CN210243829U - Laser radar system and laser ranging device - Google Patents
Laser radar system and laser ranging device Download PDFInfo
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- CN210243829U CN210243829U CN201920390342.7U CN201920390342U CN210243829U CN 210243829 U CN210243829 U CN 210243829U CN 201920390342 U CN201920390342 U CN 201920390342U CN 210243829 U CN210243829 U CN 210243829U
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Abstract
The utility model discloses a laser radar system and laser rangefinder. The laser radar system includes: the laser emission module is used for generating and emitting a first laser beam; the reflecting prism group comprises a first reflecting prism and a second reflecting prism which are oppositely arranged; the first reflecting prism is used for receiving and reflecting the first laser beam to a target object; the second reflecting prism is used for receiving and reflecting the second laser beam; the rotating module is used for bearing the reflecting prism group and driving the reflecting prism group to rotate along the rotating central shaft; and the photoelectric detection module is used for receiving the second laser beam reflected by the second reflecting prism and generating a detection signal according to the second laser beam. The embodiment of the utility model provides a laser radar system can solve the problem that the power consumption is big that produces at the in-process of rotatory laser emission module to and the limited problem of data transmission who produces at the in-process of rotatory photoelectric detection module.
Description
Technical Field
The embodiment of the utility model provides a relate to laser radar technical field, especially relate to a laser radar system and laser rangefinder.
Background
The laser ranging device can accurately measure the distance of a target by utilizing laser, and compared with a photoelectric ranging device, the laser ranging device has the advantages of light weight, small volume, simplicity in operation, high speed, accuracy and the like, and is widely applied.
In the prior art, in order to improve the measurement angle of the laser ranging device and realize 360-degree measurement, a radar in the laser ranging device needs to be rotated. Currently, common lidar includes mechanical external rotary radar or internal rotary hybrid radar; the internal rotation hybrid radar may be configured to rotate the transmitting module and the receiving module at the same time, or may be configured to rotate only the receiving module without moving the transmitting module. Moreover, the radars with the two structures need to utilize the wireless power transmission module to provide power for rotation, and utilize the wireless signal transmission module to transmit information.
However, the wireless power transmission module has the problems of high power consumption and low power transmission efficiency, and energy is easily wasted; the bandwidth of the wireless signal transmission module is limited, so that the requirement of large-amount data transmission is difficult to meet; this severely limits the range of applications for laser ranging devices.
SUMMERY OF THE UTILITY MODEL
The utility model provides a laser radar system and laser range unit can solve the problem that the power consumption is big that produces at the in-process of rotatory laser emission module to and the limited problem of data transmission who produces at the in-process of rotatory photoelectric detection module.
In a first aspect, an embodiment of the present invention provides a laser radar system, including:
the laser emission module is used for generating and emitting a first laser beam;
the reflecting prism group comprises a first reflecting prism and a second reflecting prism which are oppositely arranged; the first reflection prism is used for receiving the first laser beam and reflecting the first laser beam to a target object; the second reflecting prism is used for receiving and reflecting a second laser beam; the second laser beam is formed by reflecting the first laser beam by the target object;
the rotating module is used for bearing the reflecting prism group and driving the reflecting prism group to rotate along a rotating central shaft; the extending direction of the rotating central shaft is parallel to the direction of the reflecting prism group pointing to the rotating module;
and the photoelectric detection module is used for receiving the second reflected laser beam reflected by the second reflection prism and generating a detection signal according to the second reflected laser beam.
Further, the first reflecting prism comprises a first right-angle reflecting prism; the second reflecting prism includes a second right-angle reflecting prism.
Further, the first right-angle reflecting prism comprises a cylindrical structure, and the second right-angle reflecting prism comprises a cylindrical structure;
the extending direction of the central axis of the first right-angle reflecting prism and the extending direction of the central axis of the second right-angle reflecting prism are positioned on the same straight line.
Further, the rotation module comprises a liftable rotation module.
