CN214375239U - Laser scanning structure of laser radar and laser radar - Google Patents

Abstract

The utility model discloses a scanning structure of laser radar and a laser radar, wherein the scanning structure comprises at least 1 transmitting module which is fixed on the base of the laser radar; the emission module emits laser to the beam splitter module through the reflector module, and the beam splitter DOE (diffractive optical element) divides the point laser into a point array; the reflecting mirror module and the beam splitter module are fixed on an independent rotating base, and the rotating base is driven by a motor at the bottom; the receiving module is positioned at the bottom of the motor and receives the reflected laser. The laser radar has the laser scanning structure. After the scheme is adopted, the laser radar can realize efficient two-dimensional scanning, so that the resolution ratio of the laser radar is higher, and the scanning speed is higher.

Description

Laser scanning structure of laser radar and laser radar

Technical Field

The utility model particularly relates to laser radar technical field especially relates to a laser radar's laser scanning structure and a laser radar.

Background

Lidar technology is a product of a combination of laser technology and radar technology. The laser radar has wide application in military field, aerospace, geographical mapping and other fields. In the field of unmanned vehicles, laser radars play a core role of eyes of the unmanned vehicles, and can effectively detect complex environments in high-speed environments.

The existing unmanned vehicles mostly adopt a mechanical rotation type scanning scheme, and the mechanical laser radar means that a laser radar module integrally rotates so as to achieve the aim of scanning from one dimension to two dimensions. A plurality of laser beams are arranged in the vertical direction to form a plurality of surfaces, and the plurality of surfaces are scanned simultaneously to achieve a dynamic three-dimensional scanning effect. The lasers in the vertical direction are arranged in an angle mode and are emitted to different directions to form a plurality of scanning lines, and coverage of the vertical angle is achieved.

The mechanical rotary laser radar is limited by a manufacturing process, high-precision assembly is needed, and the existing laser radar has the problems of high manufacturing cost, complex assembly process and incapability of increasing the number of laser lines linearly. Because the process requirements for laser alignment show an exponential increase as the number of aligned laser beams increases. Meanwhile, the scheme of integral rotation is not favorable for the requirement of engineering stability and durability, and the method provides higher challenge for the laser radar to enter vehicle-scale products in future. Therefore, there is a need to develop a lidar scanning structure and a lidar that can increase scanning efficiency while reducing process costs.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize the laser scanning structure of higher scanning efficiency and have the lidar of this structure.

The utility model discloses a laser scanning mechanism of laser radar, which comprises at least 1 transmitting module fixed on the base of the laser radar shell; the emitting module emits laser to the beam splitter module through the reflector module, and the beam splitter divides the point laser into a point array; the reflecting mirror module and the beam splitter module are fixed on an independent rotating base, and the rotating base is driven by a motor at the bottom; the receiving module is positioned at the bottom of the motor and receives the reflected laser.

Preferably, the scanning structure comprises at least 1 transmitting module, and the transmitting module is fixed on a housing base of the laser radar; the emitting module emits laser to the beam splitter module through the reflector module, and the beam splitter divides the point laser into a point array; the reflecting mirror module and the beam splitter module are fixed on an independent rotating base, and the rotating base is driven by a motor at the bottom; the receiving module is positioned at the bottom of the motor and used for receiving the reflected laser.

Preferably, the scanning structure further comprises a fixing unit fixing the reflection module and the beam splitting module on the rotating base.

Preferably, the lens of the receiving mirror is a wide-angle mirror.

The utility model also discloses a laser radar, which comprises the transmitting structure; the laser radar also comprises radar modules with the same number as the transmitting modules, and the transmitting modules are arranged in the radar modules; the transmitting module comprises a laser generator which generates laser and transmits the laser by an optical fiber; the radar module includes: the device comprises a transmitting module, a reflecting mirror module, a beam splitter module, a receiving mirror and a receiving/amplifying module: the transmitting module transmits laser, the laser outwards transmits laser from the laser radar module through the reflector module, the laser contacts a target object and is reflected, the reflected laser is received by the receiving mirror, and the received laser passes through the receiving module and is amplified by the amplifying module in the receiving module; the radar module is fixed on the bottom base and is integrally formed with the shell.

Preferably, the optical radar scanning structure is a semi-solid scanning structure, i.e. a solution that does not rotate as a whole

Preferably, the lidar further comprises an array avalanche photodiode receiver within the receiving module.

After the technical scheme is adopted, compared with the prior art, the method has the following effects;

the laser radar does not need to integrally rotate, so that the stability is ensured, the process requirement of aligning a plurality of lasers is reduced from single laser to multi-laser beam splitting through the beam splitter, and the scanning resolution can be increased. The cost of a single beam splitter is also lower than the cost of a stack of multiple lasers. The scanning efficiency of the laser radar is improved, and meanwhile, the cost is reduced.

Drawings

Fig. 1 is a schematic structural view of a laser scanning structure according to an example of the present invention;

FIG. 2 is a schematic diagram of a beam splitter module in a laser scanning configuration;

FIG. 3 is a schematic diagram of a lidar;

reference numerals:

the device comprises a 1-1-laser emitting module, a 1-2 laser path, a 1-3 reflecting module, a 1-4 beam splitter module, a 1-5 rotating motor, a 1-6 receiving mirror, a 1-7 amplifying/receiving module, a 1-8 shell base, a 1-9 fixing unit, a 2-1 laser path, a 2-2 focusing mirror, a 2-3 beam splitter DOE, a 3-1 radar module, a 3-2 laser generator, a 3-3 optical fiber and a 3-4 array type avalanche photodiode receiver.

Detailed Description

The advantages of the present invention will be further explained with reference to the accompanying drawings and specific embodiments.

Reference will now be made in detail to exemplary implementations, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the example examples below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Referring to fig. 1, the utility model discloses a scanning structure of light radar, scanning structure includes at least one laser emission module 1-1, laser emission module fixes on laser radar's shell base 1-8. Preferably, the laser emitting module 1-1 emits the laser 1-2 to the beam splitter module 1-4 through the reflector module 1-3, and the beam splitter divides the point laser into a point array; the reflector module 1-3 and the beam splitter module 1-4 are fixed on an independent rotating base, and the rotating base is driven by a motor 1-5 at the bottom; the receiving module 1-7 is positioned at the bottom of the motor and receives the reflected laser.

Referring to fig. 2, the splitter module includes: focusing mirror 2-2 and beam splitter DOE 2-3. The laser path 2-1 is focused by a focusing mirror, the focused laser is emitted to a beam splitter DOE2-3, and the beam splitter DOE2-3 splits the focused laser into a two-dimensional laser scattering array. The beam splitter DOE splits the incident laser light into 128 spots, which are projected far into a 1x128 scanning array. The included angles of the 2-3 point arrays of the beam splitter are equal. The rotating frequency of the motor 1-5 is 1-30 Hz.

Preferably, the scanning structure further comprises a fixing unit 1-9, which fixes the reflection module and the beam splitting module on the rotating base.

Preferably, the lenses 1-6 of the receiving mirror are wide-angle mirrors.

Referring to fig. 3, the present invention further discloses a lidar comprising the above scanning structure, and further comprising radar modules equal in number to the number of the transmitting modules, wherein the transmitting modules are disposed in the radar module 3-1; the transmitting module comprises a laser generator 3-1, wherein the laser generator generates laser light 1-2 and transmits the laser light 3-2 through an optical fiber; the radar module includes: the device comprises a transmitting module 1-1, a reflecting mirror module 1-3, a beam splitter module 1-4, a receiving mirror 1-6 and a receiving/amplifying module 1-7: the laser radar system comprises a transmitting module 1-1, a reflecting mirror module 1-3, a receiving mirror 1-6, an array type avalanche photodiode receiver 3-4, an amplifying module 1-7 and a receiving module, wherein the transmitting module 1-1 transmits laser, the laser outwards transmits laser from a laser radar module through the reflecting mirror module 1-3, the laser is in contact with a target object and is reflected, the reflected laser is received by the receiving mirror 1-6, and the received laser passes through the array type avalanche photodiode receiver 3-4 of the receiving module and is amplified by the amplifying module 1-7 in the receiving module; the radar module is fixed on the bottom bases 1-8 and is integrally formed with the shell. Compared with the traditional laser radar, the laser radar has higher stability and can operate without faults for a long time. Compared with the existing laser radar, the laser radar reduces the number of modules for emitting laser, thereby reducing the cost and the assembly difficulty on the premise of not reducing the scanning efficiency. Applying it to an unmanned vehicle reduces the overall cost of the unmanned vehicle.

Preferably, the optical radar scanning structure is a semi-solid scanning structure, i.e. a solution that does not rotate as a whole.

Preferably, the lidar further comprises an array of avalanche photodiode receivers 3-4 within the receiving module.

It should be noted that the embodiments of the present invention have better practicability and are not limited to any form of the present invention, and any person skilled in the art can use the above-mentioned technical content to change or modify the same effective embodiments, but all the modifications or equivalent changes and modifications made by the technical entity of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the technical solution of the present invention.

Claims (6)

1. A laser scanning structure of laser radar is characterized in that,

the scanning structure comprises at least 1 transmitting module, and the transmitting module is fixed on a shell base of the laser radar; the emitting module emits laser to the beam splitter module through the reflector module, and the beam splitter divides the point laser into a point array; the reflecting mirror module and the beam splitter module are fixed on an independent rotating base, and the rotating base is driven by a motor at the bottom; the receiving module is positioned at the bottom of the motor and used for receiving the reflected laser.

2. The scanning structure of claim 1 further comprising a fixing unit that fixes the reflection module and the beam splitting module on the rotating base.

3. The scanning structure of claim 1 wherein the mirror of the receiving mirror is a wide angle mirror.

4. A laser radar is characterized in that the laser radar is provided with a laser beam,

the lidar comprising the scanning structure of any of claims 1-3; the laser radar also comprises radar modules with the same number as the transmitting modules, and the transmitting modules are arranged in the radar modules; the transmitting module comprises a laser generator which generates laser and transmits the laser by an optical fiber; the radar module includes: the transmitting module, the reflector module, the receiving mirror, the receiving/amplifying module: the transmitting module transmits laser, the laser outwards transmits laser from the laser radar module through the reflector module, the laser contacts a target object and is reflected, the reflected laser is received by the receiving mirror, and the received laser passes through the receiving module and is amplified by the amplifying module in the receiving module; the radar module is fixed on the bottom base and is integrally formed with the shell.

5. Lidar according to claim 4, wherein said scanning structure is a semi-solid scanning structure, i.e. not a solid rotating solution.

6. The lidar of claim 4, wherein the lidar further comprises an array of avalanche photodiode receivers within the receiving module.

Images