CN208520990U - Laser radar - Google Patents
Laser radar Download PDFInfo
- Publication number
- CN208520990U CN208520990U CN201821116896.XU CN201821116896U CN208520990U CN 208520990 U CN208520990 U CN 208520990U CN 201821116896 U CN201821116896 U CN 201821116896U CN 208520990 U CN208520990 U CN 208520990U
- Authority
- CN
- China
- Prior art keywords
- laser
- center hole
- detection
- unit
- detection unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of laser radar is disclosed in the embodiments of the present invention, the laser radar includes two or more detection units, and each detection unit includes: transmitter, for emitting shoot laser；Transmitting terminal collimation unit, the shoot laser issued for collimating the transmitter；Center hole reflecting mirror, including center hole and edge reflections mirror, for appearing the shoot laser after the collimation from the center hole；Galvanometer, for changing the direction of the shoot laser from the center hole.The scanning range of the utility model energy expansion of laser light radar, improves the resolution ratio and precision of laser radar.
Description
Technical field
The utility model relates to detection field, in particular to a kind of laser radar.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Laser radar generally includes transmitter, transmitting terminal optical unit, receiving end optical unit and receiver.According to transmitting
The relative position at end and receiving end optical axis, laser radar can be divided into off-axis and two kinds coaxial.Solid-state laser radar is laser thunder
The one kind reached, existing solid-state laser radar mainly uses off-axis scheme, but off-axis scheme also has biggish defect, such as
Field of view of receiver range is too big, and ambient noise is big, therefore for the more demanding of receiver, cost is also relatively high.In addition, solid-state swashs
The receiving end of optical radar generallys use single galvanometer to change the angle of shoot laser, since the scanning range of single galvanometer has
Limit, therefore the scanning range of solid-state laser radar in the prior art is also restricted.
Utility model content
A kind of laser radar is provided in the utility model embodiment, the scanning range of energy expansion of laser light radar improves and swashs
The resolution ratio and precision of optical radar.
In order to solve the above-mentioned technical problem, the utility model embodiment discloses following technical solution:
On the one hand, a kind of laser radar is provided, the laser radar includes two or more detection units, institute
Stating each detection unit includes:
Transmitter, for emitting shoot laser；
Transmitting terminal collimation unit, the shoot laser issued for collimating the transmitter；
Center hole reflecting mirror, including center hole and edge reflections mirror, for make the shoot laser after the collimation from
The center hole appears；
Galvanometer, for changing the direction of the shoot laser from the center hole.
Optionally, the galvanometer is also used to change the direction of reflection laser, after the shoot laser detected material reflection
Laser；
The center hole reflecting mirror is also used to reflect the reflection laser from the galvanometer from the edge reflections mirror；
Each detection unit further include:
Receiving end focusing unit, for focusing the shoot laser reflected by the center hole reflecting mirror；
Receiver, for receiving the shoot laser after receiving end focusing unit focusing.
Optionally, the detection unit further includes optical filter, the optical filter be set to the center hole reflecting mirror with
Between the receiving end focusing unit, for filtering off interference light.
Optionally, the angle between the primary optical axis of the different detection units and the galvanometer axis is different.
Optionally, the detection range of any detection unit connects with the detection range of neighbouring detecting elements；
The detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
Range.
Optionally, the detection range of any detection unit and the detection range of neighbouring detecting elements partially overlap；
The detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
Range.
A kind of laser radar, including two or more detection units are disclosed in the embodiments of the present invention,
Each detection unit includes: transmitter, for emitting shoot laser；Transmitting terminal collimation unit, for collimating the transmitting
The shoot laser that device issues；Center hole reflecting mirror, including center hole and edge reflections mirror, for making going out after the collimation
Laser is penetrated to appear from the center hole；Galvanometer, for changing the direction of the shoot laser from the center hole.This is practical
In new embodiment, multiple transmitters are used, the scanning range of laser radar can be increased, meanwhile, the utility model is implemented
Center hole reflecting mirror is used in example, shoot laser is reflected by center hole, reflection laser by edge reflections mirror, so that reflection
Optical path and emitting light path are coaxial, and ambient noise is smaller, reduce the requirement to receiver, and the noise of laser radar can be improved
Than.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 show the schematic diagram of the center hole reflecting mirror of the utility model embodiment；
Fig. 2 show the structural schematic diagram of the laser radar of the utility model embodiment；
Fig. 3 show the structural schematic diagram of the laser radar of the utility model embodiment；
Fig. 4, which is shown, takes the photograph remote formula structural schematic diagram；
Fig. 5 show the schematic diagram of the laser radar detection range of the utility model embodiment；
Fig. 6 show the schematic diagram of the laser radar detection range of the utility model embodiment.
