CN210894701U - Laser radar - Google Patents
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- CN210894701U CN210894701U CN201921635873.4U CN201921635873U CN210894701U CN 210894701 U CN210894701 U CN 210894701U CN 201921635873 U CN201921635873 U CN 201921635873U CN 210894701 U CN210894701 U CN 210894701U
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Abstract
The utility model provides a laser radar. The laser radar comprises a light emitting component, a light receiving component, a fixed reflector component and a rotary multi-face mirror component; the rotary polygonal mirror assembly comprises a plurality of reflecting mirrors and a rotating mechanism, the rotating mechanism is used for driving the reflecting mirrors to rotate, and the included angles between the normal lines of the reflecting mirrors and the rotating axis of the rotary polygonal mirror assembly are different in degree; the fixed reflector assembly is used for reflecting the laser emitted by the light emitting assembly to the rotary polygon mirror assembly at an angle which is not perpendicular to any reflector in the rotary polygon mirror assembly, the rotary polygon mirror assembly is used for reflecting the received laser to a measuring area, and the reflected light of an object in the measuring area reaches the light receiving assembly through the reflection of the rotary polygon mirror assembly and the fixed reflector assembly, so that the object in the measuring area is scanned. The utility model provides a laser radar is small, the transmission visual field matches the degree height with the receipt visual field, signal-to-noise ratio is high.
Description
Technical Field
The utility model relates to a laser detection and range finding technical field especially relate to a laser radar.
Background
Laser Detection And Ranging (LiDAR) systems are commonly referred to as LiDAR. The basic working principle of the laser radar is that a laser transmitter transmits laser to a measuring area, a receiver receives reflected light of an object in the measuring area, and the laser radar calculates the distance between the laser radar and the object according to the laser ranging principle. The object in the measuring area is continuously scanned to obtain the data of all target points on the object, and the three-dimensional image of the object can be established after the data is imaged. The laser radar has wide application in the fields of unmanned driving, unmanned aerial vehicles, service robots, military, security protection, surveying and mapping and the like.
There are two main types of existing lidar: mechanical rotary lidar and hybrid solid state lidar.
The mechanical rotary laser radar adopts a plurality of pairs of laser transmitters and receivers to work in parallel, and one laser transmitter and one receiver form a laser ranging channel. Each pair of laser emitter and receiver faces different spatial angle positions to form sector coverage, and the rotating mechanism drives the laser emitters and receivers to integrally rotate so as to realize three-dimensional laser scanning. Because a pair of laser transmitter and receiver of each laser ranging channel of the laser radar needs to be accurately calibrated to ensure accurate focusing and accurate parallel of transmitting and receiving optical axes, the laser radar has the disadvantages of large workload of optical assembly and adjustment, low production efficiency and high price.
The hybrid solid-state laser radar guides laser to generate directional deflection by arranging the rotary polygonal mirror, so that three-dimensional scanning of an object in a measuring area is realized. In such a laser radar, a laser emitter is generally arranged on one side of a rotating polygonal mirror, and laser emitted by the laser emitter is directly projected onto the rotating polygonal mirror and reflected by the rotating polygonal mirror to reach a measurement area. Because the laser transmitter is arranged on one side of the rotating polygonal mirror, the size of the laser radar in the radial direction of the rotating shaft is larger, and meanwhile, in order to enable the measuring laser to accurately scan a measuring area, the position relation among the laser transmitter, the laser receiver and the rotating polygonal mirror needs to be accurately set, so that the shape and the size of the laser radar are limited.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a laser radar, which includes a light emitting module, a light receiving module, a fixed mirror module and a rotating multi-face mirror module. The rotary polygonal mirror assembly includes a rotating mechanism for rotating the plurality of reflecting mirrors, and a plurality of reflecting mirrors, wherein the rotating mechanism is configured to rotate the plurality of reflecting mirrors, and the angles between the normal lines of the plurality of reflecting mirrors and the rotation axis of the rotary polygonal mirror assembly are different. The light emitting assembly comprises a plurality of laser emitters for emitting laser light; the fixed reflector component is used for reflecting the laser emitted by the light emitting component to the rotary polygon mirror component at an angle which is not vertical to any reflector in the rotary polygon mirror component; the rotary polygonal mirror assembly is used for reflecting the laser light reflected by the fixed reflecting mirror assembly to a measuring area and is also used for receiving and reflecting the reflected light of an object in the measuring area; said fixed mirror assembly being further adapted to receive and reflect light reflected from an object in said measurement area reflected from said rotating polygon mirror assembly; the light receiving assembly comprises a plurality of laser receivers for receiving the reflected light of the object in the measuring area reflected by the fixed reflector assembly.
