CN208110034U - laser radar optical system and laser radar - Google Patents
laser radar optical system and laser radar Download PDFInfo
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- CN208110034U CN208110034U CN201820714296.7U CN201820714296U CN208110034U CN 208110034 U CN208110034 U CN 208110034U CN 201820714296 U CN201820714296 U CN 201820714296U CN 208110034 U CN208110034 U CN 208110034U
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Abstract
The utility model provides a kind of laser radar optical system and laser radar, is related to laser measuring technique field, which includes emission system, reflecting system and receive system；Emission system includes the laser light source and collimation microscope group of coaxial arrangement；The optical axis of emission system is reflexed to the light shaft coaxle with the system of reception by reflecting system；Become collimated light beam after the collimated microscope group collimation of the laser beam that laser light source issues and injects reflecting system；Collimated light beam is reflexed to laser radar orientation axis direction and is scanned by reflecting system, and the reflected light that testee in orientation axis direction returns is reflexed to reception system；Reception system will reflect back into the optical detector that light converges to laser radar.Emission system had both been reduced in this way and has been located at aperture blockage caused by receiving system centre, to reduce system overall length and volume, while avoiding measurement blind area caused by traditional Non-coaxial system.
Description
Technical field
The utility model relates to laser measuring technique fields, more particularly, to a kind of laser radar optical system and laser thunder
It reaches.
Background technique
With the rapid development of industry, demand of the modern industry to machine intelligence is increasing, various automated productions to
Convenient, safe and efficient, high-precision, the direction minimized are developed.Laser radar product exists as a kind of reliable photoelectric sensor
It keeps in obscurity, measure, the numerous areas such as aerospace are used widely.
Laser radar includes emission system and reception system, and reception system generally includes to be scattered back for detecting testee
The APD (Avalanche Photo Diode, avalanche photodide) of light (reflected light).The working principle of laser radar is such as
Under：Emit laser beam to testee by emission system, receives testee scattering light echo by receiving system, pass through calculating
Emit with receive between time difference obtain testee away from radar at a distance from.Existing laser radar optical system uses at present
Coaxial or Non-coaxial system：The emission system of coaxial system is located at it and receives system centre, and transmission-type receives system and mostly uses this
Kind form；It is parallel or be vertically arranged that the emission system of Non-coaxial system with it receives system.
However the overall length of coaxial system is larger, and has emission system to block since it receives system centre, receives system
System cannot use small-bore lens, cause the volume of coaxial system larger.For Non-coaxial system, since its reception system has
Field angle, in away from Non-coaxial system close range, testee light echo deviates APD by the convergence of reception system, therefore non-same
There are measurement blind areas for axle system.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of laser radar optical system and laser radar, to subtract
Mini system overall length and volume avoid measurement blind area caused by traditional Non-coaxial system.
In a first aspect, the utility model embodiment provides a kind of laser radar optical system, including emission system, reflection
System and reception system；
The emission system includes the laser light source and collimation microscope group of coaxial arrangement；The transmitting is by the reflecting system
The optical axis of system reflexes to the light shaft coaxle with the reception system；
It is described anti-that the laser beam that the laser light source issues becomes collimated light beam injection after collimation microscope group collimation
Penetrate system；The collimated light beam is reflexed to laser radar orientation axis direction and is scanned by the reflecting system, and by institute
It states the reflected light that testee returns in orientation axis direction and reflexes to the reception system；The reception system is by the reflection
Light echo converges to the optical detector of the laser radar.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, the optical axis of the emission system and the optical axis of the reception system are arranged in parallel；The reflecting system include the first reflecting mirror,
Second reflecting mirror and scanning reflection mirror；
The mirror surface of first reflecting mirror and the optical axis of the emission system are at 45 °, and the optical axis of the emission system is logical
Cross the center of first reflecting mirror；Second reflecting mirror is parallel with the mirror surface of first reflecting mirror；Second reflection
The mirror surface of mirror, the mirror surface of the scanning reflection mirror are at 45 ° with the optical axis of the reception system, and the optical axis of the reception system
Pass through the center of second reflecting mirror and the center of the scanning reflection mirror.
