CN208314203U - A kind of transmitting camera lens, face battle array laser radar and mobile platform - Google Patents
A kind of transmitting camera lens, face battle array laser radar and mobile platform Download PDFInfo
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- CN208314203U CN208314203U CN201820518071.4U CN201820518071U CN208314203U CN 208314203 U CN208314203 U CN 208314203U CN 201820518071 U CN201820518071 U CN 201820518071U CN 208314203 U CN208314203 U CN 208314203U
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Abstract
The utility model relates to a kind of transmitting camera lens, face battle array laser radar and mobile platforms.A kind of transmitting camera lens, it include: the optical shaping structure of the light direction of the launch setting along transmitting light source, the optical shaping structure includes at least one cylindrical lenses, length direction on the cylindrical lenses close to the columnar projections of the side setting of transmitting light source is vertical with the diverging direction of light beam is emitted, and the transmitting light beam is after optical shaping structure in the uniform beam of the setting angle of divergence and setting shape.A kind of face battle array laser radar, including face battle array light trigger mechanism are additionally provided, Mian Zhen light receiver mechanism, master control borad, the face battle array light trigger mechanism includes transmitting light source, driving transmit circuit and the transmitting camera lens.Additionally provide a kind of moveable platform.It solves the problems, such as that the emission system transmitting light beam of common face battle array laser radar is non-uniform, improves the safety and accuracy of test and operation.
Description
Technical field
The utility model relates to field of artificial intelligence more particularly to a kind of transmitting camera lenses, face battle array laser radar and shifting
Moving platform.
Background technique
LiDAR (Light Detection and Ranging), is the abbreviation of optical detection and range-measurement system, laser radar
It is using laser or LED as transmitting light source, using the active object detecting apparatus of detecting technique means.Laser thunder
Up to the advanced detection mode for being laser technology in conjunction with modern detecting technique.Mainly by emission system, reception system, information
The part such as processing forms.Emission system includes various forms of lasers or LED；Reception system is using receiving lens and various
The photodetector of form.
Common transmitting module is all Line beam in machinery rotating type laser radar, is swept using machinery rotation realization face battle array
It retouches.This proposes very high requirement to the precision of design and the ray machine assembly of sweep mechanism, and then leads to the production of volume production link
Efficiency is relatively low, and cost is high.Solid-state laser radar reduces mechanical rotation relative to traditional machinery rotating type laser radar
Rotating function component and encoding device, structure are simplified, and assembling difficulty is reduced, and performance is stablized, and range frequency is high.
The one kind of face battle array laser radar as solid-state laser radar, is conducive to efficient volume production, and significantly reduce system
Cause this.Existing face battle array laser radar, transmitter are difficult to realize the homogenizer transmitting of big search coverage.
Utility model content
The purpose of the utility model embodiment is to propose a kind of transmitting camera lens, passes through the structure setting of cylindrical lenses, solve
Determined mechanical laser radar light Scan Architecture it is complicated, the low problem of refreshing frequency, and common face battle array laser radar
Emission system emits the non-uniform problem of light beam.
The purpose of the utility model embodiment, which also resides in, proposes a kind of face battle array laser radar, passes through transmitting camera lens and face battle array light
Electrical chip is equipped with, solve light beam that prior art transmitting light source issues after emit camera lens with face gust photoelectric chip
The problem of mismatching, being unable to uniform fold measured zone.
The purpose of the utility model embodiment additionally provides a kind of platform of movement, passes through the transmitting camera lens or tool
There is the face battle array laser radar of transmitting camera lens, so that face battle array laser radar is more accurate to the barrier positioning in measured zone, mentions
The high safety and accuracy of the operation of mobile platform.
For this purpose, the utility model embodiment uses following technical scheme:
A kind of transmitting camera lens, comprising: along the optical shaping structure of the light direction of the launch setting of transmitting light source, the optics
Reshaping structure includes at least one cylindrical lenses, the columnar projections of the side setting of close transmitting light source on the cylindrical lenses
Length direction is vertical with the transmitting diverging direction of light beam, each adjacent two on the side of close transmitting light source on the cylindrical lenses
Link slot is smoothly connected between columnar projections, the transmitting light beam is in the setting angle of divergence and shape after optical shaping structure
Uniform beam.
