effective measurement of target.
It is illustrated in figure 9 the array laser emitter and projection hot spot battle array that one specific embodiment of the utility model is provided
List illustration.As a kind of specific implementation example, the light-emitting surface of all semiconductor lasers 1 (LD), that is, all semiconductors
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
Focal plane is penetrated to be a flat surface), and the transmitting laser beam horizontal direction of adjacent semiconductor laser 1 on transmitting focal plane is made to be in β angles, it hangs down
Histogram is in γ angles.
Laser emission control module 5 triggers driving circuit 2, and making the semiconductor laser 1 in each channel, gated transmission swashs successively
Light, transmitting laser is along Laser emission light path primary optical axis 9, and emitted microscope group 60, and it is corresponding that each laser beam is formed at object M
Discrete light spot, each laser corresponding to the discrete light spot will be received by the photoelectric sensor 6 in laser receiver 200,
The automatically controlled scanning array detection of measured zone is furthermore achieved.The 2nd semiconductor laser 1 is sent out the 2nd row in figure from right to left
Laser by the 2nd row, the 2nd photoelectric sensor 6 receives from right to left.
Further, Fig. 8 A are a kind of sequence gated transmission control mode schematic diagram, each semiconductor laser and right
The photoelectric sensor answered is considered as a channel, and Laser emission control module 5 controls and trigger each driving circuit, and then sequence successively
Driving ensures each channel semiconductor laser emitter sequential transmission laser from the 1 to the n-th semiconductor laser, realizes to detection
The automatically controlled scanning of array of target.According to Laser emission control circuit setting program, according to the sequence of setting to each semiconductor laser
Device and photoelectric sensor are gated, and realize the automatically controlled scanning purpose of array to detecting target.
It is that a kind of sequence gating receives control mode schematic diagram as shown in Figure 8 B.Sensor array control circuit 8 is according to pre-
First set photoelectricity gating control logic 4 control laser receiver 200 according to the sequence 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 when 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 preset first sequence, gated successively
The respectively block gates each semiconductor laser in each block successively according to preset second sequence.
More specifically, in the first gating embodiment, which 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 of each column is at first
Row L1, and so on, last first semiconductor laser composition eighth row L of each column8, the semiconductor laser per a line can be with
It is in alignment positioned at identical height group, different height can also be located at and form a broken line.
For 100 side of laser beam emitting device, when the channel for carrying out laser radar apparatus gates, can first according to from a left side to
It is right, from right to left or other scheduled sequences, sequence gate L1In each semiconductor laser, then redirect next line and follow
Ring executes the step of sequence gating, last column L8After completing gating, continue to redirect the first row L1, until receiving end signal.
Time interval between two semiconductor lasers of the adjoining sequentially gated is to preset, and the usual time interval keeps solid
Fixed, each moment is only strobed there are one semiconductor laser.
It can be L that the row, which gates order,1, L2... ... L8, can also be other preset row gating order.
200 side of laser receiver also arranges to photoelectric sensor according to arrangement mode shown in Figure 11, and according to
Gated fashion same as 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 in the channel.
Similarly, 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 one row of gating successively, redirects next column, it is logical that cycle executes the column selection.Logical time of the column selection
Sequence can be C1, C2, C3, C4(referring to Figure 11) can also be other preset row gating order.
In third gates embodiment, odd number semiconductor laser can also be gated successively by first, then gate successively
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, gates the 2a+1 semiconductor laser, a adds 1, and cycle executes step 100, until 2a+1=N
Or 2a+1=N-1, execute step 200, a=0,1,2 ...；
Step 200, gate the 2b+2 semiconductor laser, b adds 1, cycle execution step 200, until 2b+2=N or
2b+2=N-1, b=0,1,2 ....
In the 4th gating embodiment, by the way of other piecemeals can also being used to 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 preset first sequence, such as the 1st, 3,5,7,2,4,6, the sequences of 8 blocks, gate each area successively
Block, can be according to clockwise or counterclockwise or diagonal line 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 the open scope of the utility model, and randomness is stronger
Gating sequence, detection encryption, anti-tampering effect it is better.
Laser radar apparatus in the airborne laser radar system of the utility model passes through scheduled gated fashion, control
Corresponding semiconductor laser sends out laser, after transmitting microscope group is adjusted, is radiated on object, generates the laser letter of reflection
Number, as incident light beam strikes to microscope group is received, after received microscope group is adjusted, focus on the photosurface of corresponding photoelectric sensor
On.Sensor array control circuit 8 gates the photoelectric sensor of each corresponding channel, connects according to the scheduled gated fashion, timesharing
The echo-signal that the projection hot spot on object is returned is received, realizes that leading to array scanning to the electric separation for detecting target receives.
The mounting process of the utility model is succinct, efficient, and yield is high, is convenient for volume production.Meanwhile the utility model pass through it is right
The logical control of the electric separation of array photoelectric realizes the sequence gating of array photoelectric or parallel gating, improves sky
Between target acquisition reception flexibility and receive ability, realize object automatically controlled scanning array detection, abandoned traditional machine
Tool sweep mechanism improves detection intended recipient efficiency, improves the integration degree of airborne laser radar system, it is easy to accomplish
The miniaturization of system.