Alternatively, the fixed mirror assembly may comprise one or more fixed mirrors. When the fixed mirror assembly includes a plurality of fixed mirrors, the fixed mirror assembly is further configured to reflect the laser light emitted from the light emitting assembly to the rotating polygon assembly at an angle that is not perpendicular to any of the mirrors of the rotating polygon assembly after being reflected by the plurality of fixed mirrors.
Optionally, the light emitting assembly further includes a plurality of emitting fibers and an emitting fiber array corresponding to the plurality of laser emitters one to one, one ends of the plurality of emitting fibers are coupled to the corresponding laser emitters, the other ends of the plurality of emitting fibers are connected to the emitting fiber array, and the emitting fiber array serves as a light emitting end to emit laser. The light receiving assembly further comprises a plurality of receiving optical fibers and a receiving optical fiber array, wherein the receiving optical fibers and the receiving optical fiber array are in one-to-one correspondence with the plurality of laser receivers, one ends of the plurality of receiving optical fibers are respectively coupled with the corresponding laser receivers, the other ends of the plurality of receiving optical fibers are connected with the receiving optical fiber array, and the receiving optical fiber array serves as a light receiving end for receiving reflected light of the object in the measuring area.
Optionally, the plurality of transmitting fibers and the transmitting fiber array are connected by a multi-core connector; the plurality of receiving fibers and the receiving fiber array are connected by a multi-core connector.
Optionally, the optical transmission assembly further comprises a plurality of emission beam shapers corresponding to the plurality of laser emitters one to one, each emission beam shaper being configured to couple laser light emitted by a corresponding laser emitter to a corresponding emission fiber.
Optionally, the light receiving assembly further includes a plurality of receiving beam shapers corresponding to the plurality of laser receivers one to one, each receiving beam shaper being configured to converge the reflected light of the object in the measurement area received by the corresponding receiving optical fiber to the corresponding laser receiver.
Further, the laser radar further comprises a transmitting window and a receiving window. An emission window for allowing the laser light reflected by the rotary polygonal mirror assembly to be projected to the measurement area through the emission window; the receiving window is used for enabling the reflected light of the object in the measuring area to be projected to the rotating multi-face mirror assembly through the receiving window.
The utility model provides a laser radar changes the trend of light path through setting up fixed mirror subassembly, is guaranteeing the laser of fixed mirror subassembly with the emission of light emission subassembly to under the condition of rotatory multi-face mirror subassembly is reflected to the angle of arbitrary speculum in the non-perpendicular to rotatory multi-face mirror subassembly, can set up the position of light emission subassembly, light receiving assembly in laser radar in a flexible way, make the design of laser radar shape and size more diversified. The rotating mechanism drives the plurality of reflectors of the rotating multi-surface mirror assembly to rotate, included angles between the normal lines of the plurality of reflectors and the rotating axis are different, synchronous scanning of laser emission and laser receiving and scanning in two directions of the plane of the rotating axis and the vertical plane of the rotating axis are achieved, the effect of the high-line-number laser radar is obtained with the cost of the low-line-number laser radar, and meanwhile, the high-angle resolution and the measurement refreshing frequency are achieved. Furthermore, the embodiment of the utility model provides an adopted fiber array as the laser outgoing end of light emission subassembly and the laser incident end of light receiving component, realized that the relative angular position of a plurality of laser rangefinder passageways is fixed accurately, promoted the equipment and the timing efficiency of multi-thread laser radar, reduced manufacturing cost; in addition, a plurality of transmitting optical fibers are connected with the transmitting optical fiber array through the multi-core optical fiber connector, and a plurality of receiving optical fibers are connected with the receiving optical fiber array, so that the modularization of the laser radar structure can be realized, and the maintenance cost of the laser radar is reduced. The embodiment of the utility model provides a still through set up in the optical transmission subassembly with the laser emitter one-to-one emission optic fibre and emission beam shaper, set up in the light receiving subassembly with the receiving optic fibre of laser receiver one-to-one and receive the beam shaper, improved the optical coupling rate. Furthermore, the embodiment of the utility model provides a laser radar removes rotatory polygonal mirror subassembly and carries out mechanical rotation, and other components are all fixed on the support, do not carry out mechanical motion, have improved laser radar's stability and reliability.