As one of the preferred embodiments of the present invention, the angle of divergence of the transmitting light beam is P °, the transmitting light beam warp
It is in M ° of horizontal divergence angle, N ° of vertical divergence angle of uniform beam after optical shaping structure, wherein 0 < M <, 180,0 < N < 180,
0 < P < 180；
As P > M or P > N, convergent lens is additionally provided between transmitting light source and the cylindrical lenses.
As one of the preferred embodiments of the present invention, the surface of the columnar projections is even aspheric surface, the even
Aspherical surface equation is
,
Wherein R is the radius of curvature on the vertex of even aspheric surface, and the Y is continuous value variable, and the k is circular cone system
Number, wherein the value of R is normal number, and the value of k is constant, A2、A4、A6、A8Value be normal number.
As one of the preferred embodiments of the present invention, the value range of the R are as follows: 0 R≤4 <；The value model of the k
It encloses are as follows: -2≤k≤- 0.5, the A2、A4、A6And A8Value range be: 0≤A2≤ 7,0≤A4≤ 7,0≤A6≤ 7,0≤A8≤
7。
As one of the preferred embodiments of the present invention, R=1.5, the k=- 0.7, A2=0.323, the A4
=0.103, A6=0.085, A8=0.
As one of the preferred embodiments of the present invention, the optical shaping structure includes being arranged along the light direction of the launch
One cylindrical lenses, as P=M, it is described transmitting light source transmitting light beam after cylindrical lenses become horizontal divergence angle be P °,
The rectangular light beam that the vertical angle of divergence is N °；
As P=N, the transmitting light beam of the transmitting light source becomes horizontal divergence angle after cylindrical lenses and is M °, sends out vertically
Dissipate the rectangular light beam that angle is P °.
As one of the preferred embodiments of the present invention, the optical shaping structure includes being arranged along the light direction of the launch
Two cylindrical lenses, as P < M, P < N, the transmitting light beam of the transmitting light source becomes horizontal hair after the first cylindrical lenses
The rectangular light beam that scattered angle is P °, the vertical angle of divergence is N ° becomes horizontal divergence angle after the second cylindrical lenses and is M °, sends out vertically
Dissipate the rectangular light beam that angle is N °；
Alternatively, the transmitting light beam of the transmitting light source is M ° as horizontal divergence angle after the first cylindrical lenses, vertically
The rectangular light beam that the angle of divergence is P ° becomes the square that horizontal divergence angle is M °, the vertical angle of divergence is N ° after the second cylindrical lenses
Shaped light beam.
As one of the preferred embodiments of the present invention, as P > M > N, alternatively, when M < P < N, the optical shaping knot
Structure includes the convergent lens and a cylindrical lenses along the setting of the light direction of the launch, and the transmitting light beam of the transmitting light source is concentrated
Becoming the angle of divergence after lens is N ° of light beam, becomes that horizontal divergence angle is M °, the vertical angle of divergence is N ° after cylindrical lenses
Light beam.
As one of the preferred embodiments of the present invention, the concentrated lens post-concentration of transmitting light beam is horizontal divergence angle
S °, s ° of vertical divergence angle of light beam.
A kind of face battle array laser radar, including face battle array light trigger mechanism, Mian Zhen light receiver mechanism, master control borad, the face
Battle array light trigger mechanism includes transmitting light source, driving transmit circuit and above-mentioned transmitting camera lens, Mian Zhen light receiver mechanism
Including face battle array photoelectric chip and camera lens is received, the master control borad joint face battle array photoelectric chip, the face battle array photoelectric chip connection is driven
Dynamic transmit circuit.
The utility model additionally provides a kind of moveable platform, and the moveable platform includes the transmitting camera lens stated, and/
Or the face battle array laser radar.
The utility model has the advantages that setting of the utility model embodiment by cylindrical lenses, realizes equal for transmitting light beam light intensity
Even processing, and reliably collimated and spread, the integration of adaptability has been carried out to the shape of light beam, transmitting is adequately utilized
The luminous energy of light beam, the light Scan Architecture for solving mechanical laser radar is complicated, the low problem of refreshing frequency and common face
The emission system of battle array laser radar emits the non-uniform problem of light beam, improves the measurement accuracy and measurement efficiency of product, improves
The stability of product, reduces assembling difficulty, is convenient for product scale of mass production.
