CN210465679U

CN210465679U - Laser radar optical structure

Info

Publication number: CN210465679U
Application number: CN201921079306.5U
Authority: CN
Inventors: 马盼盼; 仝飞; 刘敬伟
Original assignee: Guoke Optical Core (haining) Technology Co Ltd
Current assignee: Guoke Optical Core (haining) Technology Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-05-05
Anticipated expiration: 2029-07-10

Abstract

The utility model provides a laser radar optical structure, which comprises a laser, an image sensor, a lens group and a first reflector; the laser is used for emitting test laser, the first reflector reflects the reflected laser reflected by an object to one side where the laser is located, and the lens group and the image sensor are arranged behind the optical path of the first reflector. Through setting up first speculum, deflect incident light's optical axis to laser place one side, battery of lens and image sensor set up the rear at first speculum light path, and the space of battery of lens in the incident light axial is upwards reduced to the clearance between make full use of battery of lens and the laser instrument for space utilization is higher, and the structure is compacter, and whole space occupies littleer.

Description

Laser radar optical structure

Technical Field

The utility model relates to an optical radar equipment technical field, concretely relates to laser radar optical structure.

Background

Lidar has become increasingly popular in recent years, both in complex applications such as in unmanned vehicles and in simple applications such as in sweeping robots. With the development of the unmanned and service robot industry, the application of the subsequent laser radar is wider.

At present, the measurement principle of the laser radar mainly comprises three methods, namely a pulse method, a phase drying method and a triangular method, the pulse method and the coherent light method have high requirements on hardware of the laser radar, but the measurement precision is much higher than that of the laser triangular method, so the laser radar is mainly used in the military field. The laser triangulation distance measurement method has attracted much attention because of its low cost and accuracy meeting most commercial and civil requirements.

As shown in fig. 1, in the triangulation lidar, a laser 1 is used as a transmitting end, and a lens group 5 and an image sensor 6 behind the lens group are used as receiving ends. Laser emitted by the laser 1 is reflected by objects with different distances and is received by the lens group 5 at the receiving end with different incident angles, and the positions of light spots formed by the lens group 5 and irradiated on the image sensor 6 are also different, so that the distance from the object to the laser 1 during actual measurement is calculated according to different pixel point differences corresponding to different light spot positions on the image sensor 6.

Laser radar among the prior art is because the focal length direction of battery of lens 5 is unanimous with the optical axis direction of incident light for axial distance increases, and the radar that uses the trigonometry range finding moreover needs the camera lens of longer focal length, and the camera lens of long burnt also can make the camera lens size increase, can occupy great space in whole radar structure. Therefore, how to make the optical structure more compact and the spatial layout more reasonable to reduce the overall size becomes the main development direction of the laser radar.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model is to provide a laser radar optical structure that the structure is more compact, and spatial layout is more reasonable, and whole volume is less.

The utility model provides a laser radar optical structure, which comprises a laser, an image sensor, a lens group and a first reflector; the laser is used for emitting test laser, the first reflector reflects the reflected laser reflected by an object to one side where the laser is located, and the lens group and the image sensor are arranged behind the optical path of the first reflector.

Optionally, an included angle between the focal length direction of the lens group and the optical axis of the incident light of the first reflector is 45-135 degrees.

Optionally, a focal length direction of the lens group is perpendicular to an optical axis of incident light of the first reflector.

Optionally, the image sensor is disposed behind the lens group and faces in a direction parallel to the focal length direction.

Optionally, the image sensor is oriented perpendicular to the focal length direction, and the image sensor further includes a second reflecting mirror that reflects light from the lens group to the image sensor.

Optionally, the focal length of the lens group is adjustable.

The utility model discloses technical scheme has following advantage:

the utility model provides a laser radar optical structure; through setting up first speculum, deflect incident light's optical axis to laser place one side, battery of lens and image sensor set up the rear at first speculum light path, and the space of battery of lens in the incident light axial is upwards reduced to the clearance between make full use of battery of lens and the laser instrument for space utilization is higher, and the structure is compacter, and whole space occupies littleer.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of a lidar optical configuration of the prior art;

fig. 2 is a schematic diagram of an optical structure of a laser radar provided by the present invention;

fig. 3 is a schematic diagram of another optical structure of a laser radar according to the present invention.