Drawings
In order to clearly illustrate the technical solution provided by the present invention, the drawings used for describing the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from them without inventive effort.
Fig. 1 is a schematic structural diagram of a laser radar provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of an optical path of a laser radar provided by an embodiment of the present invention;
fig. 3 is a schematic optical path diagram of a laser radar according to another embodiment of the present invention;
fig. 4 is a first schematic structural diagram of a rotary polygon mirror assembly according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram ii of a rotary polygon mirror assembly according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a light emitting module according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a light receiving module according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a laser radar according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram of a laser radar according to still another embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the present invention, and it is obvious that the embodiments described below are some, but not all embodiments of the present invention. All other embodiments obtained by a person skilled in the art without any inventive step based on the following embodiments belong to the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides a laser radar 10, and the laser radar 10 includes a light emitting assembly 110, a light receiving assembly 120, a fixed mirror assembly 210, and a rotating polygonal mirror assembly 220. The light emitting assembly 110 includes a plurality of laser emitters for emitting laser light; the light receiving assembly 120 includes a plurality of laser receivers for receiving the reflected light of the object in the measuring region; the rotating polygon mirror assembly 220 includes a rotating mechanism and a plurality of mirrors, an included angle between a normal line of each mirror in the rotating polygon mirror assembly 220 and a rotation axis of the rotating polygon mirror assembly is different, and the rotating mechanism drives the plurality of mirrors to rotate; the fixed mirror assembly 210 is used to reflect the laser light emitted from the light emitting assembly 110 to the rotating polygon mirror assembly 220 at an angle that is not perpendicular to any of the mirrors of the rotating polygon mirror assembly.
Alternatively, the fixed mirror assembly 210 may include one fixed mirror or a plurality of fixed mirrors.
As an alternative embodiment, the operation of lidar 10 will be described with reference to the fixed mirror assembly 210 comprising a fixed mirror 210-1, as shown in fig. 2. Laser beams (only one emission light path is taken as an example in the figure) emitted by a plurality of laser emitters in the light emitting assembly 110 are projected onto the fixed reflecting mirror 210-1, reflected to the rotating polygonal mirror assembly 220 by the fixed reflecting mirror 210-1 at an angle not perpendicular to any one of the rotating polygonal mirror assemblies, reflected by the rotating polygonal mirror assembly 220, and reflected to a measurement area; the reflected light of the object 900 in the measurement area is projected to the rotating polygonal mirror assembly 220, reflected to the fixed reflecting mirror 210-1 by the rotating polygonal mirror assembly 220, reflected to the light receiving assembly 120 by the fixed reflecting mirror 210-1, and received by the plurality of laser receivers in the light receiving assembly 120. In this embodiment, the laser light reflected by the fixed mirror assembly 210 to the rotating polygon mirror assembly 220 is not perpendicular to the rotation axis X, and in other implementations, the laser light reflected by the fixed mirror assembly 210 to the rotating polygon mirror assembly 220 may also be perpendicular to the rotation axis.
As another alternative embodiment, the operation of lidar 10 will be described with reference to a fixed mirror assembly comprising three fixed mirrors 210-1, 201-2, 210-3, as shown in FIG. 3. The laser beams (only one emission light path is taken as an example in the figure) emitted by the plurality of laser emitters in the light emitting module 110 are projected onto the fixed reflector 210-1, reflected by the fixed reflector 210-1 to the fixed reflector 210-2, reflected by the fixed reflector 210-2 to the fixed reflector 210-3, reflected by the fixed reflector 210-3 to the rotating polygon mirror module 220 at an angle not perpendicular to any of the rotating polygon mirror modules, and finally reflected by the rotating polygon mirror module 220 to a measurement area. The reflected light of the object 900 in the measurement area is projected to the rotating polygonal mirror assembly 220, reflected to the fixed reflecting mirror 210-3 by the rotating polygonal mirror assembly 220, reflected to the fixed reflecting mirror 210-2 by the fixed reflecting mirror 210-3, reflected to the fixed reflecting mirror 210-1 by the fixed reflecting mirror 210-2, reflected to the light receiving assembly 120 by the fixed reflecting mirror 210-1, and received by the plurality of laser receivers in the light receiving assembly 120.
