CN209514054U - Miniaturization coaxial-type laser radar system based on TOF - Google Patents
Miniaturization coaxial-type laser radar system based on TOF Download PDFInfo
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- CN209514054U CN209514054U CN201821992041.3U CN201821992041U CN209514054U CN 209514054 U CN209514054 U CN 209514054U CN 201821992041 U CN201821992041 U CN 201821992041U CN 209514054 U CN209514054 U CN 209514054U
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- laser
- radar system
- system based
- transmission circuit
- mould group
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Abstract
The utility model relates to civilian two-dimensional laser radar system technical fields, in particular to a kind of miniaturization coaxial-type laser radar system based on TOF, including Laser emission mould group, scanning platform, information processing unit and laser pick-off mould group, the Laser emission mould group includes laser transmission circuit and laser emitter, laser transmission circuit is connect with laser emitter, the first condenser lens obliquely installed is equipped in the surface of laser emitter, the scanning platform is located at the top etc. of the first condenser lens.The utility model can give full play to the feature that TOF ranging is remote, angular resolution is high, space can more effectively be utilized, it is compact-sized, it is able to achieve high speed, high-resolution, using scanning form remote in close, it can be with effective solution aperture effect, range hole, while path adjustable optical are eliminated, ranging has higher accuracy, dynamic balance adjustment, high-frequency have smaller torque.
Description
Technical field
It is the utility model relates to civilian two-dimensional laser radar system technical field, in particular to a kind of based on the small-sized of TOF
Change coaxial-type laser radar system.
Background technique
Laser radar is widely used in Scanning Detction target obstacle or generates the point cloud data of space object, as one kind
High-precision sensor is widely used in the fields such as sweeping robot, AVG commercial service robot.
By taking 2D laser radar currently on the market as an example, the substantially composition and working principle of 2D laser radar are described, i.e.,
Laser diode transmitting beam of laser is received after target reflects by laser pickoff, and laser pickoff accurately measures light arteries and veins
Rush time between Laser emission to laser pick-off, multiplied by light beam can measure between target context and sensor away from
From.
Existing 2D laser radar has range of triangle, phase shift rangefinder, TOF measurement, and wherein TOF measurement has ranging remote,
The features such as azimuth resolution is high, but current market mostly uses transmitting and the reception side of being parallel to each other based on the laser radar of TOF measurement
Formula, since aperture effect has certain blind area.
Summary of the invention
For the above technical problems, the purpose of this utility model is: it is same to provide a kind of miniaturization based on TOF
Shaft type laser radar system, to solve the above problems.
The technical solution of the utility model is realized by following technical measures: a kind of miniaturization based on TOF is same
Shaft type laser radar system, including Laser emission mould group, scanning platform, information processing unit and laser pick-off mould group, it is described to swash
Light emitting mould group includes laser transmission circuit and laser emitter, and laser transmission circuit is connect with laser emitter, is sent out in laser
The surface of emitter is equipped with the first condenser lens obliquely installed, and the scanning platform is located at the upper of the first condenser lens
Side, scanning platform can be along its axial 360 ° of rotations to swash for receiving laser emitter through what the first condenser lens was launched
Light, the laser pick-off mould group receive scanning platform and are reflected into target and through the reflected laser of target, the information processing
Device is connect with laser transmission circuit and laser pick-off mould group respectively.
Here is the further optimization or/and improvement to above-mentioned utility model technical solution:
Preferably, information processing unit includes microcontroller, timing module, Keysheet module and external interface, timing module,
Keysheet module, external interface are connect with microcontroller, and microcontroller is connect with laser transmission circuit, for electric to Laser emission
Road sends trigger signal.
Preferably, the laser pick-off mould group includes galilean telescope system, narrow band filter, the second collector lens, narrow
The front of the second collector lens is fixedly mounted on optical filter, galilean telescope system is connect with microcontroller, the narrowband
The bandwidth of filter plate is less than 10nm；The multiplying power of galilean telescope system is 2-3 times.
Preferably, scanning platform includes pedestal, scanning reflection mirror, rotary encoder and optoelectronic switch and for driving bottom
The motor of seat rotation, scanning reflection mirror are obliquely fixedly mounted on pedestal, and rotary encoder is connected to motor for controlling
The rotation speed of scanning platform processed, rotary encoder are connect with optoelectronic switch.
Preferably, the laser emitter is pulse type laser diode PLD, and its pulse frequency is not less than 18KHz,
Peak pulse power is not less than 50W.
It preferably, further include power management module, the power management module is respectively to microcontroller, laser transmission circuit
Working power is provided with scanning platform.
The utility model is focused back reflection by the first condenser lens by laser generator injection laser and goes out, and leads to
The rotation that motor driven pedestal carries out 360 ° is crossed, the laser that the first condenser lens is launched is emitted to week by scanning reflection mirror again
360 ° of ranges are enclosed, laser encounters target object reflection laser, and the laser of reflection is scanned reflecting mirror and receives, it is reflected into TR prism,
TR prismatic reflection is to laser pick-off mould group, the effect of aperture brought by parallel optical axis when can effectively solve the problem that existing laser transmitting-receiving
Problem is answered, the feature that TOF ranging is remote, angular resolution is high can be given full play to, can more effectively utilize space, compact-sized, energy
It realizes high speed, high-resolution, using scanning form remote in close, range hole can be eliminated, together with effective solution aperture effect
When path adjustable optical, ranging have higher accuracy, dynamic balance adjustment, high-frequency have smaller torque.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of the utility model.