With reference to first aspect, the utility model embodiment provides second of possible embodiment of first aspect,
In, the optical axis of the emission system and the optical axis of the reception system are vertically arranged；The reflecting system includes plane mirror
And scanning reflection mirror；
The mirror surface of the plane mirror and the optical axis of the emission system are at 45 °, and the optical axis of the emission system is logical
Cross the center of the plane mirror；The mirror surface of the plane mirror, the scanning reflection mirror mirror surface with the reception
The optical axis of system is at 45 °, and center and the scanning reflection mirror of the optical axis of the reception system by the plane mirror
Center.
The first or second of possible embodiment, the utility model embodiment with reference to first aspect provides first
The third possible embodiment of aspect, wherein the reception system includes：Along the reflected light the direction of propagation according to
The optical filter of secondary coaxial arrangement receives primary mirror and receives secondary mirror；The wave of the transmission region of the optical filter and the laser light source
Long consistent, the reception primary mirror is provided centrally with through-hole；
After the reflected light passes through the optical filter, the reception secondary mirror is converged to through reception primary mirror reflection, then
The through-hole is passed through to the optical detector after reception secondary mirror reflection convergence.
The third possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Four kinds of possible embodiments, wherein the reception primary mirror and the reception secondary mirror are graceful golden reflecting mirror.
The third possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Five kinds of possible embodiments, wherein be additionally provided with collector lens between the reception secondary mirror and the through-hole.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect,
In, the laser light source includes laser diode.
Second aspect, the utility model embodiment also provide a kind of laser radar, including as above-mentioned first aspect or its
Laser radar optical system described in a kind of possible embodiment, further includes motor, optical detector and information processing system；
The motor is connect with the reflecting system, for driving the reflecting system to be scanned；
The optical detector be arranged in the laser radar optical system go out light convergent point, and with the information processing system
System connection；The optical detector is used to receive the reflected light of the laser radar optical system convergence, and sends back optical signal
To the information processing system；
The information processing system receives the heliogram, and export testee corresponding with the heliogram away from
The distance of the laser radar.
In conjunction with second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, the optical detector includes avalanche photodide.
In conjunction with second aspect, the utility model embodiment provides second of possible embodiment of second aspect,
In, the motor includes stepper motor or DC brushless motor.
The utility model embodiment brings following beneficial effect：
In the utility model embodiment, laser radar optical system includes emission system, reflecting system and reception system；Hair
The system of penetrating includes the laser light source and collimation microscope group of coaxial arrangement；The optical axis of emission system is reflexed to and receives system by reflecting system
The light shaft coaxle of system；Become collimated light beam after the collimated microscope group collimation of the laser beam that laser light source issues and injects reflecting system；
Collimated light beam is reflexed to laser radar orientation axis direction and is scanned by reflecting system, and testee in orientation axis direction is returned
The reflected light returned reflexes to reception system；Reception system will reflect back into the optical detector that light converges to laser radar.The laser
Radar optics system belongs to Non-coaxial system, therefore compared with transmission-type structure, reduces system overall length；It will by reflecting system
The optical axis of emission system reflexes to the light shaft coaxle with the system of reception, had both reduced emission system and has caused positioned at system centre is received
Aperture blockage, to reduce system bulk, while avoiding measurement blind area caused by traditional Non-coaxial system.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is achieved and obtained in book and attached drawing.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment is cited below particularly, and
Cooperate appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of laser radar optical system provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of another laser radar optical system provided by the embodiment of the utility model；
Fig. 3 is a kind of working principle diagram of reception system provided by the embodiment of the utility model；
Fig. 4 is a kind of structural schematic diagram of laser radar provided by the embodiment of the utility model.
Icon：
111- laser light source；112- collimates microscope group；The first reflecting mirror of 121-；The second reflecting mirror of 122-；123- scanning reflection
Mirror；124- plane mirror；130- receives system；131- optical filter；132- receives primary mirror；133- receives secondary mirror；134- optically focused
Lens；100- laser radar optical system；200- motor；300- optical detector；400- information processing system.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, below in conjunction with attached drawing to this
The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model a part is real
Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, fall within the protection scope of the utility model under the premise of creative work.