The utility model embodiment is equipped with by transmitting camera lens and face battle array photoelectric chip, so that transmitting light source issues
Light beam become after emitting camera lens with the uniform divergent beams that match of face battle array photoelectric chip, uniform fold measured zone,
It is corresponded to after the barrier reflection in measured zone even into face battle array photoelectric chip, so that the light of face battle array photoelectric chip output
Electric signal is relatively sharp accurate, so that face battle array laser radar is more accurate to the barrier positioning in measured zone, improves sharp
The ranging stability of optical radar, reduces assembling product difficulty, is suitable for volume production.
Detailed description of the invention
Fig. 1 is the horizontal direction top view for the transmitting camera lens that the utility model embodiment 1 provides.
Fig. 2 is the vertical direction side view for the transmitting camera lens that the utility model embodiment 1 provides.
Fig. 3 is the structure chart for the cylindrical lenses that the utility model embodiment 1 provides.
Fig. 4 is columnar projections and connecting groove structure schematic diagram in the cylindrical lenses of the offer of the utility model embodiment 1.
Fig. 5 is the structural schematic diagram for the face battle array laser radar that the utility model embodiment 1 provides.
Fig. 6 is the explosive view for the face battle array laser radar that the utility model embodiment 1 supplies.
Fig. 7 is the cross-sectional view for the face battle array laser radar that the utility model embodiment 1 supplies.
In figure:
1, emit camera lens；2, transmit circuit plate；3, emit light source；4, master control borad；5, face battle array photoelectric chip；6, mirror is received
Head；7, air plug plate；8, front cover；9, rear cover；11, cylindrical lenses；12, convergent lens；21, installation through-hole；22, cooling fin；61, mirror
Cylinder；62, receiving lens；63, diaphragm is received；81, receiving panel；82, frame is pressed；101, upper radiating fin；102, lower heat radiating fin
Piece；111, columnar projections；112, link slot.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
The utility model embodiment provides a kind of transmitting camera lens, as shown in Figure 1, comprising: along the light hair of transmitting light source 3
The optical shaping structure of direction setting is penetrated, the optical shaping structure includes at least one cylindrical lenses 11, as shown in figure 4, institute
It states on cylindrical lenses 11 close to the diverging of the length direction and transmitting light beam of the columnar projections 111 of the side setting of transmitting light source 3
Direction is vertical, smooth between each adjacent two columnar projections 111 on the side of collimation lens 12 on the cylindrical lenses 11
It is connected with link slot 112, the transmitting light beam is after optical shaping structure in the uniform beam of the setting angle of divergence and shape.
By the setting of cylindrical lenses 11, the transmitting light beam light intensity uniform of light source sending will be emitted by realizing, reliably
Collimation and diffusion, and the integration of adaptability has been carried out to the shape of light beam, the luminous energy of transmitting light beam is adequately utilized, solves
The light Scan Architecture of mechanical laser radar is complicated, the low problem of refreshing frequency, and the transmitting of common face battle array laser radar
The problem of light beam light intensity is uneven, cannot reach the setting angle of divergence and setting launch spot shape, the measurement for improving product is quasi-
Degree and measurement efficiency, improve the stability of product, reduce assembling difficulty, are convenient for product scale of mass production.
The angle of divergence of the transmitting light beam is P °, and the transmitting light beam of the transmitting light source 3 is in water after optical shaping structure
M ° of the flat angle of divergence, N ° of vertical divergence angle of uniform beam.Wherein, 0 < M <, 180,0 < N <, 180,0 < P < 180.Such as Fig. 2-3
It is shown, as P > M or P > N, convergent lens 12 is additionally provided between the transmitting light source 3 and cylindrical lenses 11.As P < M
Or when P < N, the optical shaping structure includes the 1 or 2 different cylindrical lenses 11 in diverging shaping direction.
