CN213122289U - Laser ranging device and laser radar with same - Google Patents

Abstract

The utility model relates to a laser equipment technical field, concretely relates to laser rangefinder equipment and have its laser radar. Laser rangefinder equipment includes: a transmitter; the detector is arranged in parallel with the emitter; the first reflector is obliquely arranged in front of the emitter, and is provided with a light through hole which is over against the laser emitted by the emitter; and the second reflecting mirror is arranged in front of the detector, so that the laser reflected by the object is received by the detector after being reflected by the first reflecting mirror and the second reflecting mirror, and a condensing lens is arranged between the second reflecting mirror and the detector. The reflected laser returns to the distance measuring equipment from the position emitted by the emitted laser, so that the coaxial receiving and transmitting of the laser are realized, the influence of the field angle is eliminated, and even if the laser signal reflected by an object close to the distance measuring equipment is reflected by the first reflecting mirror and the second reflecting mirror in a matching way, the laser signal can be captured by the detector, so that the distance information can be obtained. The utility model discloses still relate to a laser radar.

Description

Laser ranging device and laser radar with same

Technical Field

The utility model relates to a laser equipment technical field, concretely relates to laser rangefinder equipment and have its laser radar.

Background

The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that laser beam as detection signal is emitted to the target, then the received signal reflected from the target is compared with the emitted signal, and after proper processing, the relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, so as to detect, track and identify the target.

In the prior art, a transmitting light path of laser of a ranging module in a consumer-grade mechanical laser radar and a receiving light path of the laser leave from different openings and enter the radar, reflected signals at a close distance are converged and deviate from a photosensitive surface of a detector due to the existence of a field angle, the laser passing through a receiving lens cannot be irradiated on a detector lens and cannot be detected, and a detection blind area exists in an area close to the radar when the radar detects.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the laser radar among the prior art and having the defect of surveying the blind area when surveying to a laser rangefinder equipment and have its laser radar are provided.

In order to solve the technical problem, the utility model provides a laser rangefinder equipment, include:

a transmitter;

the detector is arranged in parallel with the emitter;

the first reflector is obliquely arranged in front of the emitter, and is provided with a light through hole which is over against the laser emitted by the emitter;

and the second reflecting mirror is arranged in front of the detector, so that the laser reflected by the object is received by the detector after being reflected by the first reflecting mirror and the second reflecting mirror, and a condensing lens is arranged between the second reflecting mirror and the detector.

Optionally, the first mirror is arranged parallel to the second mirror.

Optionally, an included angle between the first reflecting mirror and the laser emitted by the emitter is 10 ° to 80 °.

Optionally, a filter is installed between the second reflecting mirror and the condenser lens, and the filter is arranged in parallel with the condenser lens.

Optionally, the device further comprises a mounting bracket, and the emitter and the detector are both mounted on the mounting bracket.

Optionally, the light passing hole is an elliptical hole.

The utility model also provides a laser radar has laser rangefinder equipment.

Optionally, the laser ranging device further comprises a mounting base, the laser ranging device is rotatably mounted on the mounting base, and a rotating shaft of the laser ranging device is perpendicular to the laser emitted by the emitter.

Optionally, a driving motor is installed in the installation base, and the laser ranging device is installed on an output shaft of the driving motor.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a laser rangefinder equipment, include: a transmitter; the detector is arranged in parallel with the emitter; the first reflector is obliquely arranged in front of the emitter, and is provided with a light through hole which is over against the laser emitted by the emitter; and the second reflecting mirror is arranged in front of the detector, so that the laser reflected by the object is received by the detector after being reflected by the first reflecting mirror and the second reflecting mirror, and a condensing lens is arranged between the second reflecting mirror and the detector.

The emitter emits laser to be emitted to the external space through the light through hole in the first reflector, the laser meets an obstacle and is reflected, the reflected laser is received at the front end of the emitter by the aid of the first reflector, is reflected by the first reflector and the second reflector in a matched mode, is focused by the condensing lens, and is reflected to the detector and captured by the detector. The reflected laser returns to the distance measuring equipment from the position emitted by the emitted laser, so that the coaxial receiving and transmitting of the laser are realized, the influence of the field angle is eliminated, and even if the laser signal reflected by an object close to the distance measuring equipment is reflected by the first reflecting mirror and the second reflecting mirror in a matching way, the laser signal can be captured by the detector, so that the distance information can be obtained.

2. The utility model provides a laser rangefinder installs the light filter, light filter and condensing lens parallel arrangement between the second reflector and the condensing lens. Most of the light with non-emergent laser frequency is filtered by the optical filter to improve the detection signal-to-noise ratio, so that the detection capability and the detection precision of the detector are improved.

3. The utility model provides a laser rangefinder equipment, logical unthreaded hole are oval hole. The light through hole is matched with the spot shape of the laser, so that the laser reflected by the obstacle is received by the first reflecting mirror as much as possible and is reflected and finally received by the detector.

4. The utility model provides a laser radar still includes the installation base, and laser rangefinder rotates and installs on the installation base, and laser rangefinder's rotation axis is perpendicular with the laser of transmitter transmission. Through rotating laser rangefinder on the installation base, realized 360 rotatory scanning in the coplanar for data acquisition efficiency.

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 structural diagram of a laser distance measuring apparatus provided in an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a first reflecting mirror provided in an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a laser radar according to an embodiment of the present invention.