The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is not
It is confined to this, any one skilled in the art can readily occur in technical scope disclosed by the utility model
Change or replacement, all cover and be within the protection scope of the utility model.
Claims (10)
1. a kind of airborne laser radar system, which is characterized in that the system is equipped on flying platform, which includes：Laser
Radar installations, device for filming image, POS device, for electric installation and data processing equipment；
The laser radar apparatus, device for filming image, POS device are connect with the data processing equipment respectively, this is for electric installation point
It is not connect with the laser radar apparatus, the device for filming image, the POS device, the data processing equipment to provide electricity.
2. the system as claimed in claim 1, which is characterized in that the laser radar apparatus includes：
Laser beam emitting device, which has N number of semiconductor laser, is arranged in emission array, N number of for emitting
Emergent light, N number of semiconductor laser are set on M radiating circuit plate of the laser beam emitting device, and M is less than N；
Emit microscope group, the angle for adjusting N number of emergent light；
Receive microscope group, the angle for adjusting 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 is adjusted；
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, which has corresponding with the reception microscope group
Light path so that the emergent light that n-th of semiconductor laser is sent out is incident to this n-th photoelectric sensing after object reflects
Device.
3. system as claimed in claim 2, which is characterized in that the laser beam emitting device further comprises：
One or more laser emitting modules, the laser emitting module include one place vertically the radiating circuit plate, it is multiple should
Semiconductor laser and driving circuit, multiple semiconductor lasers are placed on the radiating circuit plate, the driving circuit with it is more
A semiconductor laser connection is to drive multiple semiconductor lasers to shine, the light direction of multiple semiconductor lasers
The light-emitting surface of composition is parallel with the radiating circuit plate；
Laser emission control module is connect with the laser emitting module, and corresponding semiconductor is driven to control the driving circuit
Laser shines.
4. system as claimed in claim 3, which is characterized in that multiple radiating circuit plates of multiple laser emitting module are parallel
Setting, multiple semiconductor lasers are placed in the one side edge of the radiating circuit plate.
5. system as claimed in claim 3, which is characterized in that multiple radiating circuit plates of multiple laser emitting module are divided into
Multiple rows of, often the parallel setting of row, multiple semiconductor lasers are placed in the one side edge of the radiating circuit plate.
6. system as claimed in claim 2, which is characterized in that the laser beam emitting device further comprises：
At least one laser emitting module, the laser emitting module include one place vertically the radiating circuit plate, this N number of partly leads
Body laser and driving circuit, N number of semiconductor laser are placed on the radiating circuit plate, the driving circuit and multiple half
Conductor laser connection is to drive multiple semiconductor laser to shine, the light direction composition of each row in the emission array
Light-emitting surface it is vertical with the radiating circuit plate；
Laser emission control module is connect with the laser emitting module, and the driving circuit to control the laser emitting module drives
Corresponding semiconductor laser shines.
7. the system as described in claim 3 or 6, which is characterized in that the laser emitting module has one or more drivings
Circuit, each one or more semiconductor lasers of driving circuit driving.
8. system as claimed in claim 2, which is characterized in that the side of emergent light of any two after transmitting microscope group adjusting
To differing.
9. system as claimed in claim 2, which is characterized in that the laser receiver includes：
N number of photoelectric transducer element, each photoelectric transducer element includes 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, the gating for controlling N number of photoelectric sensor.
10. the system as described in claim 2 or 9, which is characterized in that the light-emitting surface of N number of semiconductor laser is located at the hair
It penetrates on the focal plane of microscope group, which is located in the reception image planes of the reception microscope group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721810868.3U CN208092232U (en) | 2017-12-22 | 2017-12-22 | A kind of airborne laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721810868.3U CN208092232U (en) | 2017-12-22 | 2017-12-22 | A kind of airborne laser radar system |
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| Publication Number | Publication Date |
|---|---|
| CN208092232U true CN208092232U (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721810868.3U Active CN208092232U (en) | 2017-12-22 | 2017-12-22 | A kind of airborne laser radar system |
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| Country | Link |
|---|---|
| CN (1) | CN208092232U (en) |
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2017
- 2017-12-22 CN CN201721810868.3U patent/CN208092232U/en active Active
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Effective date of registration: 20231008 Address after: 3-5 / F, building A2, phase I, Zhihui Industrial Park, intersection of Chongqing Road and Yan'an Road, Baohe Economic Development Zone, Hefei, Anhui 230001 Patentee after: Beike Tianhui (Hefei) laser technology Co.,Ltd. Address before: 6/F, Building B1, Dongfang Chuangzhi Garden, No. 18, Jinfang Road, Suzhou Industrial Park, Suzhou, Jiangsu 215125 Patentee before: SURESTAR (SUZHOU) LASER TECHNOLOGY Co.,Ltd. |
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