Attached drawing 2 is the electric control block diagram of the utility model.
Number in attached drawing is respectively as follows: 1, Laser emission mould group, 2, scanning platform, 3, information processing unit, and 4, laser connects
Mould group is received, the 5, first condenser lens, 6, narrow band filter, the 7, second collector lens, 8, pedestal, 9, scanning reflection mirror, 10 be electricity
Source control module.
Specific embodiment
The utility model is not limited by the following example, can technical solution according to the present utility model and actual conditions
Determine specific embodiment.
The utility model is further described below with reference to examples and drawings:
As shown in Figure 1, 2, a kind of miniaturization coaxial-type laser radar system based on TOF, including Laser emission mould group 1,
Scanning platform 2, information processing unit 3 and laser pick-off mould group 4, the Laser emission mould group 1 include laser transmission circuit and swash
Optical transmitting set, laser transmission circuit are connect with laser emitter, are equipped in the surface of laser emitter and are obliquely installed
First condenser lens 5, the scanning platform 2 are located at the top of the first condenser lens 5, and scanning platform 2 can be 360 ° axial along it
The laser to launch for receiving laser emitter through the first condenser lens 5 is rotated, the laser pick-off mould group 4 receives scanning
Platform 2 is reflected into target and through the reflected laser of target, the information processing unit 3 respectively with laser transmission circuit and swash
Light-receiving mould group 4 connects.
TR prism in the prior art can be used in above-mentioned first condenser lens 5.The inclination when installation of the first condenser lens 5
Angle can be 45 °.The working principle of the utility model is swashed using the two dimension of pulse laser time-of-flight method progress laser ranging
Optical radar works.
The course of work of the utility model is: after laser generator injection laser is focused by the first condenser lens 5
It reflects away, 360 ° of rotation, the laser that scanning reflection mirror launches the first condenser lens is carried out by motor driven pedestal
It is emitted to 360 ° of ranges around again, laser encounters target object reflection laser, and the laser of reflection is scanned reflecting mirror and receives, instead
It is mapped to TR prism, TR prismatic reflection to laser pick-off mould group can effectively solve the problem that parallel optical axis institute when existing laser transmitting-receiving
Bring aperture effect problem, can give full play to the feature that TOF ranging is remote, angular resolution is high, can more effectively utilize space,
It is compact-sized, it is able to achieve high speed, high-resolution, using scanning form remote in close, can be eliminated with effective solution aperture effect
Range hole, while path adjustable optical, ranging have higher accuracy, dynamic balance adjustment, and high-frequency has smaller torque.
It can be further to a kind of above-mentioned miniaturization coaxial-type laser radar system progress based on TOF according to actual needs
Optimization or/and improvement:
As shown in attached drawing 1,2, information processing unit includes microcontroller, timing module, Keysheet module and external interface, meter
When module, Keysheet module, external interface connect with microcontroller, microcontroller is connect with laser transmission circuit, for swashing
Optical transmission circuit sends trigger signal.
It is above-mentioned according to actual needs, the light that can will be focused by the first condenser lens 5 is by photoelectric device, electric current
After the processing of voltage conversion circuit and filtering shaping circuit, transmitting to timing module records initial time.
Above-mentioned Keysheet module can be used as function button, be used for microcontroller input data；USB can be used in external interface
Turn the interface unit of serial ports, to realize the interaction for carrying out data with external environment.Timing module is used for recording laser transmit circuit
When launching the initial time of laser and the end time of the received transmitting laser of laser pick-off mould group after being triggered, and will start
Between and the end time be respectively sent to microcontroller.
As shown in Figure 1, 2, the laser pick-off mould group includes that galilean telescope system, narrow band filter 6, the second optically focused are saturating
Mirror 7, narrow band filter 6 are fixedly mounted on the front of the second collector lens 7, and galilean telescope system is connect with microcontroller,
The bandwidth of the narrow band filter slice 6 is less than 10nm；The multiplying power of galilean telescope system is 2-3 times.
Above-mentioned galilean telescope system may include photoelectric device, pre-amplifying module, the main amplification module of filtering as needed
With moment identification module, handle and will be sent to finish time for realizing the laser for receiving the second collector lens 7
Timing module.
As shown in Figure 1, 2, scanning platform includes pedestal 8, scanning reflection mirror 9, rotary encoder and optoelectronic switch and use
In the motor of driving pedestal rotation, scanning reflection mirror 9 is obliquely fixedly mounted on pedestal 8, and rotary encoder and motor connect
It connects with the rotation speed for controlling scanning platform, rotary encoder is connect with optoelectronic switch.
