CN212364575U - Wide-range scanning laser radar combining swing mirror and rotating mirror - Google Patents
Wide-range scanning laser radar combining swing mirror and rotating mirror Download PDFInfo
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- CN212364575U CN212364575U CN202020913493.9U CN202020913493U CN212364575U CN 212364575 U CN212364575 U CN 212364575U CN 202020913493 U CN202020913493 U CN 202020913493U CN 212364575 U CN212364575 U CN 212364575U
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Abstract
The utility model relates to a wide-range scanning laser radar combining a swing mirror and a rotating mirror, which comprises a transmitting module, a receiving module, a rotating mirror module and a driving motor; the transmitting module and the receiving module are arranged on the same side of the rotating mirror module, and the rotating mirror module is close to the transmitting module and the receiving module; the driving motor drives the rotating mirror module to rotate around a rotating shaft of the rotating mirror module at a constant speed; the central optical axis emitted by the emitting module, the optical axis of the receiving module and the rotating shaft of the driving motor are arranged in a plane; the central optical axis emitted by the emitting module is parallel to the optical axis of the receiving module, and the central optical axis and the optical axis form a certain angle with a rotating shaft of the driving motor but are not mutually perpendicular; the utility model reduces the cost and the adjusting difficulty of the transmitting module; effectively avoiding the receiving module from shielding echo signals, thereby realizing large-range scanning; the rotating mirror module is close to the transmitting module and the receiving module, so that the size of the system is reduced.
Description
Technical Field
The utility model relates to a sweep laser radar on a large scale that pendulum mirror and commentaries on classics mirror combined together belongs to optics, laser radar technical field.
Background
Laser radar realizes the range finding function through the time difference of transmitting laser and receiving echo signal, has two kinds of mainstream laser radar on the market at present: the multi-line laser radar and the swing mirror type laser radar (mostly MEMS vibrating mirrors) are adopted. The multi-line laser radar utilizes a plurality of laser emitting arrays to simultaneously emit and receive a plurality of laser beams and is combined with a mechanical rotating device to realize two-dimensional scanning, the multi-line laser radar utilizes the mechanical rotating device to realize large-range scanning, but a plurality of laser emitting arrays are needed to be used, and emitting modules are required to be distributed at a fixed angle, so that the cost is high and the installation and adjustment difficulty is high; the swing mirror type laser radar only needs one laser beam at least, and the two-dimensional expansion is carried out on the light beam through the swing mirror, so that the cost of the transmitting module is lower than that of a multi-line laser radar, but the transmitting module is limited by the swing angle of the swing mirror, and the scanning angle of the swing mirror type laser radar is difficult to be enlarged.
Chinese utility model patent CN109725299A discloses a scanning device, a radar apparatus and a scanning method thereof, the scanning device includes: the scanning prism comprises a plurality of scanning mirror surfaces, the plurality of scanning mirror surfaces form a certain space angle around a scanning axis, and the angles of all the space angles are not completely the same; the receiving and transmitting assembly comprises a plurality of laser transmitting units and a plurality of laser receiving units, each laser transmitting unit respectively transmits a laser beam, and included angles exist among the laser beams; the scanning lines are generated by a plurality of emission units through the rotation of the scanning mirror, wherein the same laser emission unit generates a plurality of scanning lines through the rotation of the scanning prism, which has the disadvantages that: the receiving and transmitting assembly needs a plurality of laser transmitting units and a plurality of laser receiving units, and included angles exist among laser beams, so that the transmitting module is high in cost and large in installation and adjustment difficulty.
Chinese utility model patent CN109997057A discloses a mechanical scanning pendulum mirror formula laser radar system, this system can only use a transmitting element, at first realize the scanning of vertical direction through a one-dimensional pendulum mirror, the mode of mechanical rotation is recombined, realize 360 scans of horizontal direction, this radar system receiving and dispatching light path is coaxial, the projecting beam need pass a foraminiferous mirror of out of plumb with the optical axis, the light beam of returning is through the deviated optical axis that launches the light beam of foraminiferous mirror reflection, thereby received during by the receipt. The disadvantages of this solution are: the returning beam needs to be reflected by a perforated mirror, and part of the energy is lost.
