CN218728013U - Small-size single line laser radar equipment and electromagnetic drive pendulum mirror - Google Patents
Small-size single line laser radar equipment and electromagnetic drive pendulum mirror Download PDFInfo
- Publication number
- CN218728013U CN218728013U CN202222975484.4U CN202222975484U CN218728013U CN 218728013 U CN218728013 U CN 218728013U CN 202222975484 U CN202222975484 U CN 202222975484U CN 218728013 U CN218728013 U CN 218728013U
- Authority
- CN
- China
- Prior art keywords
- receiving
- light
- mirror
- transmitting
- swing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model belongs to the technical field of optical system, there is the bulky to current single line laser radar system based on motor drive pendulum mirror, and is costly, the low life scheduling problem provides a little volume single line laser radar equipment and electromagnetic drive pendulum mirror. The single-line laser radar equipment comprises a transmitting module, a scanning module, an echo signal receiving module, a receiving and transmitting special-axis sleeve and a whole machine base; the transmitting and receiving different-shaft sleeve comprises a transmitting optical path channel and a receiving optical path channel which are isolated from each other; the emitting module is used for emitting laser to the emitting light path channel; the scanning module is an electromagnetically driven galvanometer or a swinging mirror and is used for reflecting laser emitted by the transmitting optical channel to a measured object and reflecting an echo signal reflected by the measured object to the receiving optical channel; the echo signal receiving module is used for receiving the echo signal emitted by the receiving optical path channel. The electromagnetic drive pendulum mirror realizes the accurate control of the scanning angle through the resonance scanning mode, greatly reduces the actual overall dimension, and can be widely applied to various fields.
Description
Technical Field
The utility model belongs to the technical field of optical system, specifically be a little volume single line laser radar equipment and electromagnetic drive pendulum mirror.
Background
The lidar can be distinguished into a single-line lidar and a multi-line lidar according to the wire harness. The single-line laser radar can realize line scanning and distance information acquisition, and can not realize surface scanning and surface depth information acquisition like a multi-line radar, but has the advantages of simple structure, small overall dimension, low cost, great advantages in scanning frequency and sensitivity, and better effect on distance measurement and distance measurement precision. At present, the single-line laser radar with small volume and low cost has obvious volume production requirement and is well applied to various fields.
The single-line laser radar mainly comprises a transmitting system, a receiving system, a signal processing system and a scanning system. The conventional scanning system is driven by a rotating motor, the main realization mode is that a receiving and transmitting integrated structure is fixed on a scanning platform, and the whole scanning system is driven by the rotating motor to realize rotating scanning. Generally, a scanning angle can realize 360-degree full-angle scanning, but because full-circle scanning is realized, the frame rate is low, the cost of the motor is high, and the service life of the laser radar is limited due to the loss of the rotating motor during long-time working. The other scanning system is rotating mirror scanning, the light emitted from the transmitting sleeve is incident to the reflecting mirror surface to realize reflecting scanning at a certain angle, and the reflecting mirror synchronously receives echo signals. The rotating mirror scanning device is generally a galvanometer or a swinging mirror. Although such a system has the advantage of high frame rate compared with a rotating motor scanning system, the system is also based on motor driving, so the volume of the whole system is still large, the driving cost is high, and the heat generation is serious.
SUMMERY OF THE UTILITY MODEL
The utility model discloses there is the bulky to current single line laser radar system based on motor drive pendulum mirror, and is costly, the low life scheduling problem provides a little volume, low cost, high life single line laser radar equipment.