The present invention does not limit the number and combination of the fixed mirrors included in the fixed mirror assembly 210, and those skilled in the art can select the arrangement according to the specific application scenario.
As an alternative embodiment, as shown in fig. 4, the structure of the rotary polygon mirror assembly 220 will be described by taking the example where the rotary polygon mirror assembly 220 includes 3 mirrors. The rotary polygon mirror assembly 220 includes a rotation mechanism 221, a mirror 222-1, a mirror 222-2, and a mirror 222-3, the rotation mechanism 221 rotates the mirrors 222-1, 222-2, and 222-3, and a rotation axis of the rotary polygon mirror assembly 220 is X. As shown in FIG. 5, the normal of the mirror 222-1 forms an angle θ with the rotation axis X1The normal line of the reflector 222-2 forms an angle theta with the rotation axis X2The normal line of the reflector 222-3 forms an angle θ with the rotation axis X3(not shown in the figure), θ1、θ2And theta3Are different from each other.
In this embodiment, the 3 mirrors 222-1, 222-2, and 222-3 of the rotating polygonal mirror assembly 220 are driven by the rotating mechanism 221 to rotate, and sequentially enter the laser transmission path range, so as to reflect the laser and change the transmission direction of the laser. The mirror 222-1 scans the laser beam in a plane perpendicular to the rotation axis X as the rotation mechanism 221 rotates, and the mirror 222-2 enters the range of the laser beam transmission path as the rotation mechanism 221 continues to rotate, and the laser beam also performs a scanning motion in a direction parallel to the rotation axis X since θ 1 ≠ θ 2. In a specific implementation process, the rotating mechanism 221 may be driven to rotate by a motor. The present invention is not limited to the selection of the motor, the connection mode of the motor and the rotating mechanism 221, and the connection mode of each mirror and the rotating mechanism 221, and those skilled in the art can select the connection mode according to actual requirements.
Alternatively, the rotating polygonal mirror assembly may be configured in a frustum-like structure as shown in fig. 4, or may be configured in other polyhedral structures; the plurality of reflectors may have any shape, such as a quadrangle, a pentagon, a hexagon, etc.; and adjacent reflectors can actually intersect with each other, or the extending surfaces of adjacent reflectors intersect with each other.
The embodiment of the utility model provides a change the trend of light path through setting up fixed mirror subassembly, guaranteeing the laser of fixed mirror subassembly with the emission of light emission subassembly to under the condition of rotatory polygon mirror subassembly is reflected to the angle of arbitrary speculum in the rotatory polygon mirror subassembly of out of perpendicular to, can set up the position of light emission subassembly, light receiving assembly in laser radar in a flexible way, make laser radar shape and size design more diversified. The rotating mechanism drives the plurality of reflectors of the rotating multi-surface mirror assembly to rotate, and because included angles between the normal lines of the plurality of reflectors and the rotating axis are different, synchronous scanning of laser emission and laser receiving and scanning in two directions of the plane of the rotating axis and the vertical plane of the rotating axis are realized, the effect of the high-line-number laser radar is obtained at the cost of the low-line-number laser radar, and meanwhile, the high-angle resolution and the measurement refreshing frequency are achieved.
As an alternative embodiment, the light emitting assembly 110 of the lidar may further include a plurality of emitting fibers and an emitting fiber array, where the emitting fibers correspond to the plurality of laser emitters one to one, one end of each of the emitting fibers is coupled to the corresponding plurality of laser emitters, the other end of each of the emitting fibers is connected to the emitting fiber array, and the emitting fiber array serves as a light emitting end to emit laser light. The light receiving module 120 of the lidar may further include a plurality of receiving optical fibers and a receiving optical fiber array, wherein the receiving optical fibers correspond to the plurality of laser receivers one to one, one end of each of the plurality of receiving optical fibers is coupled to the corresponding plurality of laser receivers, and the other end of each of the plurality of receiving optical fibers is connected to the receiving optical fiber array, and the receiving optical fiber array serves as a light receiving end for receiving the reflected light of the object in the measurement area.