Chinese utility model patent CN110018481A discloses a laser radar device, the device also expands the scanning visual field through the mode that pendulum mirror and commentaries on classics mirror combined together, realize the scanning of vertical direction through a one-dimensional pendulum mirror, recycle a rotation axis and emission module outgoing center optical axis mutually perpendicular's commentaries on classics mirror and realize the scanning of horizontal direction, the shortcoming of this scheme lies in, commentaries on classics mirror rotation axis and emission module outgoing center optical axis mutually perpendicular, some echo signal can be sheltered from by receiving lens's edge, lead to the signal weak, be difficult to realize scanning on a large scale. Unless the turning mirror is disposed far from the receiving module, the entire size of the system becomes large, which is disadvantageous for the miniaturization of the system.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the purpose is in order to overcome prior art not enough and provide a sweep laser radar on a large scale that pendulum mirror and commentaries on classics mirror combined together, reduced multi-line laser radar's the cost and the installation and debugging degree of difficulty, reduced laser radar system size.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a wide-range scanning laser radar combining a swing mirror and a rotating mirror comprises a transmitting module, a receiving module, a rotating mirror module and a driving motor; the transmitting module and the receiving module are arranged on the same side of the rotating mirror module, and the rotating mirror module is close to the transmitting module and the receiving module; the driving motor drives the rotating mirror module to rotate around a rotating shaft of the rotating mirror module at a constant speed; the central optical axis emitted by the emitting module, the optical axis of the receiving module and the rotating shaft of the driving motor are arranged in a plane; the central optical axis emitted by the emitting module is parallel to the optical axis of the receiving module, and the central optical axis and the optical axis form a certain angle with a rotating shaft of the driving motor but are not mutually perpendicular; the emission module consists of a single-beam laser, a collimating mirror, a plane reflecting mirror and a one-dimensional swing mirror; the one-dimensional swing mirror swings at symmetrical angles around the fixed shaft; the fixed shaft is vertical to a central optical axis emitted by the emitting module, an optical axis of the receiving module and a plane where a rotating shaft of the driving motor is located; the receiving module consists of a narrow-band filter, a receiving lens and a receiving detector.
Preferably, the one-dimensional oscillating mirror is any one of a MEMS oscillating mirror, a resonant mirror, a mirror galvanometer, or a diffusion lens.
Preferably, the rotating mirror module is a reflecting mirror with two surfaces capable of reflecting.
Preferably, the rotating mirror module is a reflector group formed by at least 3 reflectors.
Preferably, each of the mirrors of the turning mirror module and a rotation shaft of the driving motor are parallel to each other.
Preferably, each reflecting mirror of the rotating mirror module and a rotating shaft of the driving motor are arranged at different included angles.
Because of above-mentioned technical scheme's application, compared with the prior art, the utility model have the following advantage:
the large-range scanning laser radar combining the swing mirror and the rotating mirror adopts the single-beam laser and the one-dimensional swing mirror to replace a multi-beam laser emission module of a multi-line laser radar, so that the cost and the assembly and adjustment difficulty of the emission module are reduced; the number of scanning lines is increased through the swinging of the one-dimensional oscillating mirror, and the number of the scanning lines is not limited by the number of the laser emission units; the rotating mirror module is obliquely arranged, so that the emitted light deviates from the emitting module and the receiving module and is reflected, the receiving module is effectively prevented from shielding echo signals, and large-range scanning is realized; the rotating mirror module is close to the transmitting module and the receiving module, so that the size of the system is reduced.