Uniform intensity is being realized after cylindrical lenses 11 in order to guarantee to emit the transmitting light beam that light source issues, and according to setting
For fixed angle into being diffused, the surface of the columnar projections 111 is even aspheric surface, the surface equation of the even aspheric surface
For
,
Wherein R is the radius of curvature on the vertex of even aspheric surface, and the Y is continuous value variable, and the k is circular cone system
Number, wherein the value of R is normal number, and the value of k is constant, A2、A4、A6、A8Value be normal number.The column of even aspheric surface
The structure setting of shape protrusion 111, so that the light intensity of transmitting light beam is uniformly distributed after cylindrical lenses 11, and the hair of cone
Irradiating light beam becomes rectangular light beam after shaping, is more adapted to face battle array photoelectric chip 5.
In order to enable the beam divergence after cylindrical lenses 11 is more uniform, and light intensity is more uniformly spread, preferably
, the value range of the R are as follows: 0 R≤4 <；The value range of the k are as follows: -2≤k≤- 0.5, the A2、A4、A6And A8's
Value range is: 0≤A2≤ 7,0≤A4≤ 7,0≤A6≤ 7,0≤A8≤7.As one of optimal option, R=1.5, institute
State k=- 0.7, the A2=0.323, the A4=0.103, the A6=0.085, the A8=0。
In order to obtain by the transmitting camera lens 1 in M ° of horizontal divergence angle, N ° of vertical divergence angle of uniform beam, according to M,
The numerical value of N and P is different, and the quantity and set-up mode of cylindrical lenses 11 used by the transmitting camera lens 1 are also different.It is sent out in selection
When penetrating light source, in order to reduce the space hold of laser radar, preferably the angle of divergence is smaller or is closer to the setting angle of divergence and light intensity
More uniformly therefore transmitting light source in the measurement process of the face of progress battle array laser radar, emits the transmitting light beam of light source 3
When the angle of divergence is equal to horizontal divergence angle or the vertical divergence angle of the transmitting light beam after the shaping of setting, as shown in Figure 1, the light
Learning reshaping structure includes a cylindrical lenses 11 along light transmitting setting, as P=M, the transmitting light beam of the transmitting light source 3
Become the rectangular light beam that horizontal divergence angle is P °, the vertical angle of divergence is N ° after cylindrical lenses 11；As P=N, the transmitting
The transmitting light beam of light source 3 becomes the rectangular light beam that horizontal divergence angle is M °, the vertical angle of divergence is P ° after cylindrical lenses 11.
Emit light source 3 transmitting light beam the angle of divergence be less than setting shaping after transmitting light beam horizontal divergence angle or
When vertical divergence angle, the optical shaping structure includes two cylindrical lenses along the setting of the light direction of the launch, as P < M, P < N
When, the transmitting light beam of the transmitting light source 3 is P ° as horizontal divergence angle after the first cylindrical lenses 11, the vertical angle of divergence is
N ° of rectangular light beam becomes the rectangular light beam that horizontal divergence angle is M °, the vertical angle of divergence is N ° after the second cylindrical lenses 11；
It is M °, erects alternatively, the transmitting light beam in transmitting 3 source of light becomes horizontal divergence angle after the first cylindrical lenses 11
The rectangular light beam that the straight angle of divergence is P °, becomes that horizontal divergence angle is M °, the vertical angle of divergence is N ° after the second cylindrical lenses 11
Rectangular light beam.
Emit light source 3 transmitting light beam the angle of divergence be greater than setting shaping after transmitting light beam horizontal divergence angle or
It when vertical divergence angle, needs before shaping, angle of divergence adjustment, therefore, the transmitting light is carried out to the transmitting light beam of transmitting light source 3
Convergent lens 12 is additionally provided between source 3 and cylindrical lenses 11.As P > M >=N, alternatively, when M < P < N, as Figure 2-3, institute
Stating optical shaping structure includes the convergent lens 12 and a cylindrical lenses 11 along the setting of the light direction of the launch, the transmitting light source
Become the light beam that the angle of divergence is N ° after the 3 transmitting concentrated lens 12 of light beam, becomes horizontal divergence angle after cylindrical lenses 11
For M °, the vertical angle of divergence be N ° rectangular light beam.