Specific embodiment
The utility model following examples provide a kind of laser radar, and the scanning range of energy expansion of laser light radar improves
The resolution ratio and precision of laser radar.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clear, complete description, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Before the laser radar that the utility model embodiment is described in detail, first illustrate that the utility model center hole reflects
The structure and principle of mirror.Fig. 1 show the schematic diagram of the center hole reflecting mirror of the utility model embodiment.
As shown in Figure 1, center hole reflecting mirror includes center hole 110 and edge reflections mirror 120, the outgoing after collimation swashs
Light is more concentrated, and can be projected from center hole 110；The galvanometer for adjusting laser radar, can make reflection laser anti-by edge
Penetrate the reflection of mirror 120.Adjust center hole reflecting mirror normal and horizontal plane angle, adjustable reflection laser with it is anti-by edge
The angle between the laser after mirror 120 reflects is penetrated, as shown in Figure 1, the normal of center hole reflecting mirror and horizontal plane are at 45 degree
When, reflection laser and by edge reflections mirror 120 reflect after laser between be 90 degree.
For ease of description, the portions in phantom that reflection laser is blocked by edge reflections mirror 120 indicates.
Illustrate the laser radar of the utility model embodiment below with reference to Fig. 1.Fig. 2 show the utility model embodiment
Laser radar structural schematic diagram, as shown in Fig. 2, the laser radar includes two or more detection units 200,
3 detection units are shown in Fig. 2.
Each detection unit 200 includes:
Transmitter 210, for emitting shoot laser；
Transmitting terminal collimation unit 220, the shoot laser issued for collimating the transmitter；
Center hole reflecting mirror 230, including center hole and edge reflections mirror, for making the shoot laser after the collimation
It is appeared from the center hole；
Galvanometer 240, for changing the direction of the shoot laser from the center hole.
In utility model embodiment, transmitting terminal collimation unit 220 can be the lens group of lens or multiple lens composition.
In the utility model embodiment, transmitter 210 emits shoot laser, after emitted end collimation unit 220, therefrom
The center hole of heart circular hole reflecting mirror 230 appears, which is used to detect testee after changing direction by galvanometer 140.
In the utility model embodiment, galvanometer 240 can be MEMS (Micro-Electro-Mechanical System,
MEMS) galvanometer or other mechanical, electronic type galvanometers.
In the utility model embodiment, multiple transmitters are used, the scanning range of laser radar can be increased, meanwhile,
Using from center hole reflecting mirror in the utility model embodiment, reflected light path and emitting light path are coaxial, and ambient noise is smaller, drop
The low requirement to receiver, can be improved the signal-to-noise ratio of laser radar, in addition, the utility model can also increase swashing for transmission
Optical power improves the resolution ratio and precision of laser radar.
Fig. 3 show the structural schematic diagram of the laser radar of the utility model embodiment, as shown in figure 3, the laser thunder
It include two or more detection units 200 up to including, each detection unit 200 includes transmitter 210, transmitting terminal
Collimation unit 220, center hole reflecting mirror 230 and galvanometer 240.
Unit identical with label in Fig. 2 has the same or similar function in Fig. 3, and details are not described herein.
In the utility model embodiment, the galvanometer 240 is also used to change the direction of reflection laser, the shoot laser quilt
Laser after detectable substance reflection；
The center hole reflecting mirror 230, which is also used to reflect the reflection from the galvanometer from the edge reflections mirror, to swash
Light；
Each detection unit 200 further include:
Receiving end focusing unit 250, for focusing the shoot laser reflected by the center hole reflecting mirror；
Receiver 260, for receiving the shoot laser after receiving end focusing unit focusing.
The primary optical axis of the transmitting terminal of detection unit 200 may be considered the corresponding transmitting terminal collimation unit of the detection unit
220 primary optical axis, the primary optical axis of receiving end may be considered the primary optical axis of receiving end focusing unit 250.
In laser radar shown in Fig. 3, because using center hole reflecting mirror 230, lead to transmitting terminal as shown in Figure 2
It is vertical on the primary optical axis of collimation unit 220 and the primary optical axis surface of receiving end focusing unit 250, but is come with optical domain
Say, shoot laser with incident laser be it is parallel, center hole reflecting mirror 230 be only changed in a manner of refraction reflection penetrate it is sharp
The direction of light does not change the primary optical axis of receiving end focusing unit 250 and the parallel shape of 220 primary optical axis of transmitting terminal collimation unit
State, so the transmitting terminal of the laser radar of the utility model and receiving end are coaxial.
In the utility model embodiment, receiver 260 can be APD, monochromatic light sub-receiver under APD, PIN, Geiger mode,
The silicon photoelectricity such as avalanche photodide APD, MPPC (Multi Pixel Photon Counters, silicon photomultiplier), SiPM
Multiplier, or can be the receiver of the single or multiple array composition of above-mentioned function element.