Drawings
The technical scheme of the utility model is further explained by combining the attached drawings as follows:
fig. 1 is an overall schematic diagram of a large-range scanning laser radar with a combination of a swing mirror and a rotating mirror according to the present invention;
fig. 2 is a schematic diagram of a rotating mirror module of a large-range scanning laser radar with a combination of a swinging mirror and a rotating mirror according to the present invention;
FIG. 3 is a partial enlarged view of the working state of a large-scale scanning lidar with a combination of a swing mirror and a rotating mirror according to the present invention;
wherein: 1. a transmitting module; 2. a receiving module; 3. a mirror rotating module; 4. a drive motor; 5. a rotating shaft; 6. a central optical axis; 7. an optical axis; 8. a single beam laser; 9. a collimating mirror; 10. a plane mirror; 11. a one-dimensional swing mirror; 12. a narrow band filter; 13. receiving a lens; 14. a detector is received.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the wide-range scanning lidar combining a swing mirror and a rotating mirror according to the present invention comprises a transmitting module 1, a receiving module 2, a rotating mirror module 3 and a driving motor 4; the transmitting module 1 and the receiving module 2 are arranged on the same side of the rotating mirror module 3, and the rotating mirror module 3 is close to the transmitting module 1 and the receiving module 2; the driving motor 4 drives the rotating mirror module 3 to rotate around the rotating shaft 5 at a constant speed; the central optical axis 6 emitted by the emitting module 1, the optical axis 7 of the receiving module 2 and the rotating shaft 5 of the driving motor 4 are arranged in a plane; the central optical axis 6 emitted by the emitting module 1 is parallel to the optical axis 7 of the receiving module 2, and the two are in a certain angle with the rotating shaft 5 of the driving motor 4 but not perpendicular to each other; the emitting module 1 consists of a single-beam laser 8, a collimating mirror 9, a plane reflecting mirror 10 and a one-dimensional oscillating mirror 11; the one-dimensional oscillating mirror 11 swings at symmetrical angles around the fixed shaft; the fixed shaft is vertical to the plane where the central optical axis 6 emitted by the emitting module 1, the optical axis 7 of the receiving module 2 and the rotating shaft 5 of the driving motor 4 are located; the receiving module 2 is composed of a narrow-band filter 12, a receiving lens 13 and a receiving detector 14.
In order to meet the requirements of various oscillating mirrors, the one-dimensional oscillating mirror 11 is any one of a MEMS oscillating mirror, a resonant mirror, a mirror galvanometer or a diffusion lens.
In order to realize the function of the turning mirror module 3, the turning mirror module 3 is a reflecting mirror with two surfaces capable of reflecting.
In order to better realize the function of the rotating mirror module 3, the rotating mirror module 3 is a reflector group formed by at least 3 reflectors.
In order to increase the scanning frame rate of the emitting end, the scanning area of each mirror is the same, and each mirror of the rotating mirror module 3 and the rotating shaft 5 of the driving motor 4 are parallel to each other.
In order to increase the scanning range of the emitting unit and enable each reflector to emit light signals in different directions, each reflector of the rotating mirror module 3 and the rotating shaft 5 of the driving motor 4 are arranged in different included angles.
When the device works, a single-beam laser 8 emits pulse laser, the pulse laser is collimated by a collimating mirror 9 and reflected by a plane mirror 10 and enters the surface of a one-dimensional swing mirror 11, because the one-dimensional swing mirror 11 swings at a certain angle around a fixed shaft at a specific frequency, a reflected light beam forms a sector scanning area with a certain angle and strikes the surface of a reflecting mirror of a rotating mirror module 3, because the rotating mirror module 3 rotates at a constant speed around a rotating shaft 5 of a driving motor 4, the light beam is reflected at different angles at different moments and strikes a detected object, the reflected light of the object is an echo signal, the reflected light is reflected by the same reflecting mirror of the rotating mirror module 3, ambient light is filtered by a narrow-band optical filter 12, the ambient light is converged by a receiving lens 13 and received by a receiving detector 14, and distance information of the detected object is.