The technical scheme of the utility model is that:
a small-size single-line laser radar device comprises a transmitting module, a scanning module and an echo signal receiving module; it is characterized in that: the device also comprises a receiving and transmitting special shaft sleeve and a complete machine base;
the receiving and transmitting special-axis sleeve, the transmitting module, the scanning module and the echo signal receiving module are all fixed on the whole machine base;
the receiving and transmitting special-axis sleeve comprises two mutually isolated optical path channels, wherein one optical path is a transmitting optical path channel, and the other optical path is a receiving optical path channel;
the optical central axis of the emitting module is superposed with the central axis of the emitting light path channel and is used for emitting laser to the emitting light path channel;
the scanning module is a vibrating mirror or a swing mirror, the vibrating mirror or the swing mirror comprises a reflecting mirror surface and an electromagnetic driving mechanism, and the reflecting mirror surface of the vibrating mirror or the swing mirror is driven to perform resonant periodic swing based on the electromagnetic driving mechanism; the vibrating mirror or the swing mirror is positioned at one side of the light outlet of the transmitting light path channel and the light inlet of the receiving light path channel of the transmitting and receiving special-axis sleeve, and is used for reflecting the laser emitted by the transmitting light path channel to a measured object and reflecting an echo signal reflected by the measured object to the receiving light path channel;
the optical central axis of the echo signal receiving module is superposed with the central axis of the receiving optical channel and is used for receiving the echo signal emitted by the receiving optical channel.
Furthermore, the scanning module is a swing mirror; the swing mirror also comprises a swing mirror fixing support, a swing mirror rotating shaft, a swing mirror circuit board, a feedback magnetic block and a Hall sensor;
the reflecting mirror surface of the swing mirror is arranged on a swing mirror fixing support, and the swing mirror fixing support is arranged on a base of the whole machine through a swing mirror rotating shaft matched with a bearing;
the electromagnetic driving mechanism comprises an electromagnetic coil and a magnet; the electromagnetic coil is arranged on the swing mirror fixing support and is positioned at the back of the reflecting mirror surface; the magnet is fixed on the back of the reflector and is positioned between the reflector and the electromagnetic coil;
the swing mirror circuit board is fixed on the swing mirror fixing support and used for supplying power to the electromagnetic driving mechanism; the electromagnetic coil generates periodic resonance through a current signal, and the reflecting mirror surface periodically swings under the action of a swinging mirror rotating shaft under the action of force, so that the single-line scanning of the laser radar is realized;
the feedback magnetic block and the Hall sensor are fixed on the back of the mirror surface of the oscillating mirror, the feedback magnetic block performs resonant periodic oscillation along with the mirror surface, and the Hall sensor is used for sensing the change of the magnetic flux of the feedback magnetic block.
Furthermore, the area size of the reflecting mirror surface of the oscillating mirror in the projection direction of the emergent light spot is larger than the actual size of the light spot.
Furthermore, the emission module comprises a laser emitter and a laser collimating lens group; the light outlet port of the laser transmitter is tightly matched with the light inlet port of the light-emitting channel of the transmitting and receiving non-coaxial sleeve, and the central axis of the light outlet port of the laser transmitter is superposed with the central axis of the light-emitting channel; the laser collimating lens group is fixed in the transmitting light path channel of the transmitting and receiving non-coaxial sleeve, and the optical axis of the laser collimating lens group is superposed with the central axis of the transmitting light path channel.
Further, the echo signal receiving module comprises a laser focusing lens group and a detector; the laser focusing lens group is fixed in the receiving optical path channel of the receiving and transmitting special-axis sleeve, and the optical axis of the laser focusing lens group is superposed with the central axis of the receiving optical path channel; the detector is positioned on the focal plane of the laser focusing lens group, and the optical center of the detector is positioned on the extension line of the central axis of the light receiving optical path channel.
Further, the axial center line of the light emitting channel and the axial center line of the light receiving channel are parallel to each other; the material of the transmitting and receiving anisotropic shaft sleeve is a matte light absorption material.
In order to further reduce the stray light interference, the laser collimating lens group is close to the light inlet port of the transmitting light path channel, and the laser focusing lens group is close to the light outlet port of the receiving light path channel.
In order to further reduce the stray light interference, the inner walls of the light emitting channel and the light receiving channel are provided with extinction grains, or are provided with diffuse reflection surfaces, or are adhered with SOMA sheets, or are coated with extinction paint.