Certainly, in the specific implementation, even if the angle of divergence of the transmitting light beam of transmitting light source 3 is less than the hair after the shaping of setting
The horizontal divergence angle of irradiating light beam or vertical divergence angle, through by cylindrical lenses after can still being assembled by convergent lens 12
11 pairs of transmitting light beams carry out optical shaping and make its optical power detection.
When it is implemented, the preferred VCSEL laser emitter of the transmitting light source 3, the transmitting of the VCSEL laser emitter
The angle of divergence of light beam is 25 °, the cooperation based on the needs and photoelectric chip for being applicable in scene, it is preferred that the M is 60, and the N is
4, the transmitting camera lens 1 includes the convergent lens 12 set gradually along the light direction of the launch and a cylindrical lenses 11, the hair
Concentrated 12 post-concentration of lens of transmitting light beam for penetrating light source 3 is horizontal divergence angle and the vertical angle of divergence is 4 ° of conical light
Beam is 60 ° becoming horizontal divergence angle after cylindrical lenses 11, the rectangular light beam for the uniform light intensity that the vertical angle of divergence is 4 °.
The length direction of the columnar projections 111 of the cylindrical lenses 11 is vertical with horizontal direction.
The utility model additionally provides a kind of face battle array laser radar, as illustrated in figs. 5-7, including face battle array light trigger mechanism,
Mian Zhen light receiver mechanism, master control borad 4, face battle array light trigger mechanism include transmitting light source 3, driving transmit circuit and described
Emit camera lens 1, Mian Zhen light receiver mechanism includes face battle array photoelectric chip 5 and reception camera lens 6,4 joint face of master control borad
Battle array photoelectric chip 5, the face battle array photoelectric chip 5 connection driving transmit circuit.The face battle array photoelectric chip 5 can be tested by it
The transmission power of the selection adjustment driving transmit circuit in region, the parameters such as tranmitting frequency and launch time.The driving transmitting electricity
Road is under the instruction of face battle array photoelectric chip according to the infrared light of the frequency transmitting setting wave band of setting, it is preferred that described infrared
Light is the infrared ray of 850nm wavelength, and the transmitting light source 3 is preferably VCSEL vertical cavity surface emitting laser, relative to LED
Light source has small in size, the high advantage of energy efficiency.The quantity of the transmitting light source 3 is at least one, according to different ranges
It can be adjusted correspondingly with the quantity of the power selection of transmitting light source 3, transmitting light source 3, it is preferred that the transmitting light source 3
It is eight, centered on the battle array photoelectric chip 5 of face, each 4 of left and right.
It is equipped with by transmitting camera lens 1 and face battle array photoelectric chip 5, so that the light beam that transmitting light source 3 issues is by hair
Penetrating after camera lens 1 becomes the uniform rectangular light beam to match with face 5 field of view of receiver angle of battle array photoelectric chip, uniform fold measured zone,
It is corresponded to after the barrier reflection in measured zone even into face battle array photoelectric chip 5, so that face battle array photoelectric chip 5 exported
Photosignal is relatively sharp accurate, so that face battle array laser radar is more accurate to the barrier positioning in measured zone, improves
The ranging stability of laser radar, reduces assembling product difficulty, is suitable for volume production.
After the transmitting light beam sending of the transmitting light source 3 after the barrier reflection in test zone, part the reflected beams
It is incident on face battle array photoelectric chip 5, in order to preferably filter the spuious light beam for being incident on face battle array photoelectric chip 5, so that being incident on face
Collimated stray light is not depleted after multiple reflections in the reflected beams on battle array photoelectric chip 5, reduces stray light
Interference improves the utilization efficiency for receiving light beam, reduces computational load, and the reception camera lens 6 includes lens barrel 61 and is arranged in lens barrel
Receiving lens 62 on 61, the outside of the receiving lens 62, which is also sealedly connected with, receives diaphragm 63, and the reception diaphragm 63 supports
It connects in receiving panel 81.The reception diaphragm 63 includes successively receiving on 5 direction of battle array photoelectric chip along from receiving lens 62 to face
The diaphragm ontology of contracting, the diaphragm body interior are arranged with the spuious photo structure that disappears, the spuious photo structure that disappears be optics step or
Diffusing reflection face.Further, the surface of the optics step is provided with diffusing reflection surface layer.