For laser radar optical system using coaxial or Non-coaxial system, the overall length and volume of coaxial system are larger, non-at present
There are measurement blind areas for coaxial system.Based on this, a kind of laser radar optical system and laser provided by the embodiment of the utility model
Radar can reduce system overall length and volume, avoid measurement blind area caused by traditional Non-coaxial system.
For convenient for understanding the present embodiment, first to a kind of laser radar light disclosed in the utility model embodiment
System describes in detail.
Embodiment one：
The utility model embodiment provides a kind of laser radar optical system, which includes transmitting
System, reflecting system and reception system.Emission system includes the laser light source and collimation microscope group of coaxial arrangement；Reflecting system will be sent out
The optical axis for penetrating system reflexes to and receives the light shaft coaxle of system.After the collimated microscope group collimation of the laser beam that laser light source issues
Become collimated light beam and injects reflecting system；Collimated light beam is reflexed to laser radar orientation axis direction and is scanned by reflecting system,
And the reflected light that testee in orientation axis direction returns is reflexed into reception system；Reception system will reflect back into light and converge to
The optical detector of laser radar.
Specifically, laser light source can be, but not limited to as laser diode, and the wavelength of laser light source can also be according to demand
Selection, such as laser light source select wavelength for the laser diode of 905nm.Collimation microscope group can be made of multiple lens, be used for
The biggish Gaussian-Like beam of the angle of divergence that the laser light sources such as laser diode issue is collimated, for example, collimation microscope group uses
Telescope configuration, including a meniscus lens and a convex lens are followed successively by meniscus lens, convex lens along the direction of propagation of input light,
Setting can preferably correct aberration in this way, obtain collimated light beam (collimated light beam).Reflecting system can be used for collimate after it is flat
Row light beam deflects to laser radar orientation axis direction and carries out 190 ° of scannings.Optical detector can be, but not limited to as APD
(Avalanche Photo Diode, avalanche photodide).APD can realize the detection to light under low light intensities.
By taking optical detector is APD as an example, the working principle of the laser radar optical system is as follows：Laser light source issues laser
Light beam is collimated by collimating microscope group, reflexes to the object in laser radar orientation axis direction via reflecting system, object dissipates
Light is emitted back towards using reflecting system to reception system, converges to APD, receives light echo by calculating sending laser beam and APD
Time difference obtain distance of the testee away from radar.
The specific implementation of two kinds of laser radar optical systems is present embodiments provided, separately below referring to Figures 1 and 2
It describes in detail.
Fig. 1 is a kind of structural schematic diagram of laser radar optical system provided by the embodiment of the utility model, transmitting system
The optical axis of system and the optical axis of the system of reception are arranged in parallel.As shown in Figure 1, reflecting system is reflected including the first reflecting mirror 121, second
Mirror 122 and scanning reflection mirror 123.
Specifically, as shown in Figure 1, the mirror surface of the first reflecting mirror 121 and the optical axis of emission system are at 45 °, and emission system
Optical axis pass through the center of the first reflecting mirror 121；Second reflecting mirror 122 and the mirror surface of the first reflecting mirror 121 are parallel (as shown in figure 1
The two is in sustained height)；The mirror surface of second reflecting mirror 122, scanning reflection mirror 123 mirror surface with the light that receives system 130
Axis is at 45 °, and the optical axis for receiving system 130 passes through the center of the second reflecting mirror 122 and the center of scanning reflection mirror 123.First
Reflecting mirror 121, the second reflecting mirror 122 and scanning reflection mirror 123 all can be plane mirrors.
Laser light source 111 issues laser beam, and collimated microscope group 112 collimates, and reflects through the first reflecting mirror 121, through second
Reflecting mirror 122 reflects, and reflexes to laser radar orientation axis direction, the upward object reflected light of azimuth axis through scanning reflection mirror 123
To scanning reflection mirror 123, reception system 130 is reflexed to through scanning reflection mirror 123, received system 130 converges to optical detector
300 (such as APD).
Above-mentioned light path system (laser radar optical system of Fig. 1) has the following advantages that：Emission system and reception system are flat
The optical axis of emission system is reflexed to the light shaft coaxle with the system of reception by reflecting system, both can reduce in this way by row setting
Emission system is located at aperture blockage caused by receiving system centre, while can be to avoid blind area caused by Non-coaxial system.