Furthermore, the small-volume single-line laser radar equipment also comprises a shell, wherein the shell is fixed on the base of the whole machine, a cavity is formed between the shell and the base of the whole machine, and the laser transmitter, the transmitting-receiving eccentric sleeve, the swing mirror and the detector are all positioned in the cavity;
an optical window is arranged on the shell, and the size and the position of the optical window need to ensure that light spots at each scanning angle vertically enter the optical window.
Furthermore, the optical window is provided with window glass, and the material of the window glass can be made into glass plated infrared antireflection film or plastics such as PC, PMMA and the like with infrared transmittance of more than 90%.
The utility model also provides an electromagnetic drive pendulum mirror, its special character lies in: the device comprises a reflecting mirror surface, a swing mirror fixing support, a swing mirror rotating shaft, an electromagnetic driving mechanism, a swing mirror circuit board, a feedback magnetic block and a Hall sensor;
the mirror surface of the reflecting mirror is arranged on a swing mirror fixing support, and the swing mirror fixing support is arranged on a base of the whole machine through a swing mirror rotating shaft matched with a bearing;
the electromagnetic driving mechanism comprises an electromagnetic coil and a magnet; the electromagnetic coil is arranged on the swing mirror fixing support and is positioned at the back of the mirror surface of the swing mirror; the magnet is fixed on the back of the oscillating mirror surface and is positioned between the reflecting mirror surface and the electromagnetic coil;
the swing mirror circuit board is fixed on the swing mirror fixing support and used for supplying power to the electromagnetic driving mechanism;
the feedback magnetic block and the Hall sensor are fixed on the back of the mirror surface of the oscillating mirror, the feedback magnetic block performs resonant periodic oscillation along with the mirror surface, and the Hall sensor is used for sensing the change of the magnetic flux of the feedback magnetic block.
The utility model has the advantages that:
1. the utility model takes the electromagnetic driven galvanometer or the swing mirror as the scanning module, and integrates and fixes the receiving and transmitting eccentric sleeve, the transmitting module, the scanning module and the echo signal receiving module on the whole machine base; compared with the single-line laser radar in the existing motor driving mode, the single-line laser radar has the advantages of small size, low cost and long service life.
2. The utility model provides a pendulum mirror passes through a series of feedbacks realization such as resonance scanning mode and hall sensor to scanning angle's accurate control, does not have equipment such as the required encoder of conventional motor drive, further reduces actual overall dimension and material cost greatly, but the wide application is in the range finding environment in each field.
3. The utility model reasonably calculates the reflecting surface of the oscillating mirror according to the specific size of the emergent light spot, designs a large-size scanning reflecting surface, ensures that the area size of the surface of the oscillating mirror in the projection direction of the light spot is larger than the actual size of the light spot, and the reflecting surface of the oscillating mirror can not limit the actual receiving aperture of the echo signal; the complete utilization of energy is ensured, and the test precision of the equipment is improved to the maximum extent; in addition, the oscillating mirror can realize angle scanning of at least 60 degrees of a total angle, has high scanning frequency and improves the image display frame rate of the single-line radar.
4. The utility model discloses combine the different axle sleeve of receiving and dispatching, will launch collimation system and receive the focusing system and keep apart completely, the detector can not receive the interference of transmitting signal, further ensures high measurement accuracy.
5. The utility model discloses pendulum mirror reflector surface compares than conventional motor drive mode pendulum mirror, can work at resonance state, and operating current is little, and the angle is big, and stability is high, and is small, and is longe-lived, easy control. And the oscillating mirror can realize high-precision angle feedback by utilizing the Hall sensor, reduces a photoelectric encoder commonly used by a conventional motor, and greatly reduces the cost compared with the existing oscillating mirror.