In order to eliminate and emit the incident ray of 3 different-waveband of light source, the noise of face battle array photoelectric chip 5, the mirror are reduced
61 sealed bottoms of cylinder are connected with the first optical filter, and first optical filter is band pass filter, and the bandpass filter is only allowed
Light of the wavelength in 850 ± 30nm passes through；The second optical filter is connected in the receiving panel 81 or is coated with filter coating, described
Perhaps filter coating only allows dominant wavelength station to pass through in the light of 700nm or more alternatively, second optical filter or filter to two optical filters
Light film only allows dominant wavelength station to pass through in 900nm light below.
It is occupied for the ease of the assembling and reduction structure space of Mian Zhen light receiver mechanism and face battle array light trigger mechanism, institute
It states launch driving circuit to be arranged on transmit circuit plate 2, installation through-hole 21, the transmitting is offered on the transmit circuit plate 2
Transmitting light source 3 is also connected on circuit board 2, the face battle array photoelectric chip 5 is connected on master control borad 4, the face battle array photoelectric chip 5
It is tightly connected and receives camera lens 6, the reception camera lens 6 is passed through from installation through-hole 21 and is connected in receiving panel 81.The reception
The structure that camera lens 6 is passed through from transmit circuit plate 2 both ensure that face battle array photoelectric chip 5 and transmitting light source 3 in the same plane, together
When reasonable utilization transmit circuit plate 2 and face battle array photoelectric chip 5 and master control borad 4 again space overlapping, while each circuit
It is separated with heat-dissipating space between going back between plate, improves radiating efficiency.Preferably, at least one described transmitting light source 3 and the face battle array
Photoelectric chip 5 is on same horizontal linear, to improve the transmitting light beam of the transmitting sending of light source 3 through the barrier in measured zone
Reflection after be incident on face battle array photoelectric chip 5 probability.
In order to guarantee that face battle array photoelectric chip 5 keeps a good operating status, the transmit circuit under temperature constant state
It is also connected with cooling fin 22 on plate 2, and offers light source through holes on the cooling fin 22 respectively, the transmitting light source 3 is fixed on
On transmit circuit plate 2, and stretched out from light source through holes.Preferably, the cooling fin 22 is graphite flake or graphene, and the heat dissipation
The whole side being covered on transmit circuit plate 2 close to front cover 8 of piece 22, so that heat caused by transmitting light source 3 is fast in time
The export of speed prevents from causing the photoelectric conversion efficiency decline of face battle array photoelectric chip 5 because heating is too fast inside the battle array laser radar of face,
Measurement data is caused therefore to generate error.
In order to further increase the radiating efficiency of face battle array laser radar, face battle array laser radar further include front cover 8 and with
The rear cover 9 that front cover 8 is tightly connected, the front cover 8 and rear cover 9 are sealed connected together by sealing strip.The front cover 8 and rear cover
9 top is provided with radiating fin 101, and the upper radiating fin 101 is penetrated through along the front-rear direction of the face battle array laser radar,
Preferably, and the upper radiating fin 101 along face battle array laser radar front-rear direction perforation wave-shaped.Upper radiating fin
101 structures wave-shaped, meet thermodynamics, improve the radiating efficiency of front cover 8 and rear cover 9.
The lower part of the front cover 8 and rear cover 9 is provided with lower radiating fin 102, and the lower radiating fin 102 is along the face battle array
The front-rear direction of laser radar penetrates through, it is preferred that the lower radiating fin 102 is in along the front-rear direction of the face battle array laser radar
Linear perforation, conducive to the rapid cooling of bottom.The structure that upper radiating fin 101 and lower radiating fin 102 match, so that face
The heat that battle array laser radar generates can be exported quickly and uniformly, especially descend the structure of radiating fin 102, solved face battle array and swashed
Optical radar is bonded with host computer during installation and the heat of bottom is caused not shed quickly, so that the entirety of face battle array laser radar
Heat dissipation is uneven, affects the job stability of face battle array photoelectric chip 5.In order to adapt to a variety of measurement environment, protection face battle array laser
The safety and stability of radar, the face battle array laser radar have the level of protection of IP65, IP67.