Specifically, the laser light emitted by the plurality of laser emitters is coupled to a corresponding plurality of emitting fibers, conducted through the plurality of emitting fibers and emitted from an emitting fiber array; the laser beams emitted from the plurality of laser emitters are projected onto the fixed mirror assembly 210, reflected by the fixed mirror assembly 210 to the rotating polygon mirror assembly 220 at an angle not perpendicular to any of the mirrors of the rotating polygon mirror assembly, and then reflected by the rotating polygon mirror assembly 220 to a measurement area. The reflected light of the object in the measurement area is projected onto the rotating polygonal mirror assembly 220, reflected by the rotating polygonal mirror assembly 220 to the fixed mirror assembly 210, reflected by the fixed mirror assembly 210 to the receiving optical fiber array, and transmitted to the corresponding laser receivers through the receiving optical fibers. As an alternative, the optical fiber array may be arranged in a one-dimensional array or a two-dimensional array.
Optionally, the plurality of transmitting fibers and the transmitting fiber array may be connected by a multicore fiber connector; the plurality of receiving fibers and the receiving fiber array may be connected by a multicore fiber connector.
Optionally, in the optical transmitting assembly 110, a transmission beam shaper may be included between each of the laser emitters and the corresponding transmission fiber, for coupling the laser light emitted from the laser emitter into the corresponding transmission fiber.
Optionally, in the light receiving module 120, a receiving beam shaper may be included between each of the laser receivers and the corresponding receiving fiber, for converging the reflected light of the object in the measuring region conducted by the plurality of receiving fibers to the corresponding laser receiver.
As an alternative embodiment, the structure and operation of the optical transmit assembly 110 will be described by taking the example where the optical transmit assembly 110 includes n laser transmitters, n corresponding transmit fibers, n corresponding transmit beam shapers, and a multi-fiber connector 114, as shown in fig. 6. Specifically, the plurality of transmitting fibers 113-1, 113-2 … … 113-n are connected to the transmitting fiber array 113 through the multi-fiber connector 114; the plurality of laser transmitters 111-1, 111-2 … … 111-n transmit laser light; the plurality of emission beam shapers 112-1, 112-2 … … 112-n couple the laser light emitted from the laser emitters 111-1, 111-2 … … 111-n into corresponding emission fibers 113-1, 113-2 … … 113-n, and are guided through the plurality of emission fibers 113-1, 113-2 … … 113-n to be emitted from the emission fiber array 113.
As an alternative embodiment, as shown in fig. 7, the structure and operation of the light receiving module 120 will be described by taking the example that the light receiving module 120 includes n laser receivers, n corresponding receiving optical fibers, n corresponding receiving beam shapers, and a multi-core connector 124. Specifically, the plurality of receiving fibers 123-1, 123-2 … … 123-n are connected to the receiving fiber array 123 through the multi-fiber connector 124; the reflected light of the object in the measurement area is projected onto the rotating polygon mirror assembly 220, reflected by the rotating polygon mirror assembly 220 to the fixed mirror assembly 210, reflected by the fixed mirror assembly 210 to the receiving fiber array 123, transmitted through the receiving fibers 123-1, 123-2 … … 123-n, and converged by the corresponding receiving beam shapers 122-1, 122-2 … … 122-n to the corresponding laser receivers 121-1, 121-2 … … 121-n.
As another alternative, the light receiving module 120 may not include a receiving beam shaper, and the reflected light of the object in the measuring region guided by the plurality of receiving fibers 123-1, 123-2 … … 123-n is directly received by the corresponding laser receivers 121-1, 121-2 … … 121-n.
In the embodiment, the optical fiber array is used as the laser emergent end of the light emitting component and the laser incident end of the light receiving component, so that the relative angle positions of the multiple laser ranging channels are accurately fixed, the assembly and adjustment efficiency of the multi-line laser radar is improved, and the production cost is reduced; in addition, a plurality of transmitting optical fibers are connected with the transmitting optical fiber array through the multi-core optical fiber connector, and a plurality of receiving optical fibers are connected with the receiving optical fiber array, so that the modularization of the laser radar structure can be realized, and the maintenance cost of the laser radar is reduced. The embodiment also improves the optical coupling ratio by arranging the transmitting optical fibers and the transmitting beam shapers corresponding to the laser transmitters one by one in the light-emitting assembly and arranging the receiving optical fibers and the receiving beam shapers corresponding to the laser receivers one by one in the light-receiving assembly.