Further, the lidar system further comprises a mirror;
the reflector is located on the light emitting side of the laser emitting module and used for reflecting the first laser beam to the first reflecting prism.
Further, the laser emission module comprises a fiber laser, a fiber and a collimator, wherein the fiber is respectively connected with the fiber laser and the collimator;
the optical fiber laser is used for generating and emitting a first laser beam;
the optical fiber is used for transmitting the first laser beam;
the collimator is used for collimating the first laser beam.
Further, the photoelectric detection module comprises a receiving lens and a photoelectric detector;
the receiving lens is used for receiving and converging the second laser beam;
and the photoelectric detector is positioned at the light-emitting side of the receiving lens and used for receiving the converged second laser beam and converting an optical signal carried by the second laser beam into the detection signal.
Further, the vertical projection of the second reflection prism on the receiving surface of the receiving lens is positioned in the receiving plane.
Further, the photoelectric detection module also comprises an optical filter;
the receiving lens, the optical filter and the photoelectric detector are sequentially arranged along a light path; the optical filter is used for transmitting light with preset wavelength.
In a second aspect, the embodiment of the present invention further provides a laser ranging apparatus, including any one of the above first aspects of the laser radar system.
The embodiment of the utility model provides a laser radar system, including laser emission module, reflection prism group module, rotation module and photoelectric detection module, it is rotatory through utilizing rotation module to drive reflection prism group, need not to adopt wireless biography electric module and wireless signal module can realize 360 degrees detections, can solve the problem that the power consumption is big that produces at the in-process of rotatory laser emission module to and solve the restricted problem of data transmission who produces at the in-process of rotatory photoelectric detection module.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another laser radar system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention. Specifically, referring to fig. 1, the lidar system includes: a laser emitting module 11 for generating and emitting a first laser beam 201; a reflecting prism group 12 including a first reflecting prism 121 and a second reflecting prism 122 oppositely arranged; the first reflection prism 121 is configured to receive the first laser beam 201 and reflect the first laser beam 201 to the target object; the second reflecting prism 122 is used for receiving and reflecting the second laser beam 202; the second laser beam 202 is a beam formed by reflecting the first laser beam 201 by the target object; the rotating module 13 is used for bearing the reflecting prism group 12 and driving the reflecting prism group 12 to rotate along a rotating central shaft; wherein, the extending direction of the rotation center axis is parallel to the direction X of the reflection prism group 12 pointing to the rotation module 13; the photodetection module 14 is configured to receive the second laser beam 202 reflected by the second reflection prism 122, and generate a detection signal according to the second laser beam 202.
Specifically, the first laser beam 201 is emitted by the laser emitting module 11, reflected by the first reflecting prism 121, and emitted toward the target object, and the first laser beam 201 may be reflected by the target object after reaching the target object. The reflected laser beam is referred to as a second laser beam 202, the second laser beam 202 may reach the second reflection prism 122 and be reflected by the second reflection prism 122 to the photodetection module 14, and the photodetection module 14 may generate a detection signal according to the received second laser beam 202. For example, when the laser radar system provided by the present embodiment is used for laser ranging, it is often necessary to detect target objects in different directions. The first laser beam 201 can be emitted in different directions by rotating the first reflection prism 121; meanwhile, by synchronously rotating the second reflection prism 122, it is ensured that the second reflection prism 122 receives the second laser beams 202 from different directions, and reflects the second laser beams 202 to the photodetection module 14. Through the rotation module 14 that sets up rationally, can realize that reflection prism group 12 carries out the rotation of arbitrary angle in 360 degrees scopes, and then can realize 360 degrees detections.
It should be noted that, in the process of rotating the laser emitting module 11, the wireless power transmission module is required to transmit power wirelessly to the laser emitting module 11; during the process of rotating the photoelectric detection module 14, a wireless signal transmission module is required for data transmission. Since the laser radar system provided by the embodiment realizes 360-degree rotation and detection by rotating the reflecting prism group, neither the laser emitting module 11 nor the photoelectric detection module 14 needs to be rotated. Therefore, the laser radar system provided by the embodiment does not need to be provided with a wireless power transmission module or a wireless signal transmission module. Therefore, the problems of high power consumption and low power transmission efficiency of the wireless power transmission module can be avoided, and the problem that the data transmission needs to be limited by the bandwidth of the wireless signal transmission module when data is transmitted, particularly when a large amount of data is transmitted can also be solved. In addition, compared with the laser emitting module 11 and the photo detection module 14, the reflecting prism set 12 mainly includes the first reflecting prism 121 and the second reflecting prism 122, and thus, the power required to rotate the reflecting prism set 12 is much smaller than the power required to rotate the laser emitting module 11 or the photo detection module 14.
The laser radar system that this embodiment provided, including laser emission module, reflection prism group module, rotation module and photoelectric detection module, it is rotatory through utilizing rotation module to drive reflection prism group, need not to adopt wireless biography electric module and wireless signal module can realize 360 degrees detections, can solve the problem that the power consumption that produces is big at the in-process of rotatory laser emission module to and solve the restricted problem of data transmission who produces at the in-process of rotatory photoelectric detection module.
Optionally, the first reflecting prism 121 includes a first right-angle reflecting prism; the second reflecting prism 122 includes a second right-angle reflecting prism.
Specifically, the first right-angle reflecting prism is a right-angle prism having an angle of 45 degrees, and when a light beam is incident to a reflecting surface of the first right-angle reflecting prism at 45 degrees, its emergent light ray is emitted from a direction at an angle of 45 degrees with the first right-angle reflecting prism. Therefore, the vertically incident light beams can be emitted in the horizontal direction after passing through the first right-angle reflecting prism, and the difficulty of optical debugging can be reduced. Similarly, the second right-angle reflecting prism also has similar beneficial effects, which are not described in detail. In addition, according to the level of manufacturing of existing optical devices, a 45-degree angle of a right-angle prism can be manufactured with very high precision.
Optionally, the first right-angle reflecting prism comprises a cylindrical structure and the second right-angle reflecting prism comprises a cylindrical structure; the central axis of the first right-angle reflecting prism and the central axis of the second right-angle reflecting prism are positioned on the same straight line.
Specifically, when the first right-angle reflecting prism and the second right-angle reflecting prism are stacked in the vertical direction, if the central axis of the first right-angle reflecting prism and the central axis of the second right-angle reflecting prism are located on the same straight line, when the two reflecting prisms are rotated in the vertical direction, almost complete moment balance can be achieved. At this time, the rotating module 13 can rotate the first rectangular reflecting prism and the second rectangular reflecting prism with the minimum energy.
Optionally, the rotation module 13 comprises a liftable rotation module.
Specifically, the liftable rotation module is ascending and descending along the direction perpendicular to the ground, and can drive the reflection prism group 12 to ascend and descend along the direction perpendicular to the ground, so that the laser radar system provided by the embodiment can be used for detecting target objects with different heights. In the present embodiment, when the lifting/lowering prism group is satisfied, the specific structure of the rotating module 13 is not limited.
Fig. 2 is a schematic structural diagram of another laser radar system according to an embodiment of the present invention. Specifically, referring to fig. 1 and fig. 2, the laser radar system provided in this embodiment further includes a reflector 15; the reflector 15 is located on the light emitting side of the laser emitting module 11 and is used for reflecting the first laser beam 201 to the first reflecting prism 121.
Specifically, the reflector 15 may change the propagation direction of light, and when designing the laser radar system, the reflector 15 may be disposed on the light emitting side of the laser emitting module 11, and the reflector is used to adjust the path of the first laser beam 201, so that the structural layout of the laser radar system is more scientific and reasonable. In fig. 2, 1 mirror 15 is exemplarily shown, but it should be understood that this is only an embodiment and should not be construed as a limitation on the number of mirrors.