Fig. 2 is the structural schematic diagram of another laser radar optical system provided by the embodiment of the utility model, transmitting
The optical axis of system and the optical axis of the system of reception are vertically arranged.As shown in Fig. 2, reflecting system includes plane mirror 124 and scanning
Reflecting mirror 123.
Specifically, as shown in Fig. 2, the mirror surface of plane mirror 124 and the optical axis of emission system are at 45 °, and emission system
Optical axis pass through the center of plane mirror 124；The mirror surface of plane mirror 124, scanning reflection mirror 123 mirror surface with reception
The optical axis of system 130 is at 45 °, and receives center and scanning reflection mirror 123 of the optical axis of system 130 by plane mirror 124
Center.
Laser light source 111 issues laser beam, and collimated microscope group 112 is collimated, reflected through plane mirror 124, through scanning
Reflecting mirror 123 reflexes to laser radar orientation axis direction, and the upward object reflected light of azimuth axis is to scanning reflection mirror 123, through sweeping
It retouches reflecting mirror 123 and reflexes to reception system 130, received system 130 converges to optical detector 300 (such as APD).
Likewise, the reflecting system of the Vertical Structure of Fig. 2 is also to reflex to the optical axis of emission system and reception system
Light shaft coaxle, both can reduce emission system in this way and be located at aperture blockage caused by receiving system centre, while can be to avoid
Blind area caused by Non-coaxial system.In addition, the Vertical Structure of Fig. 2 reduces a reflection compared with the light path system of Fig. 1
Mirror.
Fig. 3 is a kind of working principle diagram of reception system provided by the embodiment of the utility model.In view of environment light can be right
The detection of optical detector generates interference, as shown in figure 3, above-mentioned reception system 130 includes：Along reflected light the direction of propagation according to
The optical filter 131 of secondary coaxial arrangement receives primary mirror 132 and receives secondary mirror 133.
Specifically, the transmission region of optical filter 131 is consistent with the wavelength of laser light source 111, and the center for receiving primary mirror 132 is set
It is equipped with through-hole.As shown in figure 3, the received reflection of primary mirror 132 converges to reception secondary mirror after reflected light passes through optical filter 131
Through-hole is passed through to optical detector 300 behind 133, then the reflection convergence of received secondary mirror 133.Reception system 130 is tied using Cassegrain
Structure, therefore have the advantages that axial dimension is small, compact-sized；The focus for receiving secondary mirror 133, which is located at, to be received behind primary mirror 132, just
In placement optical detector.The stray light in environment can be filtered out by optical filter 131, environment light pair can be effectively prevented in this way
The interference that optical detector 300 detects, so that the testing result that laser radar is adjusted the distance is more accurate, reliable.
In view of using common concave mirror as receiving primary mirror 132 and receiving secondary mirror 133, optimization aberration ability is not
Foot, in some possible embodiments, receiving primary mirror 132 and receiving secondary mirror 133 is graceful golden reflecting mirror.Graceful gold reflecting mirror is by one
A spherical reflector and a falcate refractor composition being affixed with it, can rectify aberration by double-layer structure
Just, to solve the problems, such as optimization aberration scarce capacity.In addition, graceful gold reflecting mirror is all spherical mirror, low cost, processing, installation
It is easy.
Focal length in view of receiving secondary mirror 133 will increase the volume of entire laser radar when larger, in some possible realities
It applies in example, is additionally provided with collector lens 134 between secondary mirror 133 and the through-hole for receiving primary mirror 132 as shown in figure 3, receiving.Optically focused is saturating
Mirror 134 can be focused of the light beam into preferably outside reception system 130 away from the closer position of primary mirror 132 is received, and be swashed to reduce
The volume of optical radar.
In the utility model embodiment, laser radar optical system includes emission system, reflecting system and reception system；Hair
The system of penetrating includes the laser light source and collimation microscope group of coaxial arrangement；The optical axis of emission system is reflexed to and receives system by reflecting system
The light shaft coaxle of system；Become collimated light beam after the collimated microscope group collimation of the laser beam that laser light source issues and injects reflecting system；
Collimated light beam is reflexed to laser radar orientation axis direction and is scanned by reflecting system, and testee in orientation axis direction is returned
The reflected light returned reflexes to reception system；Reception system will reflect back into the optical detector that light converges to laser radar.The laser
Radar optics system belongs to Non-coaxial system, therefore compared with transmission-type structure, reduces system overall length；It will by reflecting system
The optical axis of emission system reflexes to the light shaft coaxle with the system of reception, had both reduced emission system and has caused positioned at system centre is received
Aperture blockage, to reduce system bulk, while avoiding measurement blind area caused by traditional Non-coaxial system.
Embodiment two：
Fig. 4 is a kind of structural schematic diagram of laser radar provided by the embodiment of the utility model, as shown in figure 4, the laser
Radar includes the laser radar optical system 100 such as above-described embodiment one, further includes at motor 200, optical detector 300 and information
Reason system 400.
Motor 200 is connect with the scanning reflection mirror 123 in the reflecting system of laser radar optical system 100, for driving
Scanning reflection mirror 123 is scanned；Optical detector 300 be arranged in laser radar optical system 100 go out light convergent point, and with letter
Processing system 400 is ceased to connect.As shown in figure 4, optical detector 300 is used to receive the reflection of the convergence of laser radar optical system 100
Light echo, and optical signal is sent back to information processing system 400；Information processing system 400 receives heliogram, and exports and this time
Distance of the corresponding testee of optical signal away from laser radar.
Specifically, in some possible embodiments, optical detector 300 includes avalanche photodide APD.Information processing
System 400 can be computer.Motor 200 includes stepper motor or DC brushless motor.Motor 200 and scanning reflection mirror 123
Connection drives 123 rotary scanning of scanning reflection mirror.The angular resolution that scanning reflection mirror 123 scans is controlled by motor 200, is such as controlled
Motor 200 processed is divided into 1000 parts for 360 ° to turn, then scanning reflection mirror 123, which scans, forms the laser zone that angular resolution is 0.36 °
Domain.
In the utility model embodiment, laser radar optical system includes emission system, reflecting system and reception system；Hair
The system of penetrating includes the laser light source and collimation microscope group of coaxial arrangement；The optical axis of emission system is reflexed to and receives system by reflecting system
The light shaft coaxle of system；Become collimated light beam after the collimated microscope group collimation of the laser beam that laser light source issues and injects reflecting system；
Collimated light beam is reflexed to laser radar orientation axis direction and is scanned by reflecting system, and testee in orientation axis direction is returned
The reflected light returned reflexes to reception system；Reception system will reflect back into the optical detector that light converges to laser radar.The laser
Radar optics system belongs to Non-coaxial system, therefore compared with transmission-type structure, reduces system overall length；It will by reflecting system
The optical axis of emission system reflexes to the light shaft coaxle with the system of reception, had both reduced emission system and has caused positioned at system centre is received
Aperture blockage, to reduce system bulk, while avoiding measurement blind area caused by traditional Non-coaxial system.
Laser radar provided by the embodiment of the utility model has with laser radar optical system provided by the above embodiment
Identical technical characteristic reaches identical technical effect so also can solve identical technical problem.
It is apparent to those skilled in the art that for convenience and simplicity of description, the laser of foregoing description
The specific work process of radar, can be no longer superfluous herein with reference to the corresponding process in aforementioned laser radar optics system embodiment
It states.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In addition, in the description of the utility model embodiment unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the protection scope of the utility model is not limited thereto, although referring to aforementioned
The utility model is described in detail in embodiment, those skilled in the art should understand that：It is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to skill documented by previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation or replacement, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described is wanted with right
Subject to the protection scope asked.
Claims (10)
1. a kind of laser radar optical system, which is characterized in that including emission system, reflecting system and receive system；
The emission system includes the laser light source and collimation microscope group of coaxial arrangement；The reflecting system is by the emission system
Optical axis reflexes to the light shaft coaxle with the reception system；
The laser beam that the laser light source issues becomes collimated light beam after collimation microscope group collimation and injects the reflection system
System；The collimated light beam is reflexed to laser radar orientation axis direction and is scanned by the reflecting system, and by the side
The reflected light that testee returns in the axis direction of position reflexes to the reception system；The reception system is by the reflected light
Converge to the optical detector of the laser radar.