In the utility model embodiment, after reflection laser changes direction by galvanometer 240, by center hole reflecting mirror 230
The refraction of edge reflections mirror is received after refractive laser receiving end focusing unit 250 collimates by receiver 260.
In the utility model embodiment, shoot laser is launched after the collimation of collimation unit 220 of end, and beam diameter compares
It is small, it is believed that whole shoot lasers are all appeared from the center hole of center hole reflecting mirror 230；Center hole reflecting mirror 230
Edge reflections mirror area be greater than center hole can also be by edge reflections mirror although reflection laser light beam more dissipates
Reflection.
In the laser radar of the utility model embodiment, due to using center hole reflecting mirror 230, transmitting terminal can be with
Think not to be lost, also very little is lost in receiving end, therefore smaller to requirements such as the sensitivity of receiver, improves laser radar
Resolution ratio and precision.
In the utility model embodiment, the detection unit further includes optical filter 270, and the optical filter 270 is set to institute
It states between center hole reflecting mirror 230 and the receiving end focusing unit 250, for filtering off interference light.Interference light can be this
Light other than the wave band that the transmitter of utility model embodiment uses, to reduce noise.
In the utility model embodiment, the receiving end focusing unit is lens group, and the lens group includes one just saturating
Microscope group and a negative lens group.Above-mentioned focusing unit may be constructed one and take the photograph remote type structure.
System overall length can be effectively reduced when overall focal distance ratio is longer by taking the photograph remote formula structure.Remote formula structure is taken the photograph as schemed
Shown in 4.
In the utility model embodiment, the angle between the primary optical axis of the different detection units and the galvanometer axis is not
Together.
In the utility model embodiment, the detection range of any detection unit and the detection range of neighbouring detecting elements
Connect；
The detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
Range.
The detection range of any detection unit and the detection range of neighbouring detecting elements partially overlap；
The detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
Range.
Fig. 5 show the schematic diagram of the laser radar detection range of the utility model embodiment.
In embodiment shown in fig. 5, the detection range of any detection unit connects with the detection range of neighbouring detecting elements；
The detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
Range.
The detection range of 3 detection units, respectively 501,502 and 503, as shown in figure 5,501 and are shown in Fig. 5
502 connect, and 502 and 503 connect.
Any detection range connects with adjacent detection range, is equivalent to the overall detection range for expanding laser radar.
Fig. 6 show the schematic diagram of the laser radar detection range of the utility model embodiment.
In embodiment shown in fig. 6, the detection range of any detection unit and the detection range of neighbouring detecting elements
It partially overlaps；
The detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
Range.
The detection range of 3 detection units, respectively 501,502 and 503, as shown in figure 5,501 and are shown in Fig. 6
502 partially overlap, and 502 and 503 partially overlap.
Ideally, the detection range phase of the detection range of any detection unit of laser radar and neighbouring detecting elements
Connect, can expansion of laser light radar as much as possible whole detection range, but in practical application, detection range and adjacent detection model
It can overlap between enclosing, to guarantee certain amount of redundancy, guarantee will not have blank that can not be detected in whole detection range
The region arrived, and the part detection range being overlapped can be compensated in follow-up data processing with algorithm.
In Fig. 6, in order to give expression to the partly overlapping effect of detection range, the corresponding detection range of different detection units is most
Remote detecting distance is different, in fact, difference detection is single in detection unit in the identical situation of same functional unit basic parameter
The maximum distance of the corresponding detection range of member is essentially identical.In the utility model other embodiments, add deduct to increase
The resolution ratio or precision of small specific region, may adjust the parameter of each functional unit in detection unit, so that different detections are single
The maximum distance of the corresponding detection range of member is different.
A kind of laser radar is disclosed in the embodiments of the present invention, the laser radar includes two or more
Detection unit, including two or more detection units, each detection unit includes: transmitter, for emitting
Shoot laser；Transmitting terminal collimation unit, the shoot laser issued for collimating the transmitter；Center hole reflecting mirror, including
Center hole and edge reflections mirror, for appearing the shoot laser after the collimation from the center hole；Galvanometer, for changing
Become the direction of the shoot laser from the center hole.In the utility model embodiment, multiple transmitters, Ke Yizeng are used
Add the scanning range of laser radar, meanwhile, center hole reflecting mirror is used in the utility model embodiment, during shoot laser passes through
Heart circular hole, reflection laser are reflected by edge reflections mirror, so that reflected light path and emitting light path are coaxial, ambient noise is smaller, are reduced
Requirement to receiver, can be improved the signal-to-noise ratio of laser radar.
Those skilled in the art can be understood that the technology in the utility model embodiment can add by software
The mode of required common hardware realizes that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal element
Device etc., naturally it is also possible to by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc.