Optionally, the laser emitting module 11 includes a fiber laser 111, a fiber 112 and a collimator 113, and the fiber 112 is connected to the fiber laser 111 and the collimator 113 respectively; the fiber laser 111 is used for generating and emitting a first laser beam 201; the optical fiber 112 is used for transmitting the first laser beam 201; the collimator 113 is used to collimate the first laser beam 201.
It should be noted that, if the fiber laser 111 is located below the reflecting prism group 12, it is often necessary to pass through the optical fiber 112 and the reflecting mirror 15 to make the first laser beam 201 generated by the fiber laser 111 incident on the reflecting prism group 12. At this time, the optical fiber 112 is located on the light outgoing path of the first reflection prism 121, and blocks the first laser beam 201 to some extent. However, in practice, the diameter of the optical fiber 112 is small, and therefore, the blocking effect of the optical fiber 112 on the light beam is relatively small. Therefore, compared with the detection range of 360 degrees, the blocking of the first laser beam 201 by the optical fiber 112 is very small, and the blocking range of the detection angle is very small and almost negligible. Similarly, the blocking of the second laser beam by the light ray 112 is small and almost negligible. Therefore, the laser radar system provided by the embodiment can realize detection within a range of 360 degrees.
Specifically, the fiber laser 111 has the advantages of low cost, low threshold, high energy conversion efficiency, strong output wavelength adjustability, and the like, is an excellent laser device, and can be widely used in the fields of laser ranging and the like. Exemplarily, in the present embodiment, the fiber laser 111 may be a high-power nanosecond pulse laser in an infrared band; when the laser ranging device is applied to laser ranging, the laser can accurately detect target objects within a range of 500 meters. The laser beam generated by the light laser 111 may be transmitted to the collimator 113 through the optical fiber 112, and the collimator 113 may collimate the laser beam to obtain the first laser beam 201 with stronger collimation.
Optionally, the photo-detection module 14 includes a receiving lens 141 and a photo-detector 142; the receiving lens 141 is used for receiving and converging the second laser beam 202; the photodetector 142 is located on the light emitting side of the receiving lens 141, and is configured to receive the converged second laser beam 202 and convert an optical signal carried by the second laser beam 202 into a detection signal.
Specifically, the receiving lens 141 may perform convergence processing on the second laser beam 202, and may converge a larger range of the second laser beam 202, so as to make the energy of the second laser beam 202 more concentrated. The photodetector 142 may generate a stronger detection signal according to the converged second laser beam 202. Illustratively, when the laser radar system provided by the present embodiment is used for laser ranging, the second laser beam 202 is reflected by the target object, and therefore, the intensity of the second laser beam 202 is relatively weak, and the sensitivity of the laser radar system can be enhanced by utilizing the convergence effect of the receiving lens 141.
Optionally, the perpendicular projection of the second reflection prism 122 on the receiving surface of the receiving lens 141 is located in the receiving plane.
Specifically, the vertical projection of the second reflecting prism 122 on the receiving surface of the receiving lens 141 is located in the receiving surface, which means that the receiving surface of the receiving lens 141 has a large area, and it can be ensured that the second laser beam 202 reflected by the second reflecting prism 122 reaches the receiving surface of the receiving lens 141 as much as possible, so that the detection sensitivity of the photodetection module 14 can be improved. In addition, when the vertical projection of the second reflecting prism 122 on the receiving surface of the receiving lens 141 is located on the receiving surface, the second laser beam 202 can directly reach the photodetector 142 without being reflected by other reflecting mirrors after being reflected by the second reflecting prism 122, so that the energy loss of the second laser beam 202 in the transmission process can be reduced.
Optionally, the photodetection module 14 further includes a filter 143; the receiving lens 141, the optical filter 143, and the photodetector 142 are sequentially arranged along the optical path; the filter 143 is configured to transmit light with a predetermined wavelength.