Description of reference numerals: 1. a transmitter; 2. a detector; 3. a first reflector; 4. a second reflector; 5. a light through hole; 6. a condenser lens; 7. an optical filter; 8. mounting a bracket; 9. and (5) installing a base.

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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 and fig. 2, the laser ranging apparatus provided in this embodiment includes: a detector 2 and an emitter 1 arranged in parallel.

The front end of the emitter 1 is obliquely provided with a first reflector 3, as shown in fig. 2, the first reflector 3 is provided with an elliptical light through hole 5, and the light through hole 5 is arranged opposite to the laser emitted by the emitter 1.

As shown in fig. 1, a second reflecting mirror 4 is installed in front of the detector 2 so that the laser light reflected by the object is received by the detector 2 after being reflected by the first reflecting mirror 3 and the second reflecting mirror 4. The first reflector 3 and the second reflector 4 are arranged in parallel, and an included angle between the first reflector 3 and the laser emitted by the emitter 1 is 45 degrees, namely, the included angle between the first reflector 3 and the horizontal plane is 45 degrees. A condenser lens 6 is installed between the second reflecting mirror 4 and the detector 2. An optical filter 7 is arranged between the second reflecting mirror 4 and the condensing lens 6, and the optical filter 7 is arranged in parallel with the condensing lens 6. The first reflector 3, the second reflector 4, the condenser lens 6, the optical filter 7, the emitter 1 and the detector 2 are all mounted on a mounting bracket 8.

The emitter 1 emits laser to an external space through a light through hole 5 in a first reflector 3, the laser meets an obstacle and is reflected, the reflected laser is received at the front end of the emitter 1 through the first reflector 3, the first reflector 3 and a second reflector 4 are matched for reflection, light beams passing through a light filter 7 are filtered through the light filter 7, only light with the same frequency as the emitted laser emitted from the emitter 1 passes through the light filter 7, the laser passing through the light filter 7 is focused through a condensing lens 6, and the laser irradiates the detector 2 and is captured by the detector 2. The reflected laser returns to the distance measuring equipment from the position emitted by the emitted laser, so that the coaxial receiving and sending of the laser are realized, the influence of the angle of view is eliminated, and even if the laser signal reflected by an object close to the distance measuring equipment is reflected by the first reflecting mirror 3 and the second reflecting mirror 4 in a matching way, the laser signal can be captured by the detector 2. The time data of the outgoing laser light emitted from the transmitter 1 and the laser light captured by the detector 2 are processed by a data processing circuit to obtain distance information.

As an alternative embodiment the first mirror 3 is angled 10 deg. from the horizontal to increase the accuracy for obstacles that are at a smaller angle to the horizontal.

As an alternative embodiment the first mirror 3 is angled 80 deg. from the horizontal to increase the accuracy for obstacles having a larger angle to the horizontal.

Fig. 3 shows a lidar provided in this embodiment, which has the laser ranging apparatus described in the first embodiment. Still including installation base 9, laser rangefinder rotates to be installed on installation base 9, and laser rangefinder's rotation axis is perpendicular with the laser of transmitter 1 transmission. A driving motor is installed in the installation base 9, and the laser ranging equipment is installed on an output shaft of the driving motor through the installation base 9. The output shaft is driven to rotate through the driving motor so as to drive the laser ranging device to rotate on the mounting base 9, and therefore 360-degree all-dimensional scanning is achieved in the rotating face. A data processing module and a communication module are also installed in the installation base 9, and the data processing module is used for further processing the signals collected by the detector 2. The communication module is used for realizing communication between the laser radar and external equipment so as to realize wireless control of the laser radar and data transmission between the external equipment and the laser radar.

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 therefrom are within the scope of the invention.

Claims (9)

1. A laser ranging apparatus, comprising:

a transmitter (1);

a detector (2) arranged in parallel with the emitter (1);

the first reflector (3) is obliquely arranged in front of the emitter (1), a light through hole (5) is formed in the first reflector (3), and the light through hole (5) is over against the laser emitted by the emitter (1);

the second reflecting mirror (4) is arranged in front of the detector (2) so that the laser reflected by the object is received by the detector (2) after being reflected by the first reflecting mirror (3) and the second reflecting mirror (4), and a condensing lens (6) is arranged between the second reflecting mirror (4) and the detector (2).

2. Laser rangefinder apparatus according to claim 1, characterized in that the first mirror (3) is arranged parallel to the second mirror (4).

3. Laser ranging apparatus as claimed in claim 2, characterized in that the angle between the first mirror (3) and the laser light emitted by the emitter (1) is 10 ° to 80 °.

4. The laser rangefinder apparatus of any of claims 1 to 3 wherein an optical filter (7) is mounted between the second mirror (4) and the condenser lens (6), the optical filter (7) being arranged parallel to the condenser lens (6).

5. A laser ranging device according to any of claims 1 to 3, characterized in that it further comprises a mounting bracket (8), said emitter (1) and said detector (2) being mounted on said mounting bracket (8).

6. A laser ranging device according to any of claims 1-3, characterized in that the light through hole (5) is an elliptical hole.

7. Lidar characterized by having a laser ranging device according to any of claims 1 to 6.

8. Lidar according to claim 7, further comprising a mounting base (9), wherein said lidar is rotatably mounted on said mounting base (9), and wherein a rotation axis of said lidar is perpendicular to a laser emitted from said emitter (1).

9. Lidar according to claim 8, wherein a drive motor is mounted in said mounting base (9), said lidar being mounted on an output shaft of said drive motor.

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