Further, as shown in fig. 8, the lidar may further include a transmission window 310 and a reception window 320. The emission window 310 and the reception window 320 correspond to the light emitting module 110 and the light receiving module 120. The emission window 310 is used to allow the laser light reflected by the rotating polygonal mirror assembly 220 to be projected to a measurement area through the emission window 310; the receiving window 320 is used to project the reflected light of the object in the measuring region to the rotating polygonal mirror assembly 220 through the receiving window 320.
Specifically, the laser light emitted from the light emitting module 110 is reflected by the fixed mirror module 210, then reflected to the rotating polygon mirror module 220 at an angle not perpendicular to any of the mirrors of the rotating polygon mirror module, and then reflected by the rotating polygon mirror module 220 and emitted through the emission window 310; the reflected light of the object in the measurement area is incident through the receiving window 320, is projected to the rotating polygonal mirror assembly 220, is reflected to the fixed mirror assembly 210 by the rotating polygonal mirror assembly 220, is reflected to the light receiving assembly 120 by the fixed mirror assembly 210, and is received by the light receiving assembly 120.
As an alternative embodiment, as shown in fig. 8, the light emitting module 110 and the light receiving module 120 may be included in the light transceiving part 100. On the premise that the emission window 310 corresponds to the light emitting device 110 and the receiving window 320 corresponds to the light receiving device 120, the light emitting device 110 and the light receiving device 120 may be arranged in any manner, such as side-by-side (as shown in fig. 8), top-and-bottom, and the like.
The embodiment solves the problem that the transmitting view field is not matched with the receiving view field by setting the transmitting window corresponding to the light emitting component and the receiving window corresponding to the light receiving component, and effectively improves the signal-to-noise ratio.
As another alternative, the lidar may also include a mount 400, as shown in fig. 9. The optical transceiver unit 100, the rotary polygonal mirror assembly 220, and the fixed mirror assembly 210 may be fixed to the bracket 400. Alternatively, the transmitting window 310, the receiving window 320 and the motor 223 may be fixed to the bracket 400 or the laser radar casing. Furthermore, the lidar further includes a signal processing unit 500 for collecting and processing signals generated during the operation of the lidar, and the signal processing unit 500 may also be fixed to the bracket 400 or the housing of the lidar.
Specifically, as shown in fig. 9, an optional fixing manner is provided, the present invention is not limited to the fixing manner and the position of each element, and one skilled in the art can select the arrangement according to a specific application scenario.
The laser radar that this embodiment provided except that rotatory polygon mirror subassembly carries out mechanical rotation, other components all fix on the support, do not carry out mechanical motion, have improved laser radar's stability and reliability by a wide margin.
The embodiment of the utility model provides a laser radar changes the trend of light path through setting up fixed mirror subassembly, is guaranteeing the laser of fixed mirror subassembly with the emission of light emission subassembly to under the condition of the rotatory multiaspect mirror subassembly is reflected to the angle of arbitrary speculum in the rotatory multiaspect mirror subassembly of out of perpendicular to, can set up the position of light emission subassembly, light receiving assembly in laser radar in a flexible way, make laser radar shape and size's design more diversified. The rotating mechanism drives the plurality of reflectors of the rotating multi-surface mirror assembly to rotate, included angles between the normal lines of the plurality of reflectors and the rotating axis are different, synchronous scanning of laser emission and laser receiving and scanning in two directions of the plane of the rotating axis and the vertical plane of the rotating axis are achieved, the effect of the high-line-number laser radar is obtained with the cost of the low-line-number laser radar, and meanwhile, the high-angle resolution and the measurement refreshing frequency are achieved. Furthermore, the embodiment of the utility model provides an adopted fiber array as the laser outgoing end of light emission subassembly and the laser incident end of light receiving component, realized that the relative angular position of a plurality of laser rangefinder passageways is fixed accurately, promoted the equipment and the timing efficiency of multi-thread laser radar, reduced manufacturing cost; in addition, a plurality of transmitting optical fibers are connected with the transmitting optical fiber array through the multi-core optical fiber connector, and a plurality of receiving optical fibers are connected with the receiving optical fiber array, so that the modularization of the laser radar structure can be realized, and the maintenance cost of the laser radar is reduced. The embodiment of the utility model provides a still through set up in the optical transmission subassembly with the laser emitter one-to-one emission optic fibre and emission beam shaper, set up in the light receiving subassembly with the receiving optic fibre of laser receiver one-to-one and receive the beam shaper, improved the optical coupling rate. Furthermore, the embodiment of the utility model provides a laser radar removes rotatory polygonal mirror subassembly and carries out mechanical rotation, and other components are all fixed on the support, do not carry out mechanical motion, have improved laser radar's stability and reliability.