The receiving panel 81 and cylindrical lenses 11 are sealedly connected on front cover 8.For face battle array laser radar and host computer
Plug and play, operation and use are more convenient, air plug plate 7 are also connected on the master control borad 4, the air plug plate 7 passes through setting
Air plug interface on rear cover 9 connects host computer.
In order to further increase the radiating efficiency of face battle array laser radar, radiating block is additionally provided on the master control borad 4, it is described
Thermal vias is offered on air plug plate 7, the radiating block passes through thermal vias and is connected on rear cover 9.It is connected to master control borad 4, boat
Radiating block on plate 7 and rear cover 9, the heat that will be generated on master control borad 4 and air plug plate 7, conduction rapidly and efficiently to rear cover 9
Outside, and it is thermally conductive into air or other cooling mechanisms.
The utility model additionally provides a kind of moveable platform, and the moveable platform includes the transmitting camera lens.
The utility model additionally provides a kind of moveable platform, and the moveable platform includes the face battle array laser thunder
It reaches.The moveable platform can be the intelligent apparatus such as pilotless automobile, robot, unmanned plane.
In conclusion being realized by the structure setting of cylindrical lenses for emitting light beam uniform intensity, and carry out reliable
Collimation and diffusion, the integration of adaptability has been carried out to the shape of light beam, be adequately utilized transmitting light beam luminous energy, solve
The light Scan Architecture of mechanical laser radar is complicated, the low problem of refreshing frequency, and the transmitting of common face battle array laser radar
System emits the uniform problem of light beam light intensity, improves the measurement accuracy and measurement efficiency of product, improves the stability of product,
Assembling difficulty is reduced, product scale of mass production is convenient for.
It is equipped with by transmitting camera lens and face battle array photoelectric chip, so that the light beam that transmitting light source issues passes through transmitting mirror
Become the uniform divergent beams to match with face battle array photoelectric chip, uniform fold measured zone, by measured zone after head
It is corresponded to after barrier reflection even into face battle array photoelectric chip, so that the relatively sharp standard of photosignal of face battle array photoelectric chip output
Really, so that face battle array laser radar is more accurate to the barrier positioning in measured zone, the ranging for improving laser radar is stablized
Property, assembling product difficulty is reduced, is suitable for volume production.
Technical principle of the utility model has been described above with reference to specific embodiments.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on the explanation herein,
Those skilled in the art, which does not need to pay for creative labor, can associate with other specific implementation modes of this utility model,
These modes are fallen within the protection scope of the utility model.
Claims (10)
1. a kind of transmitting camera lens characterized by comprising along the optical shaping knot of the light direction of the launch setting of transmitting light source
Structure, the optical shaping structure include at least one cylindrical lenses, are arranged on the cylindrical lenses close to the side of transmitting light source
Columnar projections length direction with transmitting the diverging direction of light beam it is vertical, on the cylindrical lenses close to transmitting light source side
Link slot is smoothly connected between upper each adjacent two columnar projections, the transmitting light beam is after optical shaping structure in setting hair
Dissipate the uniform beam at angle and shape.
2. transmitting camera lens according to claim 1, which is characterized in that the angle of divergence of transmitting light beam that transmitting light source issues is
P °, the transmitting light beam is in M ° of horizontal divergence angle, N ° of vertical divergence angle of uniform beam, wherein 0 < after optical shaping structure
180,0 < N < of M <, 180,0 < P < 180；As P > M or P > N, also set up between transmitting light source and the cylindrical lenses
There is convergent lens.
3. transmitting camera lens according to claim 1 or 2, which is characterized in that the surface of the columnar projections is even aspheric
The surface equation in face, the even aspheric surface is
,
Wherein R is the radius of curvature on the vertex of even aspheric surface, and the Y is continuous value variable, and the k is circular cone coefficient,
Wherein, the value of R is normal number, and the value of k is constant, A2、A4、A6、A8Value be normal number.