Specifically, the light beam reaching the second reflecting prism 122 not only has the reflected light beam from the target object, but also may include other stray light, and the stray light reaches the photodetector 142 and generates an interference signal, which affects the accuracy of the detected signal. Therefore, by providing the filter 143, light having the same wavelength as the second laser beam 202 can be selectively transmitted, and the interference of stray light of other wavelengths with the detection result can be reduced. Therefore, the optical filter can improve the signal-to-noise ratio of the laser radar system and increase the detection distance of the laser radar system under strong light. It is understood that the wavelength of the laser light emitted from the laser emitting module 10 is substantially unchanged after being reflected by the target object, and therefore, the filter 10 may be selected according to the wavelength of the first laser beam 201 emitted from the laser emitting module 10.
Based on the same inventive concept, this embodiment further provides a laser ranging device, which includes the laser radar system described in any embodiment, which is not described in detail in this embodiment, please refer to the laser radar system described in any embodiment.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A lidar system, comprising:
the laser emission module is used for generating and emitting a first laser beam;
the reflecting prism group comprises a first reflecting prism and a second reflecting prism which are oppositely arranged; the first reflection prism is used for receiving the first laser beam and reflecting the first laser beam to a target object; the second reflecting prism is used for receiving and reflecting a second laser beam; the second laser beam is formed by reflecting the first laser beam by the target object;
the rotating module is used for bearing the reflecting prism group and driving the reflecting prism group to rotate along a rotating central shaft; the extending direction of the rotating central shaft is parallel to the direction of the reflecting prism group pointing to the rotating module;
and the photoelectric detection module is used for receiving the second laser beam reflected by the second reflecting prism and generating a detection signal according to the second laser beam.
2. The lidar system of claim 1, wherein the first reflective prism comprises a first right angle reflective prism; the second reflecting prism includes a second right-angle reflecting prism.
3. The lidar system of claim 2, wherein the first right angle reflecting prism comprises a cylindrical structure and the second right angle reflecting prism comprises a cylindrical structure;
the central axis of the first right-angle reflecting prism and the central axis of the second right-angle reflecting prism are positioned on the same straight line.
4. The lidar system of claim 1, wherein the rotation module comprises a liftable rotation module.
5. The lidar system of claim 1, further comprising a mirror;
the reflector is located on the light emitting side of the laser emitting module and used for reflecting the first laser beam to the first reflecting prism.
6. The lidar system of claim 1, wherein the laser emission module comprises a fiber laser, a fiber and a collimator, the fiber being connected to the fiber laser and the collimator, respectively;
the optical fiber laser is used for generating and emitting a first laser beam;
the optical fiber is used for transmitting the first laser beam;
the collimator is used for collimating the first laser beam.
7. The lidar system of claim 1, wherein the photodetector module comprises a receiving lens and a photodetector;
the receiving lens is used for receiving and converging the second laser beam;
and the photoelectric detector is positioned at the light-emitting side of the receiving lens and used for receiving the converged second laser beam and converting an optical signal carried by the second laser beam into the detection signal.
8. The lidar system of claim 7, wherein a perpendicular projection of the second reflecting prism onto the receiving face of the receiving lens is located within the receiving plane.
9. The lidar system of claim 7, wherein the photodetection module further comprises a filter;
the receiving lens, the optical filter and the photoelectric detector are sequentially arranged along a light path; the optical filter is used for transmitting light with preset wavelength.
10. A laser ranging apparatus comprising a lidar system according to any of claims 1 to 9.
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| CN201920390342.7U CN210243829U (en) | 2019-03-26 | 2019-03-26 | Laser radar system and laser ranging device |
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| CN201920390342.7U CN210243829U (en) | 2019-03-26 | 2019-03-26 | Laser radar system and laser ranging device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738880A (en) * | 2019-03-26 | 2019-05-10 | 深圳市镭神智能系统有限公司 | A kind of laser radar system and laser ranging system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738880A (en) * | 2019-03-26 | 2019-05-10 | 深圳市镭神智能系统有限公司 | A kind of laser radar system and laser ranging system |
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