Description of reference numerals:

1-laser 1, 2-mounting structure 2, 3-test laser 3, 4-reflection laser 4, 5-lens group 5, 6-image sensor 6, 7-first reflector 7, 8-second reflector 8.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Fig. 2 shows an embodiment of an optical structure of a laser radar according to the present invention.

The laser radar optical structure comprises a mounting structure 2, and a laser 1, an image sensor 6, a lens group 5 and a first reflector 7 which are arranged on the mounting structure 2. The laser 1 is used for emitting test laser 3 and is an emitting end. The test laser 3 becomes a reflected laser 4 after being reflected by an object. The first mirror 7 receives the reflected laser light 4 and reflects the reflected laser light 4 to the side of the laser 1 again. The lens group 5 and the image sensor 6 are disposed behind the optical path of the first reflector 7, between the first reflector 7 and the laser 1, and configured to receive the laser light reflected by the first reflector 7. The focal length direction of the lens group 5 is perpendicular to the optical axis direction of the incident light of the first reflecting mirror 7. The image sensor 6 is disposed behind the lens group 5, and the direction of the active surface is perpendicular to the focal length direction of the lens group 5. The lens group 5 and the image sensor 6 are collectively referred to as a receiving end.

The test laser 3 emitted by the laser 1 is reflected by objects with different distances to form reflected laser 4, and the emitted laser is received by the first reflecting mirror 7 at different incident angles and reflected to the lens group 5. The laser light is irradiated on the image sensor 6 through the lens group 5. The positions of the reflected laser 4 formed by the objects with different distances and the light spots formed by the lens assembly 5 through the first reflector 7 and irradiated on the image sensor 6 are also different, so that the distance between the object and the laser 1 during actual measurement is calculated according to the difference of different pixel points corresponding to different light spot positions on the image sensor 6.

The first reflector 7 deflects the optical axis of incident light by 90 degrees, the problem of large distance in the direction of the optical axis is solved, and the gap between the laser 1 and the lens group 5 is fully utilized, so that the size of the whole laser radar is optimized, and the structure is more compact. Meanwhile, the laser 1 adopts a lens with a large field angle, so that the redundancy of the measured distance is larger, the precision requirement between the assemblies is reduced, the laser is suitable for the integrated packaging of the whole structure, and the assembly difficulty is reduced.

Obviously, in the present embodiment, the focal length direction of the lens group 5 is not limited to the direction perpendicular to the optical axis of the incident light from the first reflecting mirror 7. The included angle of the first reflecting mirror 7 relative to the optical axis of the incident light can be any angle of 45-135 degrees.

In another embodiment, referring to fig. 3, the active surface of the image sensor 6 faces the lens assembly 5 and is perpendicular to the focal length direction. The lidar optical structure further comprises a second mirror 8 for reflecting light from the lens group 5 to the image sensor 6. So design, can be through the lens in the adjusting lens group 5 in order to change the focus, the structure that the rethread first speculum 7 and second speculum 8 dwindle and bring because the focus is huge to realize the scanning of different precisions under the different distances, make laser radar more accurate more intelligent.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. A lidar optical structure, comprising: the device comprises a laser (1), an image sensor (6), a lens group (5) and a first reflector (7); the laser device (1) is used for emitting test laser (3), the first reflecting mirror (7) reflects reflected laser (4) reflected by an object to one side where the laser device (1) is located, and the lens group (5) and the image sensor (6) are arranged behind the light path of the first reflecting mirror (7).

2. Lidar optical structure according to claim 1, characterized in that: the focal length direction of the lens group (5) forms an included angle of 45-135 degrees with respect to the optical axis of incident light of the first reflector (7).

3. Lidar optical structure according to claim 2, characterized in that: the focal length direction of the lens group (5) is perpendicular to the optical axis of the incident light of the first reflector (7).

4. Lidar optical structure according to claim 3, characterized in that: the image sensor (6) is arranged behind the lens group (5) and faces in a direction parallel to the focal length direction.

5. Lidar optical structure according to claim 2, characterized in that: the image sensor (6) faces perpendicular to the focal length direction, and the lens system further comprises a second reflecting mirror (8) for reflecting light rays of the lens group (5) to the image sensor (6).

6. Lidar optical structure according to claim 5, wherein: the focal length of the lens group (5) is adjustable.