The utility model discloses a large-scale scanning laser radar that pendulum mirror and rotating mirror combined together adopts single laser 8 and one-dimensional pendulum mirror 11 to replace multi-beam laser emission module 1 of multi-line laser radar, reduces emission module 1 cost and the installation and adjustment degree of difficulty; the number of scanning lines is increased through the swinging of the one-dimensional oscillating mirror 11, and the number of the scanning lines is not limited by the number of the laser emitting units; the rotating mirror module 3 is obliquely arranged, so that emitted light deviates from the emitting module 1 and the receiving module 2 and is reflected out, the receiving module 2 is effectively prevented from blocking echo signals, and large-range scanning is realized; the rotating mirror module 3 is close to the transmitting module 1 and the receiving module 2, so that the size of the system is reduced.
The above is only a specific application example of the present invention, and does not constitute any limitation to the protection scope of the present invention. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (6)
1. The utility model provides a sweep laser radar on a large scale that pendulum mirror and rotating mirror combined together which characterized in that: the device comprises a transmitting module, a receiving module, a rotating mirror module and a driving motor; the transmitting module and the receiving module are arranged on the same side of the rotating mirror module, and the rotating mirror module is close to the transmitting module and the receiving module; the driving motor drives the rotating mirror module to rotate around a rotating shaft of the rotating mirror module at a constant speed; the central optical axis emitted by the emitting module, the optical axis of the receiving module and the rotating shaft of the driving motor are arranged in a plane; the central optical axis emitted by the emitting module is parallel to the optical axis of the receiving module, and the central optical axis and the optical axis form a certain angle with a rotating shaft of the driving motor but are not mutually perpendicular; the emission module consists of a single-beam laser, a collimating mirror, a plane reflecting mirror and a one-dimensional swing mirror; the one-dimensional swing mirror swings at symmetrical angles around the fixed shaft; the fixed shaft is vertical to a central optical axis emitted by the emitting module, an optical axis of the receiving module and a plane where a rotating shaft of the driving motor is located; the receiving module consists of a narrow-band filter, a receiving lens and a receiving detector.
2. A combined oscillating and rotating mirror broad scan lidar as defined in claim 1, wherein: the one-dimensional oscillating mirror is any one of an MEMS oscillating mirror, a resonant mirror, a mirror galvanometer or a diffusion lens.
3. A combined oscillating and rotating mirror broad scan lidar as defined in claim 1, wherein: the rotating mirror module is a reflecting mirror with two surfaces capable of reflecting.
4. A combined oscillating and rotating mirror broad scan lidar as defined in claim 1, wherein: the rotating mirror module is a reflector group formed by at least 3 reflectors in a surrounding mode.
5. A combined oscillating and rotating mirror broad scan lidar as claimed in claim 3 or 4, wherein: and each reflecting mirror of the rotating mirror module and the rotating shaft of the driving motor are parallel to each other.
6. A combined oscillating and rotating mirror broad scan lidar as claimed in claim 3 or 4, wherein: and each reflector of the rotating mirror module and the rotating shaft of the driving motor are arranged at different included angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020913493.9U CN212364575U (en) | 2020-05-27 | 2020-05-27 | Wide-range scanning laser radar combining swing mirror and rotating mirror |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020913493.9U CN212364575U (en) | 2020-05-27 | 2020-05-27 | Wide-range scanning laser radar combining swing mirror and rotating mirror |
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| CN212364575U true CN212364575U (en) | 2021-01-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505605A (en) * | 2020-05-27 | 2020-08-07 | 中科融合感知智能研究院(苏州工业园区)有限公司 | Wide-range scanning laser radar combining swing mirror and rotating mirror |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505605A (en) * | 2020-05-27 | 2020-08-07 | 中科融合感知智能研究院(苏州工业园区)有限公司 | Wide-range scanning laser radar combining swing mirror and rotating mirror |
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