2. laser radar optical system according to claim 1, which is characterized in that the optical axis of the emission system with it is described
The optical axis of reception system is arranged in parallel；The reflecting system includes the first reflecting mirror, the second reflecting mirror and scanning reflection mirror；
The mirror surface of first reflecting mirror and the optical axis of the emission system are at 45 °, and the optical axis of the emission system passes through institute
State the center of the first reflecting mirror；Second reflecting mirror is parallel with the mirror surface of first reflecting mirror；Second reflecting mirror
Mirror surface, the mirror surface of the scanning reflection mirror are at 45 ° with the optical axis of the reception system, and the optical axis of the reception system passes through
The center of second reflecting mirror and the center of the scanning reflection mirror.
3. laser radar optical system according to claim 1, which is characterized in that the optical axis of the emission system with it is described
The optical axis of reception system is vertically arranged；The reflecting system includes plane mirror and scanning reflection mirror；
The mirror surface of the plane mirror and the optical axis of the emission system are at 45 °, and the optical axis of the emission system passes through institute
State the center of plane mirror；The mirror surface of the plane mirror, the scanning reflection mirror mirror surface with the reception system
Optical axis it is at 45 °, and the optical axis of the reception system passes through in the center and the scanning reflection mirror of the plane mirror
The heart.
4. laser radar optical system according to claim 2 or 3, which is characterized in that the reception system includes：Along
Optical filter, reception primary mirror and the reception secondary mirror that the direction of propagation of the reflected light is sequentially coaxially arranged；The optical filter it is saturating
Optical band is consistent with the wavelength of the laser light source, and the reception primary mirror is provided centrally with through-hole；
After the reflected light passes through the optical filter, the reception secondary mirror is converged to through reception primary mirror reflection, then through institute
It states and passes through the through-hole to the optical detector after receiving secondary mirror reflection convergence.
5. laser radar optical system according to claim 4, which is characterized in that the reception primary mirror and the reception time
Mirror is graceful golden reflecting mirror.
6. laser radar optical system according to claim 4, which is characterized in that the reception secondary mirror and the through-hole it
Between be additionally provided with collector lens.
7. laser radar optical system according to claim 1, which is characterized in that the laser light source includes two pole of laser
Pipe.
8. a kind of laser radar, which is characterized in that including such as above-mentioned laser radar optics of any of claims 1-7
System further includes motor, optical detector and information processing system；
The motor is connect with the reflecting system, for driving the reflecting system to be scanned；
The light convergent point out of the laser radar optical system is arranged in the optical detector, and connects with the information processing system
It connects；The optical detector is used to receive the reflected light of the laser radar optical system convergence, and sends back optical signal to institute
State information processing system；
The information processing system receives the heliogram, and exports testee corresponding with the heliogram away from described
The distance of laser radar.
9. laser radar according to claim 8, which is characterized in that the optical detector includes avalanche photodide.
10. laser radar according to claim 8, which is characterized in that the motor includes stepper motor or brush DC
Motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820714296.7U CN208110034U (en) | 2018-05-14 | 2018-05-14 | laser radar optical system and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820714296.7U CN208110034U (en) | 2018-05-14 | 2018-05-14 | laser radar optical system and laser radar |
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| CN208110034U true CN208110034U (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820714296.7U Expired - Fee Related CN208110034U (en) | 2018-05-14 | 2018-05-14 | laser radar optical system and laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415002A (en) * | 2018-05-14 | 2018-08-17 | 天津杰泰高科传感技术有限公司 | Laser radar optical system and laser radar |
| CN111708003A (en) * | 2020-05-15 | 2020-09-25 | 宁波傲视智绘光电科技有限公司 | Device and method for eliminating stray light and detection equipment |
-
2018
- 2018-05-14 CN CN201820714296.7U patent/CN208110034U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415002A (en) * | 2018-05-14 | 2018-08-17 | 天津杰泰高科传感技术有限公司 | Laser radar optical system and laser radar |
| CN111708003A (en) * | 2020-05-15 | 2020-09-25 | 宁波傲视智绘光电科技有限公司 | Device and method for eliminating stray light and detection equipment |
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Granted publication date: 20181116 |