The above embodiments and drawings are only illustrative of the technical solutions of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A lidar, comprising: a light emitting assembly, a light receiving assembly, a fixed mirror assembly and a rotating polygon mirror assembly; the rotary polygonal mirror assembly comprises a rotating mechanism and a plurality of reflecting mirrors, the rotating mechanism is used for driving the reflecting mirrors to rotate, and the included angles between the normal lines of the reflecting mirrors and the rotating axis of the rotary polygonal mirror assembly are different;
the light emitting assembly comprises a plurality of laser emitters for emitting laser light;
the fixed reflector component is used for reflecting the laser emitted by the light emitting component to the rotating polygon component at an angle which is not perpendicular to any reflector in the rotating polygon component;
the rotating multi-face mirror assembly is used for reflecting the laser reflected by the fixed reflecting mirror assembly to a measuring area and is also used for receiving and reflecting the reflected light of an object in the measuring area;
the fixed mirror assembly is also used for receiving and reflecting the reflected light of the object in the measuring area reflected by the rotating multi-surface mirror assembly;
the light receiving assembly comprises a plurality of laser receivers for receiving reflected light of objects in the measuring area reflected by the fixed reflector assembly.
2. The lidar of claim 1, wherein the fixed mirror assembly comprises a fixed mirror.
3. The lidar of claim 1, wherein the fixed mirror assembly comprises a plurality of fixed mirrors, the fixed mirror assembly further configured to reflect laser light emitted by the light emitting assembly to the rotating polygon mirror assembly at an angle that is not perpendicular to any of the mirrors of the rotating polygon mirror assembly after reflection by the plurality of fixed mirrors.
4. The lidar according to any of claims 1 to 3, wherein the optical transmission assembly further comprises a plurality of transmitting fibers and a transmitting fiber array, wherein the plurality of transmitting fibers correspond to the plurality of laser transmitters one by one, one ends of the plurality of transmitting fibers are respectively coupled to the corresponding laser transmitters, the other ends of the plurality of transmitting fibers are connected to the transmitting fiber array, and the transmitting fiber array serves as a light emitting end to emit laser light;
the light receiving assembly further comprises a plurality of receiving optical fibers and a receiving optical fiber array, the receiving optical fibers and the receiving optical fiber array are in one-to-one correspondence with the laser receivers, one ends of the receiving optical fibers are respectively coupled with the corresponding laser receivers, the other ends of the receiving optical fibers are connected with the receiving optical fiber array, and the receiving optical fiber array serves as a light receiving end to receive reflected light of objects in the measuring area.
5. The lidar of claim 4, wherein the plurality of transmit fibers and the array of transmit fibers are connected by a multi-fiber connector; the plurality of receiving optical fibers and the receiving optical fiber array are connected through a multi-core connector.
6. The lidar of claim 4, wherein the optical transmit assembly further comprises a plurality of beam shapers in one-to-one correspondence with the plurality of laser emitters, each beam shaper configured to couple laser light emitted by a corresponding laser emitter to a corresponding transmit fiber.
7. The lidar of claim 4, wherein the light receiving assembly further comprises a plurality of receive beam shapers in one-to-one correspondence with the plurality of laser receivers, each receive beam shaper configured to focus reflected light from an object in the measurement area received by a corresponding receive fiber to a corresponding laser receiver.
8. The lidar of any of claims 1-3, wherein the lidar further comprises a transmit window and a receive window;
the emission window is used for enabling the laser reflected by the rotating polygonal mirror assembly to be projected to the measuring area through the emission window;
the receiving window is used for enabling reflected light of objects in the measuring area to be projected to the rotating multi-face mirror assembly through the receiving window.
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| CN201921635873.4U CN210894701U (en) | 2019-09-27 | 2019-09-27 | Laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531371A (en) * | 2019-09-27 | 2019-12-03 | 无锡流深光电科技有限公司 | A kind of laser radar and laser distance measurement method |
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2019
- 2019-09-27 CN CN201921635873.4U patent/CN210894701U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531371A (en) * | 2019-09-27 | 2019-12-03 | 无锡流深光电科技有限公司 | A kind of laser radar and laser distance measurement method |
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