4. transmitting camera lens according to claim 3, which is characterized in that the value range of the R are as follows: 0 R≤4 <；The k
Value range are as follows: -2≤k≤- 0.5, the A2、A4、A6And A8Value range be: 0≤A2≤ 7,0≤A4≤ 7,0≤A6≤
7,0≤A8≤7。
5. transmitting camera lens according to claim 4, which is characterized in that R=1.5, the k=- 0.7, the A2=
0.323, the A4=0.103, the A6=0.085, the A8=0。
6. transmitting camera lens according to claim 1, which is characterized in that the optical shaping structure includes along light launch party
To a cylindrical lenses of setting, as P=M, the transmitting light beam of the transmitting light source becomes horizontal divergence after cylindrical lenses
The rectangular light beam that angle is P °, the vertical angle of divergence is N °；
As P=N, it is M °, the vertical angle of divergence that the transmitting light beam of the transmitting light source becomes horizontal divergence angle after cylindrical lenses
For P ° of rectangular light beam.
7. transmitting camera lens according to claim 1, which is characterized in that the optical shaping structure includes along light launch party
To two cylindrical lenses of setting, as P < M, P < N, it is described transmitting light source transmitting light beam after the first cylindrical lenses at
For the rectangular light beam that horizontal divergence angle is P °, the vertical angle of divergence is N °, becoming horizontal divergence angle after the second cylindrical lenses is
M °, the rectangular light beam that the vertical angle of divergence is N °；
It is M °, dissipates vertically alternatively, the transmitting light beam of the transmitting light source becomes horizontal divergence angle after the first cylindrical lenses
The rectangular light beam that angle is P ° becomes the rectangular light that horizontal divergence angle is M °, the vertical angle of divergence is N ° after the second cylindrical lenses
Beam.
8. transmitting camera lens according to claim 2, which is characterized in that as P > M >=N, alternatively, when M < P < N, the light
Learning reshaping structure includes the convergent lens and a cylindrical lenses along the setting of the light direction of the launch, the transmitting light of the transmitting light source
Become the light beam that the angle of divergence is N ° after the concentrated lens of beam, becomes horizontal divergence angle after cylindrical lenses as M °, vertical diverging
The rectangular light beam that angle is N °.
9. a kind of face battle array laser radar, which is characterized in that including face battle array light trigger mechanism, Mian Zhen light receiver mechanism, master control
Plate, the face battle array light trigger mechanism include transmitting light source, driving transmit circuit and such as described in any item hairs of claim 1-8
Camera lens is penetrated, Mian Zhen light receiver mechanism includes face battle array photoelectric chip and reception camera lens, the master control borad joint face battle array photoelectricity
Chip, the face battle array photoelectric chip connection driving transmit circuit.
10. a kind of mobile platform, which is characterized in that the mobile platform includes such as the described in any item transmittings of claim 1-8
Camera lens；And/or battle array laser radar in face as claimed in claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820518071.4U CN208314203U (en) | 2018-04-12 | 2018-04-12 | A kind of transmitting camera lens, face battle array laser radar and mobile platform |
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| CN201820518071.4U CN208314203U (en) | 2018-04-12 | 2018-04-12 | A kind of transmitting camera lens, face battle array laser radar and mobile platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549085A (en) * | 2018-04-12 | 2018-09-18 | 北醒（北京）光子科技有限公司 | A kind of transmitting camera lens, face battle array laser radar and mobile platform |
| WO2021068724A1 (en) * | 2019-10-10 | 2021-04-15 | 深圳市速腾聚创科技有限公司 | Data transmission appparatus, lidar and smart device |
| CN112684470A (en) * | 2019-10-17 | 2021-04-20 | 科沃斯机器人股份有限公司 | Self-moving equipment |
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2018
- 2018-04-12 CN CN201820518071.4U patent/CN208314203U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549085A (en) * | 2018-04-12 | 2018-09-18 | 北醒（北京）光子科技有限公司 | A kind of transmitting camera lens, face battle array laser radar and mobile platform |
| CN108549085B (en) * | 2018-04-12 | 2024-03-19 | 北醒（北京）光子科技有限公司 | Transmitting lens, area array laser radar and mobile platform |
| WO2021068724A1 (en) * | 2019-10-10 | 2021-04-15 | 深圳市速腾聚创科技有限公司 | Data transmission appparatus, lidar and smart device |
| CN112684470A (en) * | 2019-10-17 | 2021-04-20 | 科沃斯机器人股份有限公司 | Self-moving equipment |
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