Drawings
FIG. 1 is an overall external view of a single-line lidar apparatus according to an embodiment;
FIG. 2 is a schematic diagram of an internal structure of a single-line lidar apparatus according to an embodiment;
FIG. 3 is a schematic view of a transmitting-receiving coaxial sleeve of the single line lidar apparatus according to the embodiment;
FIG. 4 is a schematic diagram of a pendulum mirror structure of the single line lidar apparatus of the embodiment;
FIG. 5 is a schematic diagram of an optical system of a single line lidar apparatus of an embodiment;
the reference numbers in the figures are:
1. a whole machine shell; 2. reserving a power socket; 3. an optical window; 4. a whole machine base; 5. a transmitting and receiving non-coaxial sleeve; 51. the light emitting optical path is provided with a light outlet; 511. the laser collimating lens group fixes the dispensing position; 52. receiving an optical path channel entrance; 521. the laser focusing lens group fixes the dispensing position; 53. a receiving and transmitting sleeve fixing hole; 6. a main control board; 61. a swing mirror wiring socket; 7. a mirror surface; 8. a swing mirror fixing bracket; 9. a feedback magnetic block; 10. a Hall sensor; 11. a magnet; 12. an electromagnetic coil; 13. a swing mirror rotating shaft; 14. swing mirror circuit board.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The objects, aspects and advantages of the present invention will become more apparent from the following description. It should be understood that the described embodiments are presently preferred, rather than all, embodiments of the present invention.
Fig. 1 is an overall appearance diagram of the single-line laser radar apparatus according to the embodiment, which includes a complete machine housing 1 and specific functional components of the single-line laser radar apparatus located in the complete machine housing 1, and the complete machine housing 1 has a small volume and a light weight, and plays a role in protecting and preventing dust for the whole; in the figure, reference numeral 2 is a reserved power socket for supplying power when the equipment is started; 3 is an optical window, and the material can be made into glass plated infrared antireflection film or plastics with infrared transmittance of more than 90% such as PC, PMMA and the like. Glass coating has the advantages of high transmittance, but the cost is high; the plastic material has the advantages that the plastic material can be used for injection molding, mold opening and processing to form optical windows with any shapes, and the mold opening processing cost is lower. The conventional plastic mold opening processing is an arc shape with a certain angle designed according to the scanning angle, so that light spots at each scanning angle are ensured to be vertically incident into an optical window, and the problems of transmittance reduction and permeable wavelength deviation caused by inclined emergent are solved; or the mould opening processing is an optical window with a certain inclination angle in the vertical direction, and the optical window is matched with the shell structure for fixing, so that the problem of reflection caused by the vertical incidence of the emergent light spot on the optical window can be greatly reduced, and the influence of near interference on the laser radar testing precision is reduced. The present invention addresses, but is not limited to, these several types of optical window materials and shapes.
Fig. 2 is an internal structure diagram of a single-line laser radar apparatus, which includes a complete machine base 4, a transmitting module, a transmitting-receiving differential-axis sleeve 5, a scanning module, and an echo signal receiving module; the whole machine base 4 is used as a fixed bottom plate, and the transmitting module, the transmitting and receiving different-shaft sleeve 5, the scanning module and the echo signal receiving module are all fixed on the whole machine base 4. The transmitting and receiving special-axis sleeve 5 is divided into two parts, the upper part is a transmitting optical path channel, the lower part is a receiving optical path channel, the main control board 6 integrates a transmitting module and an echo signal receiving module, the transmitting module and the echo signal receiving module are respectively a laser and a detector, the optical centers of the laser and the detector are respectively coaxial with a light outlet 51 of the transmitting optical path channel and a light inlet 52 of the receiving optical path channel, the laser is tightly matched with the transmitting and receiving special-axis sleeve 5, and the light-emitting collimation of a laser spot and the energy focusing of the received optical energy on a photosensitive surface at the center of the detector are structurally ensured. The transmitting and receiving special shaft sleeve 5 is made of a mould pressing matte material, so that the transmitting and receiving special shaft sleeve is light in weight and non-conductive, and the problems of short circuit and the like caused by static electricity generated when a laser diode is in contact with the transmitting and receiving special shaft sleeve 5 are solved. The scanning module is a swing mirror (a vibrating mirror can be adopted in other embodiments), the swing mirror comprises a reflecting mirror surface 7 and an electromagnetic driving mechanism, and the electromagnetic driving mechanism drives the vibrating mirror or the reflecting mirror surface of the swing mirror to perform resonant periodic swing; the swing mirror is positioned at one side of the light outlet 51 of the transmitting light path channel and the light inlet 52 of the receiving light path channel of the transmitting and receiving special-axis sleeve 5, and is used for reflecting the laser emitted by the transmitting light path channel to a measured object and reflecting the echo signal reflected by the measured object to the receiving light path channel; according to the size data of the emergent light spot and the transmitting direction, the area of the surface of the reflecting mirror of the oscillating mirror is designed, the central axis of the surface of the reflecting mirror of the oscillating mirror is intersected with the optical axis of a transmitting-receiving light path, and the size of the area of the reflecting mirror in the projecting direction of the light spot is ensured to be larger than the actual size of the light spot; meanwhile, the area of the reflecting mirror surface is larger than the size of the light inlet 52 of the receiving optical path channel, the reflecting surface of the swing mirror can not limit the actual receiving aperture of the echo signal, the size of the echo energy is completely determined by the size of the light inlet 52 of the receiving optical path channel), so that the light-emitting facula is completely reflected by the reflecting mirror surface, the echo signal is received to the maximum extent, the complete utilization of energy is realized, and the remote measurement and test precision of the whole radar is ensured.
FIG. 3 is a detailed view of the transmitting and receiving hetero-axial sleeve 5 of the single-line lidar apparatus, wherein a laser collimating lens is disposed inside the light outlet 51 of the transmitting optical path, and a laser focusing lens is disposed inside the light inlet 52 of the receiving optical path; the interior of the laser collimating lens group is provided with an installation positioning structure table, the specific installation mode is that the laser collimating lens group is pressed to the internal structure positioning table after being put in from the light outlet 51 of the light emitting light path channel, and the glue is dispensed and fixed at the fixed glue dispensing position 511 of the laser collimating lens group; the laser focusing lens group is put in from the light receiving channel light inlet 52 and then pressed to the internal structure positioning table, and is fixed by dispensing at the laser focusing lens group fixing dispensing position 521. The material of the transmitting-receiving special-axis sleeve 5 is a matte light absorption material, and meanwhile, a certain distance is reserved between the laser collimating lens group fixed dispensing position 511 and the laser focusing lens group fixed dispensing position 521 and the light emitting channel light outlet 51, so that the phenomenon that light emitting stray light directly enters a detector after being reflected by the swinging mirror reflecting mirror surface 7 or the optical window 3 to generate a near interference signal can be weakened. The near interference signal is reflected and enters the light absorption sleeve to be reflected for multiple times, and then energy is absorbed by the surface; in the conventional extinction mode, extinction grains can be made on the inner wall of the structure, or a supplier can make a diffuse reflection surface; if it is already finished, the reflection is reduced by applying a SOMA sheet or applying a matting paint. After the assembly and debugging of the receiving and dispatching special-axis sleeve 5 are completed, the receiving and dispatching special-axis sleeve is fixed on the whole machine base 4 through three positioning holes of the receiving and dispatching sleeve fixing holes 53. The swing mirror wiring socket 61 realizes power supply and driving of the main control board 6 to the swing mirror.
Fig. 4 is a schematic view of a swing mirror structure of the single-line laser radar apparatus of the embodiment, including a reflecting mirror surface 7, a swing mirror fixing bracket 8, a swing mirror rotating shaft 13, an electromagnetic coil 12, a magnet 11, a swing mirror circuit board 14, a feedback magnetic block 9, and a hall sensor 10; the reflecting mirror surface 7 is arranged on a swing mirror fixing support 8, and the swing mirror fixing support 8 is arranged on the whole machine base 4 through a swing mirror rotating shaft 13 matched with a bearing; the electromagnetic coil 12 is arranged on the swing mirror fixing support 8 and is positioned at the back of the swing mirror reflector 7; the magnet 11 is fixed on the back of the swing mirror reflector 7; the swing mirror circuit board 14 is fixed on the swing mirror fixing support 8 and used for supplying power to the electromagnetic driving mechanism; the feedback magnetic block 9 and the Hall sensor 10 are fixed on the back of the swing mirror reflector 7, the feedback magnetic block 9 performs resonant periodic swing along with the reflector 7, and the Hall sensor 10 is used for sensing the change of the magnetic flux of the feedback magnetic block 9.
The main mode of the laser radar for realizing line scanning is that emergent light spots hit the oscillating mirror surface 7, the oscillating mirror surface 7 performs resonant periodic oscillation in an electromagnetic driving mode, and the accurate control of a scanning angle is realized through a series of feedbacks of the Hall sensor 10 and the like. The specific implementation mode is as follows: the input of current signal can be realized to pendulum mirror circuit board 14, and when solenoid 12 passed through sinusoidal current signal, the coil magnetic path was along with the change of the sinusoidal signal direction that passes through, and the magnetic pole direction is corresponding to carry out periodic variation for magnet 11 produces periodic resonance, and pendulum mirror reflection mirror surface 7 carries out periodic oscillation under the effect of pendulum mirror pivot 13 under the effect of power, realizes laser radar's single line scanning. Meanwhile, the feedback magnetic block 9 is driven by the swing mirror rotating shaft 13 to perform resonant motion, the Hall sensor 10 senses the change of the magnetic flux of the feedback magnetic block 9, and the magnetic field intensity and the swing mirror scanning angle are in a linear relation under a certain condition; the Hall feedback element 9 feeds Hall signals back to the signal processing unit, so that the laser radar can accurately control the scanning angle in the single-line scanning process, and the testing precision of the single-line laser radar is ensured. The utility model discloses mention in the patent and can inpute the signal and be sinusoidal signal ripples, the signal includes but not limited to other waveform signal during the in-service use, like square wave signal, triangle wave signal etc.. The bottom of the swing mirror fixing frame 8 is provided with an initial position rotation angle adjustable hole position, and the angle is fixed after the initial launching position is determined.
Fig. 5 is a schematic diagram of an optical system according to the present invention, which employs a transmitting-receiving optical system. The specific implementation mode is as follows: the laser LD is a pulse laser, laser spot shaping is carried out through a transmitting light path, the divergence angle of a laser fast and slow axis is accurate to a certain range, and the laser spot is incident to the reflecting mirror surface of the oscillating mirror. Along with the swinging of the mirror surface of the swing mirror at a certain angle under the action of the driving structure, the emergent light spots can form different points for horizontal scanning after being reflected, and the emergent light spots are reflected by the target object and then are reflected back to the receiving light path through the swing mirror again. The received echo light is focused to a detector by a receiving light path, so that the conversion from an optical signal to an electric signal is realized, and the information of objects with different angles, different distances and different reflectivities is obtained by a signal processing system. The actual scanning angle theta of the oscillating mirror can realize the scanning of more than 60 degrees of total angle, the mirror surface area is large, all energy of emergent light is utilized as far as possible, the scanning angle and a signal receiving system are fed back through a feedback signal, and the long-distance high-precision testing effect can be realized.
Claims (10)
1. A small-size single-line laser radar device comprises a transmitting module, a scanning module and an echo signal receiving module; the method is characterized in that: the device also comprises a receiving and transmitting special shaft sleeve (5) and a whole machine base (4);
the receiving and transmitting special-axis sleeve (5), the transmitting module, the scanning module and the echo signal receiving module are all fixed on the whole machine base (4);
the receiving and transmitting special-axis sleeve (5) comprises two mutually isolated optical path channels, wherein one optical path is a transmitting optical path channel, and the other optical path is a receiving optical path channel;
the optical central axis of the emitting module is superposed with the central axis of the emitting light path channel and is used for emitting laser to the emitting light path channel;
the scanning module is a vibrating mirror or a swing mirror, the vibrating mirror or the swing mirror comprises a reflecting mirror surface (7) and an electromagnetic driving mechanism, and the reflecting mirror surface (7) of the vibrating mirror or the swing mirror is driven to perform resonant periodic swing based on the electromagnetic driving mechanism; the galvanometer or the swing mirror is positioned at one side of a light outlet (51) of a light-emitting path channel and a light inlet (52) of a light-receiving path channel of the transmitting and receiving special-axis sleeve (5) and is used for reflecting laser emitted by the light-emitting path channel to a measured object and reflecting an echo signal reflected by the measured object to the light-receiving path channel;
the optical central axis of the echo signal receiving module is superposed with the central axis of the receiving optical channel and is used for receiving the echo signal emitted by the receiving optical channel.
2. The small-volume singlet lidar apparatus of claim 1, wherein: the scanning module is a swing mirror; the swing mirror also comprises a swing mirror fixing support (8), a swing mirror rotating shaft (13), a swing mirror circuit board (14), a feedback magnetic block (9) and a Hall sensor (10);
a reflecting mirror surface (7) of the swing mirror is arranged on a swing mirror fixing support (8), and the swing mirror fixing support (8) is arranged on a whole machine base (4) through a swing mirror rotating shaft (13) matched with a bearing;
the electromagnetic driving mechanism comprises an electromagnetic coil (12) and a magnet (11); the electromagnetic coil (12) is arranged on the swing mirror fixing support (8) and is positioned at the back of the reflecting mirror surface (7); the magnet (11) is fixed at the back of the reflecting mirror surface (7) and is positioned between the reflecting mirror surface (7) and the electromagnetic coil (12);
the swing mirror circuit board (14) is fixed on the swing mirror fixing support (8) and used for supplying power to the electromagnetic driving mechanism;
the feedback magnetic block (9) and the Hall sensor (10) are fixed on the back of the reflector (7), the feedback magnetic block (9) performs resonant periodic swing along with the reflector (7), and the Hall sensor (10) is used for sensing the change of the magnetic flux of the feedback magnetic block (9).
3. The small-volume singlet lidar apparatus of claim 2, wherein: the area size of the reflecting mirror surface (7) of the oscillating mirror in the projection direction of the emergent light spot is larger than the actual size of the light spot.
4. The small-volume singlet lidar apparatus of claim 3, wherein: the emission module comprises a laser emitter and a laser collimating lens group; the light outlet port of the laser transmitter is tightly matched with the light inlet port of the light-emitting path channel of the transmitting and receiving special-axis sleeve (5), and the central axis of the light outlet port of the laser transmitter is superposed with the central axis of the light-emitting path channel; the laser collimating lens group is fixed in the light emitting channel of the transmitting-receiving different-axis sleeve (5), and the optical axis of the laser collimating lens group is superposed with the central axis of the light emitting channel;
the echo signal receiving module comprises a laser focusing lens group and a detector; the laser focusing lens group is fixed in a receiving optical path channel of the receiving and transmitting special-axis sleeve (5), and the optical axis of the laser focusing lens group is superposed with the central axis of the receiving optical path channel; the detector is positioned on the focal plane of the laser focusing lens group, and the optical center of the detector is positioned on the extension line of the central axis of the light receiving optical path channel.
5. The small-volume singlet lidar apparatus of claim 4, wherein: the axial center line of the transmitting light path channel is parallel to the axial center line of the receiving light path channel; the material of the transmitting and receiving special-axis sleeve (5) is a matte light absorption material.
6. The small-volume singlet lidar apparatus of claim 5, wherein: the laser collimating lens group is close to the light inlet port of the transmitting light path channel, and the laser focusing lens group is close to the light outlet port of the receiving light path channel.
7. The small-volume singlet lidar apparatus of claim 6, wherein: the inner walls of the light emitting channel and the light receiving channel are provided with extinction lines, or are diffuse reflection surfaces, or are adhered with SOMA sheets, or are coated with extinction paint.
8. The small-volume singlet lidar apparatus of claim 7, wherein: the laser transmitter, the receiving and transmitting special-axis sleeve (5), the swing mirror and the detector are all positioned in the cavity;
an optical window (3) is arranged on the whole machine shell (1), and the size and the position of the optical window (3) need to ensure that light spots of each scanning angle vertically enter the optical window (3).
9. The small-volume singlet lidar apparatus of claim 8, wherein: the optical window (3) is provided with window glass, the window glass is plated with an infrared antireflection film, or the window is provided with plastic with the infrared transmittance of more than 90 percent.
10. An electromagnetic drive pendulum mirror which characterized in that: the device comprises a reflecting mirror surface (7), a swing mirror fixing support (8), a swing mirror rotating shaft (13), an electromagnetic driving mechanism, a swing mirror circuit board (14), a feedback magnetic block (9) and a Hall sensor (10);
the reflecting mirror surface (7) is arranged on the swing mirror fixing support (8), and the swing mirror fixing support (8) is arranged on the whole machine base (4) through a swing mirror rotating shaft (13) matched with a bearing;
the electromagnetic driving mechanism comprises an electromagnetic coil (12) and a magnet (11); the electromagnetic coil (12) is arranged on the swing mirror fixing support (8) and is positioned at the back of the reflecting mirror surface (7); the magnet (11) is fixed on the back of the reflecting mirror surface (7) and is positioned between the reflecting mirror surface (7) and the electromagnetic coil (12);
the swing mirror circuit board (14) is fixed on the swing mirror fixing support (8) and used for supplying power to the electromagnetic driving mechanism;
the feedback magnetic block (9) and the Hall sensor (10) are fixed on the back of the swing mirror reflector (7), the feedback magnetic block (9) swings periodically along with the reflector (7) in a resonance mode, and the Hall sensor (10) is used for sensing the change of magnetic flux of the feedback magnetic block (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222975484.4U CN218728013U (en) | 2022-11-08 | 2022-11-08 | Small-size single line laser radar equipment and electromagnetic drive pendulum mirror |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222975484.4U CN218728013U (en) | 2022-11-08 | 2022-11-08 | Small-size single line laser radar equipment and electromagnetic drive pendulum mirror |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218728013U true CN218728013U (en) | 2023-03-24 |
Family
ID=85611526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222975484.4U Active CN218728013U (en) | 2022-11-08 | 2022-11-08 | Small-size single line laser radar equipment and electromagnetic drive pendulum mirror |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218728013U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117805781A (en) * | 2024-02-28 | 2024-04-02 | 安徽瑞控信光电技术股份有限公司 | High-speed quick reflection mirror for laser ranging |
-
2022
- 2022-11-08 CN CN202222975484.4U patent/CN218728013U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117805781A (en) * | 2024-02-28 | 2024-04-02 | 安徽瑞控信光电技术股份有限公司 | High-speed quick reflection mirror for laser ranging |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN218728013U (en) | Small-size single line laser radar equipment and electromagnetic drive pendulum mirror | |
| CN207396721U (en) | A kind of multi-line laser radar | |
| CN107490792A (en) | Optical scanner sensor | |
| WO1997023787A1 (en) | Optical coordinate measuring machine | |
| CN105759253A (en) | Laser scanning range finder | |
| CN206863211U (en) | One kind miniaturization laser radar | |
| CN109597050A (en) | A kind of laser radar | |
| CN205899006U (en) | Optical scan sensor | |
| CN101216562A (en) | Laser distance measuring system | |
| CN109557555A (en) | Scanning mirror and laser radar | |
| US20240094393A1 (en) | 3d laser radar and legged robot | |
| CN109557554A (en) | Laser radar and vehicle | |
| CN107388983B (en) | A kind of uniform scanning laser line generation system and method for energy | |
| CN206546432U (en) | A kind of laser radar optical system based on time flight method | |
| CN209485276U (en) | Range unit and mobile platform | |
| CN109557556A (en) | Scan components and laser radar | |
| CN205404796U (en) | Laser scanning distancer | |
| CN110346811A (en) | Laser radar and its detection device | |
| CN216209863U (en) | 3D laser radar and sufficient robot | |
| CN112799033A (en) | Large-field-of-view scanning MEMS laser radar device and scanning system | |
| CN207908689U (en) | Integrated multi-line laser radar | |
| CN209728159U (en) | Scanning module, range unit and mobile platform | |
| CN209842062U (en) | Laser radar and vehicle | |
| CN111766588A (en) | Panoramic laser radar | |
| CN208588825U (en) | Laser radar, autonomous mobile robot and intelligent vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |