CN215264030U

CN215264030U - Single line laser radar device of high accuracy high resolution full field of view

Info

Publication number: CN215264030U
Application number: CN202122854638.XU
Authority: CN
Inventors: 陈浩; 张强; 付晨; 张小富
Original assignee: Shandong Free Optics Technology Co ltd
Current assignee: Shandong Free Optics Technology Co ltd
Priority date: 2021-11-22
Filing date: 2021-11-22
Publication date: 2021-12-21
Anticipated expiration: 2031-11-22

Abstract

The utility model discloses a single line laser radar device with high precision, high resolution and full field of view, which belongs to the technical field of laser radar and comprises a bottom shell and an optical cover, wherein the bottom shell is communicated with the inner cavity of the optical cover, an installation bracket is arranged in the inner cavity of the bottom shell, and a motor stator, a receiving lens, a control panel, a power panel and a transmitting and receiving panel are fixedly arranged on the installation bracket; the motor stator is of a hollow structure, a receiving lens is arranged in the motor stator, and an emission collimating lens is arranged at the axis of the receiving lens; the upper surface of the transmitting and receiving plate is provided with a pigtail LD, a main detector and an auxiliary detector, the pigtail LD is provided with two optical fiber output ends, one optical fiber output end is matched with the transmitting collimating mirror, and the other optical fiber output end is matched with the receiving end of the auxiliary detector. The utility model provides a single line laser radar device can eliminate like the negative effects to laser rangefinder precision soon, promotes the environmental suitability and the measurement accuracy of radar.

Description

Single line laser radar device of high accuracy high resolution full field of view

Technical Field

The utility model relates to a laser radar technical field, concretely relates to single line laser radar device of high accuracy high resolution full field of view.

Background

The laser radar is a system for detecting characteristic quantities such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing is carried out, relevant information of the target, such as target distance, direction, height, speed, posture, even shape and other parameters, can be obtained, so that the target is detected, tracked and identified.

The method puts relatively strict requirements on a radar framework and internal components, the scheme which can be realized at present is realized by adopting a mechanical rotating scanning mechanism, and the method can be divided into two types on the basis of rotating scanning:

one is that the transmitting and receiving components are all arranged on the rotor part of the motor, namely, the optical electromechanical components related to radar transmitting and receiving rotate integrally with the motor, and the scheme relates to power supply and communication between the rotor and the stator, thereby increasing the complexity and cost of the system and reducing the reliability;

the other is that the transmitting and receiving structures are fixed, the off-axis support of the outer rotor to the reflector is utilized to realize the rotation of the transmitting and receiving light path without shielding through the hollow outer rotor motor and the 45-degree reflector, and finally the 360-degree full-field scanning is realized, the structures are mostly transmitting and receiving common light path structures, and the inevitable shielding of optical, mechanical and circuit devices corresponding to the transmitting light path on the receiving light path influences the utilization efficiency of echo light, meanwhile, the side emitting laser diode with the highest cost performance and the most common use is used as a light source, and the shape of a collimated light spot is non-circular, after the reflection of the 45-degree reflector, image rotation (corresponding to different scanning azimuth angles, the emergent light spot shapes can relatively rotate) can be generated, and laser areas received by the target object to be detected at different azimuth angles can also be different, so that the difference of the ranging capability of the laser radar is caused. Furthermore, 360-degree full-field scanning is realized, a scanning blind area is avoided, feedback control and locking of the internal state of the radar cannot be carried out depending on the blind area, and therefore the measuring range and the measuring precision of the radar cannot be effectively compensated due to the influence of external working environments (temperature change and the like), and the adaptability of the radar to the environment is reduced.

In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to above not enough, provide a single line laser radar device of high accuracy high resolution full field of view, can eliminate like revolving the negative effects to laser rangefinder precision, promote the environmental suitability and the measurement accuracy of radar.

For solving the technical problem, the utility model discloses a following technical scheme:

a single line laser radar device with high precision, high resolution and full field of view comprises a bottom shell and an optical cover, wherein the bottom shell is communicated with the inner cavity of the optical cover, a mounting bracket is arranged in the inner cavity of the bottom shell, and a motor stator, a receiving lens, a control panel, a power panel and a transmitting and receiving panel are fixedly mounted on the mounting bracket;

the motor stator is of a hollow structure, a receiving lens is arranged in the motor stator, and an emission collimating lens is arranged at the axis of the receiving lens;

the upper surface of the transmitting and receiving plate is provided with a tail fiber LD, a main detector and an auxiliary detector, and the tail fiber LD and the auxiliary detector are positioned at two sides of the main detector;

the fiber LD with the tail is provided with two fiber output ends, one fiber output end is matched with the emission collimating mirror, and the other fiber output end is matched with the receiving end of the auxiliary detector.

Further, the mounting bracket is fixedly connected with the inner wall of the bottom shell.

Further, the emission collimating lens is fixedly connected with the receiving lens through the collimating lens barrel.

Further, the control board and the transmitting and receiving board are both located right below the motor stator, and the transmitting and receiving board is located right below the control board.

Furthermore, the middle part of the control plate is provided with a through hole.

Further, the power supply board is arranged on the periphery of the motor stator.

Further, a motor rotor is arranged outside the motor stator.

Furthermore, a 45-degree reflector is arranged in the inner cavity of the optical cover, and a coded disc is arranged below the main body of the 45-degree reflector; the 45-degree reflecting mirror, the coded disc and the motor rotor are fixedly connected.

Furthermore, the code wheel is matched with the code wheel reading head, and the code wheel reading head is connected with the power panel.

The utility model adopts the above technical scheme after, compare with prior art, have following advantage:

1. the laser output by the LD with the tail fiber is a circular light spot homogenized by the fiber, the laser output by the 45-degree reflector is still the circular light spot, and the negative influence of image rotation on the laser ranging precision is avoided;

2. the system adopts an outer rotor hollow motor and a 45-degree reflector to realize 360-degree full-field scanning;

3. the system can realize the measurement of 0.1 degree (corresponding to a single circle of 3600 points) and even higher angular resolution by the matching arrangement of LD light emitting frequency and motor rotating speed;

the emitted light beam of the LD is respectively received by the main detector and the auxiliary detector, the hardware configuration of the circuit where the main detector and the auxiliary detector are located is completely the same, the photoelectric link formed by the circuit where the LD and the auxiliary detector are located and the photoelectric link formed by the circuit where the LD and the main detector are located are in the same working environment in the radar, and are affected by the change of the transmitting power of the LD, the ambient temperature, the vibration, the electromagnetic interference and other external influences are the same, the pulse width T of the echo signal acquired by the circuit where the auxiliary detector is located is used as feedback input, the driving voltage of the main detector and the auxiliary detector is controlled at the same time, and the compensation of the interference of the temperature of the main detection photoelectric link, the fluctuation of the LD power and the like is realized while the pulse width T of the echo signal is locked, so that the environmental adaptability and the measurement accuracy of the radar are improved;

5. the structure is a receiving and transmitting common light path, in order to improve the receiving efficiency of the system as much as possible, the shielding of the transmitting light path on the receiving light path is as small as possible, and the shielding in the structure is caused by a transmitting lens, a transmitting lens mounting bracket, a transmitting end head and a light guide optical fiber; the optical fiber output is selected, and the output end of the optical fiber output can be used for packaging the customized small-size inserting core, so that the shading of the transmitting end can be reduced; the optical fiber outputs laser, and a collimating lens of the optical fiber can be designed to be smaller, so that the shading of the emitting lens and the emitting lens mounting bracket is reduced; and the light guide optical fiber with small bending radius is selected, so that the distance between the optical fiber and the main detector is as far as possible, and the shading of the light guide optical fiber is reduced.

The present invention will be described in detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

in the figure, 1-optical cover, 2-bottom shell, 3-mounting bracket, 4-transmitting and receiving plate, 5-tailed fiber LD, 6-main detector, 7-auxiliary detector, 8-control plate, 9-power plate, 10-receiving lens, 11-motor stator, 12-motor rotor, 13-coded disc, 14-45 degree reflector, 15-coded disc reading head and 16-transmitting collimating mirror.

Detailed Description

In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings.

As shown in fig. 1, the utility model provides a single line laser radar device of full visual field of high accuracy high resolution, including bottom casing 2 and optics cover 1, the top of bottom casing 2 and the bottom of optics cover 1 are connected, and bottom casing 2 and the 1 inner chamber of optics cover are linked together.

And a mounting bracket 3 is arranged in the inner cavity of the bottom shell 2, and the mounting bracket 3 is fixedly connected with the inner wall of the bottom shell 2.

And the mounting bracket 3 is fixedly provided with a motor stator 11, a receiving lens 10, a control board 8, a power supply board 9 and a transmitting and receiving board 4.

The power panel 9 is connected with the transmitting and receiving panel 4, the control panel 8 and the motor stator 11 through a flat cable or a pin and the like to supply power for the transmitting and receiving panel 4, the control panel 8 and the motor stator 11.

The motor stator 11 is of a hollow structure, the receiving lens 10 is installed inside the motor stator 11, the receiving lens 10 and the motor stator 11 are coaxially arranged, the axis of the receiving lens 10 is provided with the transmitting collimating lens 16, and the transmitting collimating lens 16 is fixedly connected with the receiving lens 10 through the collimating lens barrel.

The control board 8 and the transmitting and receiving board 4 are both located right below the motor stator 11, and the transmitting and receiving board 4 is located right below the control board 8.

And a through hole is formed in the middle of the control plate 8 and is used for the light guide optical fiber to penetrate through.

The power panel 9 is arranged on the periphery of the motor stator 11.

The upper surface of the transmitting and receiving board 4 is provided with a pigtail LD5, a main detector 6 and an auxiliary detector 7, and the pigtail LD5 and the auxiliary detector 7 are positioned at two sides of the main detector 6.

The LD5 with the tail fiber is provided with two fiber output ends, one fiber output end is matched with the emission collimating mirror 16, and the other fiber output end is matched with the receiving end of the auxiliary detector 7.

The laser output by the LD5 with tail fiber is divided into two beams, one beam is guided to the emission collimating mirror 16 by the fiber to realize the collimation of the beam and then is emitted, and the other beam is guided to the receiving end face of the secondary detector 7 by the fiber; the beam splitting ratio of the two laser beams is determined by factors such as LD transmitting power, optical fiber transmission attenuation level, radar range measurement requirement, detection response multiplying power, signal amplification circuit amplifying multiplying power and the like, and the laser beam splitting ratio can be correspondingly adjusted according to different radar hardware configurations and application scene requirements.

The relative position of the output end of the fiber with the tail fiber LD5 and the emission collimating mirror 16 determines an emission optical axis, the receiving lens 10 and the main detector 6 determine a receiving optical axis, the emission optical axis and the receiving optical axis are overlapped, and the emission optical axis and the receiving optical axis are both overlapped with the axis of the motor stator 11.

And a motor rotor 12 is arranged outside the motor stator 11, and the axis of the motor rotor 12 is superposed with the transmitting optical axis and the receiving optical axis.

A 45-degree reflector 14 is arranged in the inner cavity of the optical cover 1, and a coded disc 13 is arranged below the main body of the 45-degree reflector 14; the 45-degree reflecting mirror 14, the coded disc 13 and the motor rotor 12 are fixedly connected.

The 45-degree reflector 14, the coded disc 13 and the motor rotor 12 are integrated, the 45-degree reflector 14 and the coded disc 13 can be integrated, and the coded disc 13 and the motor rotor 12 can be integrated.

The coded disc 13 is matched with the coded disc reading head 15, and the coded disc reading head 15 is connected with the power panel 9.

The utility model discloses a concrete theory of operation:

the utility model realizes 360-degree scanning of the radar by selecting a specific motor structure and a return light path on the premise that the transmitting and receiving components of the radar are fixed; on the basis, the light source adopts the fiber coupling LD with low numerical aperture, so that the collimation output of the circular light spot is convenient to realize; the LD is divided into two paths at the transmitting end, one path of the LD is used for emergent ranging, echo detection is completed by a receiving circuit I (comprising a main detector), the other path of the LD is directly received by a receiving circuit II (comprising an auxiliary detector) in the radar to be used as monitoring of the internal state of the radar, and feedback control of the receiving circuit I is realized based on the detection signal of the path of the LD.

The foregoing is illustrative of the best mode of the invention, and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The protection scope of the present invention is subject to the content of the claims, and any equivalent transformation based on the technical teaching of the present invention is also within the protection scope of the present invention.

Claims

1. The utility model provides a single line laser radar device of full visual field of high accuracy high resolution, includes bottom casing (2) and optics cover (1), and bottom casing (2) and optics cover (1) inner chamber are linked together its characterized in that:

a mounting bracket (3) is arranged in the inner cavity of the bottom shell (2), and a motor stator (11), a receiving lens (10), a control panel (8), a power panel (9) and a transmitting and receiving panel (4) are fixedly mounted on the mounting bracket (3);

the motor stator (11) is of a hollow structure, a receiving lens (10) is arranged inside the motor stator (11), and an emission collimating mirror (16) is arranged at the axis of the receiving lens (10);

the upper surface of the transmitting and receiving plate (4) is provided with a tail fiber LD (5), a main detector (6) and an auxiliary detector (7), and the tail fiber LD (5) and the auxiliary detector (7) are positioned on two sides of the main detector (6);

the LD (5) with the tail fiber is provided with two fiber output ends, one fiber output end is matched with the emission collimating mirror (16), and the other fiber output end is matched with the receiving end of the auxiliary detector (7).

2. A high accuracy high resolution full field of view single line lidar apparatus according to claim 1, wherein: the mounting bracket (3) is fixedly connected with the inner wall of the bottom shell (2).

3. A high accuracy high resolution full field of view single line lidar apparatus according to claim 1, wherein: the emission collimating lens (16) is fixedly connected with the receiving lens (10) through a collimating lens barrel.

4. A high accuracy high resolution full field of view single line lidar apparatus according to claim 1, wherein: the control board (8) and the transmitting and receiving board (4) are both located under the motor stator (11), and the transmitting and receiving board (4) is located under the control board (8).

5. A high accuracy high resolution full field of view single line lidar apparatus according to claim 1, wherein: the middle part of the control plate (8) is provided with a through hole.

6. A high accuracy high resolution full field of view single line lidar apparatus according to claim 1, wherein: the power panel (9) is arranged on the periphery of the motor stator (11).

7. A high accuracy high resolution full field of view single line lidar apparatus according to claim 1, wherein: and a motor rotor (12) is arranged outside the motor stator (11).

8. A high accuracy high resolution full field of view singlet lidar apparatus according to claim 7, wherein: a 45-degree reflector (14) is arranged in the inner cavity of the optical cover (1), and a coded disc (13) is arranged below the main body of the 45-degree reflector (14); the 45-degree reflecting mirror (14), the coded disc (13) and the motor rotor (12) are fixedly connected.

9. A high accuracy high resolution full field of view singlet lidar apparatus according to claim 8, wherein: the coded disc (13) is matched with the coded disc reading head (15), and the coded disc reading head (15) is connected with the power panel (9).