It realizes, but the former is more preferably embodiment in many cases.Based on this understanding, the skill in the utility model embodiment
Substantially the part that contributes to existing technology can be embodied in the form of software products art scheme in other words, the calculating
Machine software product can store in storage medium, as read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disk, CD etc., including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes each embodiment of the utility model or embodiment
Method described in certain parts.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
Above-described the utility model embodiment, does not constitute the restriction to scope of protection of the utility model.It is any
Modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in the utility model
Protection scope within.
Claims (6)
1. a kind of laser radar, which is characterized in that the laser radar includes two or more detection units, described every
A detection unit includes:
Transmitter, for emitting shoot laser；
Transmitting terminal collimation unit, the shoot laser issued for collimating the transmitter；
Center hole reflecting mirror, including center hole and edge reflections mirror, for making the shoot laser after the collimation from described
Center hole appears；
Galvanometer, for changing the direction of the shoot laser from the center hole.
2. laser radar as described in claim 1, which is characterized in that the galvanometer is also used to change the direction of reflection laser,
Laser after the shoot laser detected material reflection；
The center hole reflecting mirror is also used to reflect the reflection laser from the galvanometer from the edge reflections mirror；
Each detection unit further include:
Receiving end focusing unit, for focusing the shoot laser reflected by the center hole reflecting mirror；
Receiver, for receiving the shoot laser after receiving end focusing unit focusing.
3. laser radar as claimed in claim 2, which is characterized in that the detection unit further includes optical filter, the optical filtering
Piece is set between the center hole reflecting mirror and the receiving end focusing unit, for filtering off interference light.
4. laser radar as described in any one of claims 1 to 3, which is characterized in that the primary optical axis of the different detection units
Angle between the galvanometer axis is different.
5. laser radar as claimed in claim 4, which is characterized in that the detection range and adjacent inspection of any detection unit
The detection range for surveying unit connects；
The model that the detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
It encloses.
6. laser radar as claimed in claim 4, which is characterized in that the detection range and adjacent inspection of any detection unit
The detection range for surveying unit partially overlaps；
The model that the detection range of the detection unit is covered after galvanometer changes direction by the shoot laser of the detection unit
It encloses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821116896.XU CN208520990U (en) | 2018-07-13 | 2018-07-13 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821116896.XU CN208520990U (en) | 2018-07-13 | 2018-07-13 | Laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208520990U true CN208520990U (en) | 2019-02-19 |
Family
ID=65335924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821116896.XU Active CN208520990U (en) | 2018-07-13 | 2018-07-13 | Laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208520990U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108761425A (en) * | 2018-07-13 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN111681426A (en) * | 2020-02-14 | 2020-09-18 | 深圳市美舜科技有限公司 | Method for perception and evaluation of traffic safety road conditions |
-
2018
- 2018-07-13 CN CN201821116896.XU patent/CN208520990U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108761425A (en) * | 2018-07-13 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN111681426A (en) * | 2020-02-14 | 2020-09-18 | 深圳市美舜科技有限公司 | Method for perception and evaluation of traffic safety road conditions |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7515545B2 (en) | Integrated illumination and detection for LIDAR-based 3D imaging - Patent Application 20070123633 | |
| US9329080B2 (en) | Modular optics for scanning engine having beam combining optics with a prism intercepted by both beam axis and collection axis | |
| US7834984B2 (en) | Device for optical distance measurement | |
| CN106338725A (en) | Optical module for low cost laser distance measurement | |
| CN106772315A (en) | Multi-beam scanning apparatus and multibeam scanning method | |
| CN206411262U (en) | Multi-beam scanning apparatus | |
| KR102263183B1 (en) | Lidar device | |
| CN210142187U (en) | Distance detection device | |
| JP6833924B2 (en) | Photoelectric sensor and object detection method | |
| CN107015237A (en) | A kind of sounding optical system | |
| US12092737B2 (en) | Distance detection apparatuses | |
| CN108445497A (en) | Laser radar and laser radar control method | |
| CN112596230B (en) | Light path system for photoelectric tracking active chromatographic illumination | |
| JP6892734B2 (en) | Light wave distance measuring device | |
| CN208520990U (en) | Laser radar | |
| CN109001747A (en) | A kind of non-blind area laser radar system | |
| CN101458330A (en) | Laser rangefinder | |
| CN108761425A (en) | Laser radar and laser radar control method | |
| CN108051796A (en) | A kind of miniaturization coaxial-type laser radar system based on TOF | |
| CN110832347B (en) | Focal zone optical element for high performance optical scanner | |
| CN110531369A (en) | A kind of solid-state laser radar | |
| CN206960659U (en) | A kind of sounding optical system | |
| CN111766588A (en) | Panoramic laser radar | |
| CN207851294U (en) | Laser radar | |
| US7826039B2 (en) | Target acquisition device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |