CN216117993U - Laser radar - Google Patents

Abstract

The utility model discloses a laser radar, comprising: the shell is provided with a light outlet window; the rotating prism is opposite to the light outlet window, and the axis of the rotating prism is vertical to the light outlet window; the light-emitting direction detection module is used for detecting the specific position of the laser emitted by the light-emitting window; the first transceiving component and the second transceiving component are respectively positioned at two sides of the rotating prism; the main control board is respectively electrically connected with the rotating prism, the light emitting direction detection module, the first transceiving component and the second transceiving component. The specific position where the laser emitted from the optical window is located is detected by the light emitting direction detection module, the main control board can control the laser emitted from the left side and the right side to be received by the receiver on one side of the reflecting surface with a large receiving surface through the light reflected by the detected object, the ranging distance in the horizontal scanning view field is ensured, and the phenomenon that the ranging distance is reduced along with the increase of the scanning angle due to the reduction of the receiving area in the same-side or different-side receiving and sending is avoided.

Description

Laser radar

Technical Field

The utility model relates to the field of laser radars, in particular to a laser radar.

Background

Lidar is an advanced detection method that combines laser technology with photoelectric detection technology. Laser radar is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, energy safety detection, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like.

The working principle is that firstly, a detection laser beam is emitted to a target, then, a received signal reflected from the target is compared with an emitted signal, and after appropriate processing, relevant information of the target, such as parameters of target distance, direction, height, speed, posture, even shape and the like, can be obtained.

In order to realize scanning detection in two directions on an application main body provided with a laser radar, two methods are generally used, one method needs to respectively provide a laser radar in different directions of the application main body, and the cost and the space are high and are gradually abandoned by the market; the other is that two sets of transceiver modules are arranged on two sides of a rotating prism, and a laser emission unit in each set of transceiver module forms a scanning view field when the rotating prism rotates around a central rotating shaft, so that the two sets of transceiver modules can emit laser beams from different directions, and the laser beams are projected to at least two directions after being subjected to rotary scanning by the same rotating prism to form corresponding scanning view fields, for example, a multiline laser radar and a self-moving vehicle with the publication number of CN111157975A, which adopts a same-side transceiver scheme, that is, laser reflected by a laser at the same side is received by a detector at the same side, as shown in fig. 1a and 1b, the scheme can cause the problem that the light receiving area at one side is reduced due to the fact that the reflecting surface is constantly changed when the rotating prism rotates and the reflecting area is also changed, that the light receiving area at one side is far smaller than the light receiving area in fig. 1b, therefore, the distance measurement is greatly affected, and in the same way, the problem of reduction of the light receiving area of one side occurs in the transmission and reception of the other side, as shown in fig. 2a and fig. 2b, that is, the light receiving area of fig. 2a is much larger than that of fig. 2 b.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides a laser radar to solve the problem of light receiving area reduction caused by same-side receiving and transmitting and different-side receiving and transmitting.

A lidar according to an embodiment of the present invention includes: the shell is provided with a light outlet window; and disposed within the housing: the rotating prism is opposite to the light outlet window, and the axis of the rotating prism is perpendicular to the light outlet window; the light-emitting direction detection module is used for detecting the specific position of the laser emitted by the light-emitting window; the first transceiving component and the second transceiving component are respectively positioned at two sides of the rotating prism; and the main control board is respectively electrically connected with the rotating prism, the light-emitting direction detection module, the first transceiving component and the second transceiving component, and is used for controlling the rotating prism to rotate, the first transceiving component and the second transceiving component to emit laser, and controlling the first transceiving component and/or the second transceiving component to receive reflected laser according to the specific position where the light-emitting direction detection module detects the emitted laser.

The laser radar according to the first embodiment of the present invention has at least the following beneficial effects: the specific position where the laser emitted from the light window is located is detected through the light emitting direction detection module, the main control board can control the laser emitted from the left side and the right side to be received by the receiver on one side of the reflecting surface with a large receiving surface when the laser reflected by the object to be detected is received, the ranging distance in the horizontal scanning view field is ensured, and the phenomenon that the ranging distance is reduced along with the increase of the scanning angle due to the reduction of the receiving area in the same-side or different-side receiving and sending is avoided.

According to some embodiments of the utility model, the rotating prism is provided with a motor for driving the rotating prism to rotate, and a rotor of the motor is fixedly connected with the rotating prism; the light emitting direction detection module comprises a code disc and a code reader, the code disc is fixed on the rotor or the rotating prism, and the code reader is used for reading scales of the code disc so as to collect the rotating angle of the rotating prism and feed the rotating angle back to the main control board.

According to some embodiments of the utility model, the first and second transceiving components are symmetrically arranged on both sides of the rotating prism.

According to some embodiments of the utility model, the rotating prism is a four-prism.

According to some embodiments of the present invention, four side surfaces of the four-sided prism are respectively a first reflective surface, a second reflective surface, a third reflective surface, and a fourth reflective surface, the first reflective surface is perpendicular to the bottom surface of the four-sided prism, an inclination angle is 90 degrees, and inclination angles of the second reflective surface, the third reflective surface, and the fourth reflective surface with respect to the bottom surface are sequentially decreased by α degrees compared with the inclination angle of the first reflective surface.

According to some embodiments of the present invention, a filter lens, a reflector, and a collimating lens are sequentially disposed between the first transceiver module and the rotating prism.

According to some embodiments of the utility model, the first transceiver component and the second transceiver component each have a plurality of transmitters and receivers arranged at intervals in a longitudinal or transverse direction.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1a is a schematic view of a first state of a conventional laser radar light wave same-side transceiving scheme;

FIG. 1b is a schematic diagram of a second state of a conventional laser radar light wave same-side transceiving scheme;

fig. 2a is a schematic diagram of a first state of a conventional lidar optical waveguide transceiving scheme;

FIG. 2b is a diagram illustrating a second state of a conventional laser radar optical waveguide transceiving scheme;

FIG. 3a is a schematic diagram of a dual-side transmit right-side receive in accordance with an embodiment of the present invention;

FIG. 3b is a schematic diagram of a dual-side transmit left receive embodiment of the present invention;

FIG. 3c is a schematic diagram of a dual-side transmission and dual-side reception according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating the inclination angles of four side surfaces of a rectangular pyramid according to an embodiment of the present invention;

FIG. 5a is a perspective view of a lidar in accordance with a first embodiment of the present invention;

FIG. 5b is a diagram illustrating an internal structure of the lidar according to the first embodiment of the present invention;

FIG. 6a is a perspective view of a lidar in accordance with a second embodiment of the present invention;

fig. 6b is an internal structure diagram of a laser radar according to a second embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does 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.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 3a to 3c, and fig. 5a and 5b, a lidar according to an embodiment of the present invention includes: a housing 400 having a light exit window 401; and disposed within the housing 400: a rotating prism 100, said rotating prism 100 facing said light exit window 401 and wherein the axis is perpendicular to said light exit window 401; a light-emitting direction detection module, configured to detect a specific position where the laser light emitted from the light-emitting window 401 is located; a first transceiving component 200 and a second transceiving component 300 respectively located at two sides of the rotating prism 100; and a main control board (not shown) electrically connected to the rotating prism 100, the light-emitting direction detection module, the first transceiver module 200, and the second transceiver module 300, respectively, for controlling the rotation of the rotating prism 100, the laser emission of the first transceiver module 200 and the second transceiver module 300, and controlling the first transceiver module 200 and/or the second transceiver module 300 to receive the reflected laser according to the specific position where the light-emitting direction detection module detects the emitted laser.

The specific working process of the laser radar of the embodiment is as follows:

starting the laser radar: the main control board controls the rotating prism 100 to start rotating, and the emitters 231 of the first transceiving component 200 and the second transceiving component 300 emit laser, and the laser is reflected by the side surface of the rotating prism 100 and is emitted through the light emitting window 401;

the specific position of the laser emitted from the light-emitting window 401 is detected by a light-emitting direction detection module and fed back to the main control board;

the main control board makes the following responses according to the specific position of the laser emitted from the light-emitting window 401: when the laser emitted from the light exit window 401 is located at one side of the first transceiver module 200, the receiver 232 of the first transceiver module 200 is started to receive the reflected light of the laser; when the laser emitted from the light exit window 401 is located at one side of the second transceiver module 300, the receiver 232 of the second transceiver module 300 is started to receive the reflected light of the laser; the laser emitted from the light-emitting window 401 is parallel to the central axis, and then the receivers 232 of the first transceiver module 200 and the second transceiver module 300 are simultaneously started to receive the reflected light of the laser emitted from the respective emitters 231.

As described above, by detecting the specific position of the laser emitted from the light window 401, the light reflected by the object to be detected from the laser emitted from the left and right sides is controlled to be received by the receiver 232 on the side of the reflection surface with a large receiving surface, so that the distance measurement in the horizontal scanning field is ensured, and the phenomenon that the distance measurement decreases as the scanning angle increases due to the decrease of the receiving area in the same-side or different-side receiving and transmitting is avoided.

Specifically, as shown in fig. 5b and 6b, in some embodiments of the present invention, the rotating prism 100 is provided with a motor 500 for driving the rotating prism to rotate, and a rotor 510 of the motor 500 is fixedly connected to the rotating prism 100; the light emitting direction detecting module comprises a code disc 600 and a code reader 700, wherein the code disc 600 is fixed on the rotor 510 or the rotating prism 100, and the code reader 700 is used for reading scales of the code disc so as to collect a rotation angle of the rotating prism and feed back the rotation angle to the main control board. When the laser window detection device works, the main control board controls the stator coil of the motor 500 to be electrified, magnetic field lines are generated to enable the rotor 510 to rotate, the rotating angle of the code disc 600 is equal to that of the rotating prism 100 as the rotating prism 100 and the code disc 600 are fixed on the rotor 510, and the code reader 700 reads the scales of the code disc 600 and feeds the scales back to the main control board, so that the specific position of the laser emitted by the optical window 401 can be indirectly detected. It should be noted that the combination structure of the code wheel 600 and the code reader 700 is only one embodiment of the present disclosure, and a timing module or a photosensitive element may be used to directly detect the specific position of the laser emitted from the light window 401.

In some embodiments of the present invention, the first transceiving module 200 and the second transceiving module 300 are symmetrically disposed on two sides of the rotating prism 100, so as to expand outgoing and reflected light by one time and realize opposite-side transceiving.

In order to save the cost of the receiver 232, in some embodiments of the present invention, the transmitters 231 of the first transceiver module 200 and the second transceiver module 300 transmit laser light by using a group staggered transmission, that is, after one transceiver module transmits, the transmitter 231 of the other transceiver module transmits the laser light at an interval T, so that the receiver 232 on the receiving side can be shared, that is, one receiver 232 receives the light reflected by the transmitters 231 on both sides after detecting, thereby saving the number and cost of the receivers 232.

As shown in the drawings, in some embodiments of the present invention, the rotating prism 100 is a four-prism, but only as a preferred embodiment of the present invention, a three-prism, a five-prism, a six-prism, etc. may also be used, and the present invention is not limited thereto.

As shown in fig. 4, in some embodiments of the present invention, four side surfaces of the four prisms are respectively a first reflection surface (first), a second reflection surface (second), a third reflection surface (third), and a fourth reflection surface (fourth), the first reflection surface is perpendicular to the bottom surface of the four prisms, an inclination angle is 90 degrees, inclination angles of the second reflection surface, the third reflection surface, and the fourth reflection surface with respect to the bottom surface are sequentially decreased by α degrees compared with the inclination angle of the first reflection surface, and in this embodiment, the α degree is 2 degrees. The two adjacent surfaces are provided with a fixed angle difference alpha, so that scanning fields of different visual angles can be formed, and emergent and reflected light can be doubled again.

Suitably, in some embodiments of the present invention, a filter lens 233, a reflector 234, and a collimating lens 235 are sequentially disposed between the first transceiver module 200 and the second transceiver module 300 and the rotating prism 100, and are respectively configured to receive reflected light, filter interference of ambient light, and collimate and focus emitted laser light.

In some embodiments of the present invention, the first transceiving module 200 and the second transceiving module 300 each have a plurality of transmitters 231 and receivers 232, and the plurality of transmitters 231 and receivers 232 are arranged at intervals along the longitudinal direction or the transverse direction, as shown in fig. 5b and fig. 6b, and the height and depth ratio of the transmitters 231 and the receivers 232 can be adjusted to accommodate transceiving modules and lens sets in different positions.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (7)

1. A lidar, characterized by: comprises that

The shell is provided with a light outlet window; and arranged in the housing

The rotating prism is opposite to the light outlet window, and the axis of the rotating prism is perpendicular to the light outlet window;

the light-emitting direction detection module is used for detecting the specific position of the laser emitted by the light-emitting window;

the first transceiving component and the second transceiving component are respectively positioned at two sides of the rotating prism;

and the main control board is respectively electrically connected with the rotating prism, the light-emitting direction detection module, the first transceiving component and the second transceiving component, and is used for controlling the rotating prism to rotate, the first transceiving component and the second transceiving component to emit laser, and controlling the first transceiving component and/or the second transceiving component to receive reflected laser according to the specific position where the light-emitting direction detection module detects the emitted laser.

2. The lidar of claim 1, wherein: the rotating prism is provided with a motor for driving the rotating prism to rotate, and a rotor of the motor is fixedly connected with the rotating prism; the light emitting direction detection module comprises a code disc and a code reader, the code disc is fixed on the rotor or the rotating prism, and the code reader is used for reading scales of the code disc so as to collect the rotating angle of the rotating prism and feed the rotating angle back to the main control board.

3. Lidar according to claim 1 or 2, characterized in that: the first transceiving component and the second transceiving component are symmetrically arranged on two sides of the rotating prism.

4. The lidar of claim 1, wherein: the rotating prism is a four-prism.

5. The lidar of claim 4, wherein: the four side surfaces of the four-prism are respectively a first reflecting surface, a second reflecting surface, a third reflecting surface and a fourth reflecting surface, the first reflecting surface is perpendicular to the bottom surface of the four-prism, the inclination angle is 90 degrees, and the inclination angles of the second reflecting surface, the third reflecting surface and the fourth reflecting surface relative to the bottom surface are sequentially decreased by 2 degrees compared with the inclination angle of the first reflecting surface.

6. The lidar of claim 1, wherein: and a filter lens, a reflector and a collimating lens are sequentially arranged between the first transceiving component and the rotating prism and between the second transceiving component and the rotating prism.

7. Lidar according to claim 1 or 6, wherein: the first transceiver component and the second transceiver component are provided with a plurality of transmitters and receivers which are arranged at intervals along the longitudinal direction or the transverse direction.

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