Above-mentioned rotary encoder is the device for measuring revolving speed and PWM technology being cooperated to may be implemented quickly to adjust the speed, light
The mechanical quantities such as the angular displacement of output shaft, angular speed can be converted into corresponding electric arteries and veins by photoelectric conversion by electric-type rotary encoder
Punching is with digital output.The motor for driving pedestal 8 to rotate in scanning platform can be hollow brushless motor.
As needed, the laser emitter is pulse type laser diode PLD, and its pulse frequency is not less than 18KHz,
Its peak pulse power is not less than 50W.
As shown in Figure 1, further including power management module 10, the power management module 10 is respectively to microcontroller, laser
Transmit circuit and scanning platform provide working power.
The above technical characteristic constitutes the optimal embodiment of the utility model, with stronger adaptability and optimal reality
Effect is applied, non-essential technical characteristic can be increased or decreased, according to actual needs to meet the needs of different.
Claims (10)
1. a kind of miniaturization coaxial-type laser radar system based on TOF, it is characterised in that flat including Laser emission mould group, scanning
Platform, information processing unit and laser pick-off mould group, the Laser emission mould group include laser transmission circuit and laser emitter, are swashed
Optical transmission circuit is connect with laser emitter, is equipped with first obliquely installed in the surface of laser emitter and is focused thoroughly
Mirror, the scanning platform are located at the top of the first condenser lens, and scanning platform can be along its axial 360 ° of rotation for receiving
The laser that laser emitter is launched through the first condenser lens, the laser pick-off mould group receive scanning platform and are reflected into target simultaneously
Through the reflected laser of target, the information processing unit is connect with laser transmission circuit and laser pick-off mould group respectively.
2. a kind of miniaturization coaxial-type laser radar system based on TOF according to claim 1, it is characterised in that information
Processing unit includes microcontroller, timing module, Keysheet module and external interface, and timing module, Keysheet module, external interface are equal
It is connect with microcontroller, microcontroller is connect with laser transmission circuit, for sending trigger signal to laser transmission circuit.
3. a kind of miniaturization coaxial-type laser radar system based on TOF according to claim 1, it is characterised in that described
Laser pick-off mould group includes galilean telescope system, narrow band filter, the second collector lens, and narrow band filter is fixedly mounted on
The front of two collector lenses, galilean telescope system are connect with microcontroller, and the bandwidth of the narrow band filter slice is less than 10nm；
The multiplying power of galilean telescope system is 2-3 times.
4. a kind of miniaturization coaxial-type laser radar system based on TOF according to any one of claims 1 to 3, special
Sign is that scanning platform includes pedestal, scanning reflection mirror, rotary encoder and optoelectronic switch and for driving pedestal to rotate
Motor, scanning reflection mirror are obliquely fixedly mounted on pedestal, and rotary encoder is connected to motor with flat for controlling scanning
The rotation speed of platform, rotary encoder are connect with optoelectronic switch.
5. a kind of miniaturization coaxial-type laser radar system based on TOF according to any one of claims 1 to 3, special
Sign is that the laser emitter is pulse type laser diode PLD, and its pulse frequency is not less than 18KHz, peak pulse
Power is not less than 50W.
6. a kind of miniaturization coaxial-type laser radar system based on TOF according to claim 4, it is characterised in that described
Laser emitter is pulse type laser diode PLD, and its pulse frequency is not less than 18KHz, and peak pulse power is not less than
50W。
7. a kind of miniaturization coaxial-type laser radar system based on TOF according to any one of claims 1 to 3, special
Sign is to further include power management module, and the power management module is flat to microcontroller, laser transmission circuit and scanning respectively
Platform provides working power.
8. a kind of miniaturization coaxial-type laser radar system based on TOF according to claim 4, it is characterised in that also wrap
Power management module is included, the power management module provides work to microcontroller, laser transmission circuit and scanning platform respectively
Power supply.
9. a kind of miniaturization coaxial-type laser radar system based on TOF according to claim 5, it is characterised in that also wrap
Power management module is included, the power management module provides work to microcontroller, laser transmission circuit and scanning platform respectively
Power supply.
10. a kind of miniaturization coaxial-type laser radar system based on TOF according to claim 6, it is characterised in that also
Including power management module, the power management module provides work to microcontroller, laser transmission circuit and scanning platform respectively
Make power supply.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017218981006 | 2017-12-29 | ||
| CN201721898100 | 2017-12-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209514054U true CN209514054U (en) | 2019-10-18 |
Family
ID=68190996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821992041.3U Expired - Fee Related CN209514054U (en) | 2017-12-29 | 2018-11-29 | Miniaturization coaxial-type laser radar system based on TOF |
Country Status (1)
| Country | Link |
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| CN (1) | CN209514054U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703224A (en) * | 2019-12-16 | 2020-01-17 | 杭州辰知光科技有限公司 | Unmanned-driving-oriented scanning type TOF laser radar |
-
2018
- 2018-11-29 CN CN201821992041.3U patent/CN209514054U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703224A (en) * | 2019-12-16 | 2020-01-17 | 杭州辰知光科技有限公司 | Unmanned-driving-oriented scanning type TOF laser radar |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191018 Termination date: 20201129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |