CN218824680U - Laser radar's coaxial light path structure and laser radar - Google Patents

Abstract

The embodiment of the utility model provides a laser radar coaxial optical path structure and a laser radar. The laser radar coaxial optical path structure includes a laser emitter, a laser detector, a first reflector, a second reflector and a vibrating mirror; The two reflectors can be rotated, the second reflector is located on one side of the oscillating mirror, the reflecting surface of the second reflecting mirror faces the reflecting surface of the oscillating mirror, and the rotation axis of the second reflecting mirror is parallel to the scanning surface formed by the oscillating mirror; The device, the first reflector, and the oscillating mirror are sequentially arranged along the optical axis of the laser emitter, the reflective surface of the first reflector faces the reflective surface of the galvanometer, and the first reflector is provided with a perforation corresponding to the laser emitter; the laser detector is located at On one side of the first reflector, the laser detector faces the reflective surface of the first reflector. The coaxial optical path structure of the laser radar has a simple and reliable structure, can not only improve the measurement performance of the laser radar, but also has the advantage of low cost.

Description

Coaxial optical path structure of laser radar and laser radar

technical field

The utility model relates to the technical field of laser detection, in particular to a laser radar coaxial light path structure and the laser radar.

Background technique

In recent years, with the demand of the market, the application of lidar has become more and more extensive, and its development has also tended to be diversified. Conventional laser radars are mostly multi-line scanning laser radars, such as mechanical scanning radars. There are multiple transmitting modules and multiple receiving modules inside, and the transmitting modules and receiving modules correspond one-to-one to realize laser emission and Receiving, usually in order to improve the ranging accuracy and ranging range of the laser radar, usually by increasing the transmitting and receiving modules, but increasing the radar performance also increases the cost and complexity of the laser radar itself, which is not conducive to laser radar Radar marketing popularization.

Utility model content

The embodiment of the utility model provides a laser radar coaxial optical path structure and a laser radar, aiming to design a coaxial optical path structure with a simple structure, which can not only provide the measurement performance of the laser radar, but also reduce the manufacturing cost of the laser radar .

The utility model provides a laser radar coaxial optical path structure, which includes a laser emitter, a laser detector, a first reflector, a second reflector and a vibrating mirror;

The second reflecting mirror can be rotatably arranged, the second reflecting mirror is located on one side of the vibrating mirror, the reflecting surface of the second reflecting mirror faces the reflecting surface of the vibrating mirror, and the reflecting surface of the second reflecting mirror The rotation axis is parallel to the scanning plane formed by the vibrating mirror;

The laser emitter, the first reflecting mirror, and the vibrating mirror are sequentially arranged along the optical axis of the laser emitting emitter, the reflecting surface of the first reflecting mirror faces the reflecting surface of the vibrating mirror, and the The first reflecting mirror is provided with a perforation corresponding to the laser transmitter, so that the laser beam of the laser transmitter can pass through the first reflecting mirror from the perforation, and then pass through the vibrating mirror, the second The two mirrors are reflected and emitted;

The laser detector is located on one side of the first reflector, and the laser detector faces the reflective surface of the first reflector, so that the laser detector can receive , the laser echo reflected by the vibrating mirror and the first reflecting mirror.

In the technical scheme of the utility model, the laser beam of the laser emitter forms a scanning surface through the scanning action of the vibrating mirror, and then the scanning action of the second rotating mirror realizes the effect of three-dimensional scanning. The coaxial optical path structure of the laser radar The structure is simple and reliable, which can not only improve the measurement performance of the laser radar, but also has the advantage of low cost.

In a specific embodiment, the second reflecting mirror and the laser detector are respectively located on two sides of the vibrating mirror in a direction perpendicular to the optical axis of the laser emitter.

In a specific embodiment, both the first reflector and the second reflector are arranged at an inclination of 45° relative to the optical axis of the laser emitter.

In a specific embodiment, the optical axis of the laser emitter is perpendicular to the optical axis of the laser detector.

In a specific embodiment, the coaxial optical path structure of the lidar further includes a receiving plano-convex mirror, and the receiving plano-convex mirror is arranged between the laser detector and the first reflector.

In a specific embodiment, it is characterized in that the coaxial optical path structure of the lidar further includes a collimating cylinder, the collimating cylinder is located between the laser emitter and the first reflector, and the collimating cylinder An emitting plano-convex mirror is provided, and one end of the collimating cylinder is connected with the first reflecting mirror.

In a specific embodiment, the end of the collimating cylinder close to the first reflector is provided with a slope matching the shape of the first reflector, and the slope and the through hole close to the hole of the collimating cylinder edge bonding.

In a specific embodiment, it is characterized in that the coaxial optical path structure of the lidar further includes a motor assembly, the motor assembly is dynamically coupled with the second mirror, and the motor assembly is used to drive the first The two mirrors rotate.

In a specific embodiment, the vibrating mirror is a one-dimensional vibrating mirror.

In a specific embodiment, the center of the vibrating mirror is located on the rotation axis of the second reflecting mirror.

The utility model also provides a laser radar, including the above-mentioned coaxial optical path structure of the laser radar.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a laser radar coaxial optical path structure provided by an embodiment of the present invention.

Explanation of reference numerals: coaxial optical path structure 100 of laser radar, laser transmitter 1, laser detector 2, first reflector 3, second reflector 4, vibrating mirror 5, receiving plano-convex mirror 6, collimator 7, Launch plano-convex mirror 8, motor assembly 9.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present utility model, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the relative positional relationship, movement conditions, etc. between the components shown in the figure below are changed, if the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, the descriptions of "first", "second", etc. Implying their relative importance or implying the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , also not within the scope of protection required by the utility model.

The utility model provides a laser radar coaxial optical path structure, the laser radar coaxial optical path structure can be used in laser scanning equipment such as laser radar, Fig. 1 is the application of the coaxial optical path structure of the laser radar provided by the utility model An embodiment of lidar.

Please refer to Fig. 1, in this embodiment, the coaxial optical path structure 100 of this lidar comprises laser emitter 1, laser detector 2, first reflection mirror 3, second reflection mirror 4 and vibrating mirror 5, the second reflection mirror The mirror 4 can be rotated, the second reflector 4 is positioned at one side of the oscillating mirror 5, the reflective surface of the second reflector 4 faces the reflective surface of the oscillating mirror 5, and the rotation axis of the second reflector 4 and the scanning mirror 5 formed The planes are parallel; the laser emitter 1, the first reflecting mirror 3, and the vibrating mirror 5 are sequentially arranged along the optical axis of the laser emitting emitter 1, the reflecting surface of the first reflecting mirror 3 faces the reflecting surface of the vibrating mirror 5, and the first reflecting mirror 3 Corresponding to the laser transmitter 1, a perforation is provided, so that the laser beam of the laser transmitter 1 can pass through the first reflector 3 from the perforation, and then be reflected by the vibrating mirror 5 and the second reflector 4 in turn before being emitted; the laser detector 2 Located on one side of the first reflector 3, the laser detector 2 is facing the reflective surface of the first reflector 3, so that the laser detector 2 can receive the light passing through the second reflector 4, the vibrating mirror 5, and the first reflector 3 in turn. Reflected laser echo.

Specifically, the coaxial optical path structure 100 of the laser radar is formed with a laser emitting circuit and a laser receiving circuit, and the laser emitting circuit and the laser receiving circuit are partially overlapped to form a coaxial optical path structure.

The laser emitter 1, the first reflector 3, the vibrating mirror 5, and the second reflector 4 are sequentially arranged along the laser emitting circuit, the laser emitter 1 is located at the beginning of the laser emitting circuit, and the laser emitter 1 is used to generate a laser beam. Optionally, in this embodiment, the laser transmitter 1 is a semiconductor laser.

In the following, it is defined that the direction of the rotation axis of the second reflector 4 is the up-down direction, and then the vibrating mirror 5 can vibrate around the horizontal axis. The laser beam generated by the laser transmitter 1 can pass through the first reflector 3 from the perforation, and the laser beam passes through the first reflector 3 and is projected onto the reflecting surface of the vibrating mirror 5. Can be projected onto the reflective surface of the second reflector 4, and realize vertical scanning to form the vertical field of view of the laser radar, the laser beam projected onto the reflective surface of the second reflector 4 is reflected by the rotation of the second reflector 4, It can realize horizontal 360° scanning to form the horizontal field of view of lidar.

The second reflector 4, the vibrating mirror 5, the first reflector 3, and the laser detector 2 are sequentially arranged along the laser receiving circuit, the laser detector 2 is located at the end of the laser emitting circuit, and the laser detector 2 is used to receive the reflected Laser echo, it can be seen that the first reflector 3, the second reflector 4, and the vibrating mirror 5 are located on the overlapping part of the laser emitting circuit and the laser receiving circuit. Optionally, in this embodiment, the laser detector 2 is an avalanche photodiode.

Optionally, please refer to FIG. 1. In this embodiment, the coaxial optical path structure 100 of the lidar further includes a collimator 7, which is located between the laser emitter 1 and the first reflector 3, and inside the collimator 7 An emitting plano-convex mirror 8 is provided, and one end of the collimating cylinder 7 is connected with the first reflector 3 .

Specifically, the collimating cylinder 7 and the emitting plano-convex mirror 8 are located on the laser emitting circuit and between the laser emitter 1 and the first reflector 3 . The collimating cylinder 7 and the emitting plano-convex mirror 8 are used to collimate the laser beam emitted by the laser emitter 1 into a parallel beam, and converge all the emitted light into the laser emitting circuit behind.

The emitting end of the laser emitter 1 usually extends into the collimating cylinder 7, and the inner diameter of the collimating cylinder 7 is greater than the diameter of the emitting end of the laser emitter 1, ensuring that the emitting end of the laser emitter 1 can extend into the collimating cylinder 7, and the laser emits The device 1 can also be adjusted by moving up and down and along the optical axis of the laser emitter 1. The optical signal emitted by the laser transmitter 1 can be collimated into a parallel beam through the emitting plano-convex mirror 8 inside the collimating cylinder 7. Since the inner diameter of the collimating cylinder 7 is larger than the diameter of the emitting end of the laser transmitter 1, it is convenient to adjust the laser transmitter 1. At the position inside the collimating cylinder 7 , after ensuring that the optical signal emitted by the laser transmitter 1 passes through the plano-convex mirror 8 and has the strongest energy, fix the laser transmitter 1 and the collimating cylinder 7 .

One end of the collimator 7 away from the laser transmitter 1 is connected to the first reflector 3. Optionally, please refer to FIG. 1. In this embodiment, the end of the collimator 7 near the first reflector 3 is provided with a Mirror 3 has a slope that matches the shape, and the slope is bonded to the hole edge of the perforation near the collimator 7 .

Specifically, the perforation is located in the middle of the first reflector 3, and the aperture of the perforation is larger than the inner diameter of the collimating cylinder 7, and the aperture of the perforating is smaller than the outer diameter of the collimating cylinder 7, so that the collimating cylinder 7 is far away from the end of the laser emitter 1 and the perforation. Bonding can be performed near the hole edge of the collimation cylinder 7 . One end of the collimator 7 near the first reflector 3 is inclined at the same angle with the first reflector 3, for example, please refer to Fig. 1, in the present embodiment, the end of the collimator 7 near the first reflector 3 and the first Mirror 3 is designed at an angle of 45°.

Optionally, please refer to FIG. 1 , in this embodiment, the first reflector 3 is inclined at 45° relative to the optical axis of the laser emitter 1 .

Specifically, the first reflector 3 is used to change the propagation angle of the laser echo of the laser receiving circuit, the first reflector 3 is perpendicular to the scanning plane formed by the vibrating mirror 5, and the first reflector 3 is inclined at 45° relative to the horizontal plane . The center of the first reflector 3 is provided with a perforation through which the collimator 7 can pass. The central axis of the first reflector 3 is on the same level as the central axis of the laser emitter 1 and the collimator 7 .

Optionally, referring to FIG. 1 , in this embodiment, the vibrating mirror 5 is a one-dimensional vibrating mirror.

Optionally, referring to FIG. 1 , in this embodiment, the center of the vibrating mirror 5 is located on the rotation axis of the second reflecting mirror 4 .

Specifically, the vibrating mirror 5 is located on the laser emitting circuit, reflects the laser beam calibrated by the collimator 7, and adjusts the vertical angle of the laser beam so that the laser beam can scan the reflected laser beam at a certain angle on the vertical plane.

Optionally, please refer to FIG. 1. In this embodiment, the coaxial optical path structure 100 of the lidar further includes a motor assembly 9, which is dynamically coupled with the second reflector 4, and the motor assembly 9 is used to drive the second reflector 4. Mirror 4 rotates. The motor assembly 9 is used to drive the second mirror 4 to rotate horizontally, so that the laser beam reflected by the vibrating mirror 5 can perform 360° horizontal rotation scanning. At the same time, the received laser echo is reflected into the laser receiving circuit.

The second reflector 4 is used to reflect the emitted laser light to the outside for object detection, and at the same time reflect the laser echo reflected from the outside back to the laser receiving circuit. Optionally, please refer to FIG. 1 , in this embodiment, the second reflector 4 is inclined at 45° relative to the optical axis of the laser emitter 1 .

Optionally, please refer to FIG. 1 , in this embodiment, the second reflector 4 and the laser detector 2 are respectively located on two sides of the vibrating mirror 5 in a direction perpendicular to the optical axis of the laser emitter 1 . The second reflection mirror 4 is located above the vibrating mirror 5 , and the laser detector 2 is located below the vibrating mirror 5 .

Optionally, referring to FIG. 1 , in this embodiment, the optical axis of the laser emitter 1 is perpendicular to the optical axis of the laser detector 2 . The direction of the optical axis of the laser emitter 1 is horizontal, and the direction of the optical axis of the laser detector 2 is up and down, the laser detector 2 is located below the laser emitter 1, and the laser detector 2 is set upward.

Optionally, please refer to FIG. 1. In this embodiment, the coaxial optical path structure 100 of the laser radar also includes a receiving plano-convex mirror 6, and the receiving plano-convex mirror 6 is arranged between the laser detector 2 and the first reflector 3 .

Specifically, the receiving plano-convex mirror 6 is located directly below the first reflecting mirror 3, and the receiving plano-convex mirror 6 is used to focus the laser echo reflected by the first reflecting mirror 3, so that the focused laser echo Received by laser detector 2.

The first reflecting mirror 3 , the receiving plano-convex mirror 6 , and the laser detector 2 are arranged along a vertical line, so that the laser echo received by the laser receiving circuit can be focused on the laser detector 2 as much as possible.

The distance between the receiving plano-convex mirror 6 and the laser detector 2 can be flexibly adjusted up and down on the vertical center line of the two centers, so that the focus of the receiving plano-convex mirror 6 collecting the laser echo is just on the laser detector 2 .

The vibrating mirror 5 is located at the intersection of the central axis of the first reflecting mirror 3 and the second reflecting mirror 4, so that the vibrating mirror 5 can reflect the laser light of the laser emitting circuit and the laser receiving circuit, and at the same time, due to the characteristics of the vibrating mirror 5, it can The laser beam is reflected at a certain angle, so that the laser beam can be scanned and emitted within an angle range. The size of the vibrating mirror 5 should be determined in combination with the size of the actual emitted collimated spot and the received laser echo.

The second reflecting mirror 4 on the motor assembly 9 is located directly above the vibrating mirror 5 , and its size should ensure that the laser beams reflected by the vibrating mirror 5 all fall on the second reflecting mirror 4 and are reflected.

The receiving plano-convex mirror 6 is located directly below the first reflector 3, receives the laser echo reflected from the first reflector 3, and transmits the received laser echo to the laser detector 2 directly below through the receiving plano-convex mirror 6 superior. It should be noted that the area of the receiving plano-convex mirror 6 should be greater than or equal to the downward projected area of the first reflector 3 , this is to ensure that the reflected laser echoes can all be irradiated on the receiving plano-convex mirror 6 . Simultaneously, the centers of the first reflecting mirror 3, the receiving plano-convex mirror 6 and the laser detector 2 are on a central axis, and the distance between the receiving plano-convex mirror 6 and the laser detector 2 can be flexibly adjusted so that the received laser light returns The focus of the wave is on the laser detector 2.

The working principle of the coaxial optical path structure 100 of the laser radar can be as follows:

1. Laser emission. The laser transmitter 1 generates a control signal to control the LD unit on the laser transmitter 1 to emit a laser signal. The laser signal passes through the collimator 7, and the emitted laser signal is collimated by the plano-convex mirror 8 inside the collimator 7. Straight into a parallel beam, the laser signal passing through the first reflector 3 at a 45° angle from the perforation is projected onto the galvanometer 5, and the galvanometer 5 that is powered on will scan and reflect the received laser beam vertically to the second mirror at a certain angle. The reflector 4 then reflects the laser beam through the second reflector 4 of 45° to detect the object. At the same time, the motor assembly 9 drives the second reflector 4 at an angle of 45° to rotate horizontally by 360°, and the corresponding optical signal also follows The second reflector 4 rotates and continuously emits laser signals, so that it can scan at a certain angle in the vertical plane and 360° in the horizontal plane;

2. Laser reception, the emitted laser signal is detected and reflected back by the object, deflected by the second reflector 4 at a 45° angle by 90°, then reaches the galvanometer 5, and is reflected to the first reflector 3 by the galvanometer 5, Then the laser beam is reflected by the first mirror 3 and enters the receiving plano-convex mirror 6, and the reflected laser signal is collimated and focused on the laser detector 2 to generate an echo signal, and then transferred to the subsequent data processing of the laser radar , to complete a signal reception.

The coaxial optical path structure 100 of the laser radar includes a laser emitting circuit and a laser receiving circuit. Compared with the multi-transmitting and multi-receiving mechanical scanning radar, on the basis of increasing the ranging range of the laser radar, the relative cost is relatively low, and the structure is relatively low. Simple and convenient for initial installation and commissioning and later maintenance

In the technical scheme of the utility model, the laser beam of the laser emitter 1 forms a scanning surface through the scanning action of the vibrating mirror 5, and then the scanning action of the rotating second mirror 4 realizes the effect of three-dimensional scanning. The axial light path structure 100 has a simple and reliable structure, which can not only improve the measurement performance of the laser radar, but also has the advantage of low cost.

The utility model provides a laser radar, which includes a coaxial optical path structure of the laser radar and a laser distance measuring device. Since the coaxial optical path structure of the laser radar adopts the technical scheme of the above-mentioned embodiment, it has the above-mentioned embodiment The beneficial effect brought by the technical solution.

The above are only preferred embodiments of the present utility model, and are not therefore limiting the patent scope of the present utility model. Under the conception of the present utility model, the equivalent structural transformations made by using the specification of the utility model and the contents of the accompanying drawings, or directly /Indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims (10)

1. A coaxial optical path structure of laser radar, characterized in that, comprises a laser emitter, a laser detector, a first reflector, a second reflector and a vibrating mirror; The second reflecting mirror can be rotatably arranged, the second reflecting mirror is located on one side of the vibrating mirror, the reflecting surface of the second reflecting mirror faces the reflecting surface of the vibrating mirror, and the reflecting surface of the second reflecting mirror The rotation axis is parallel to the scanning plane formed by the vibrating mirror; The laser emitter, the first reflecting mirror, and the vibrating mirror are sequentially arranged along the optical axis of the laser emitting emitter, the reflecting surface of the first reflecting mirror faces the reflecting surface of the vibrating mirror, and the The first reflecting mirror is provided with a perforation corresponding to the laser transmitter, so that the laser beam of the laser transmitter can pass through the first reflecting mirror from the perforation, and then pass through the vibrating mirror, the second The two mirrors are reflected and emitted; The laser detector is located on one side of the first reflector, and the laser detector is facing the reflective surface of the first reflector, so that the laser detector can receive , the laser echo reflected by the vibrating mirror and the first reflecting mirror. 2. The coaxial optical path structure of the laser radar as claimed in claim 1, wherein the second reflecting mirror and the laser detector are respectively located at the optical axis perpendicular to the optical axis of the laser emitter in the vibrating mirror on both sides of the direction. 3. The coaxial optical path structure of the lidar as claimed in claim 1, wherein the first reflector and the second reflector are all inclined at 45° with respect to the optical axis of the laser transmitter . 4. The coaxial optical path structure of laser radar according to claim 1, wherein the optical axis of the laser emitter is perpendicular to the optical axis of the laser detector. 5. The coaxial optical path structure of lidar as claimed in claim 1, is characterized in that, the coaxial optical path structure of described lidar also comprises receiving plano-convex mirror, and described receiving plano-convex mirror is arranged on described laser detector and between the first reflector. 6. The coaxial optical path structure of the lidar according to any one of claims 1-5, wherein the coaxial optical path structure of the lidar further comprises a collimating cylinder, and the collimating cylinder is located at the laser emitter Between the first reflecting mirror, a plano-convex emitting mirror is arranged inside the collimating cylinder, and one end of the collimating cylinder is connected to the first reflecting mirror. 7. The coaxial optical path structure of the lidar according to claim 6, characterized in that, the end of the collimating cylinder close to the first reflector is provided with a slope that matches the shape of the first reflector, The inclined surface is glued to the hole edge of the through hole close to the collimating cylinder. 8. The coaxial optical path structure of the laser radar according to any one of claims 1-5, wherein the coaxial optical path structure of the laser radar further comprises a motor assembly, and the motor assembly and the second reflector The mirror is power-coupled and connected, and the motor assembly is used to drive the second mirror to rotate. 9. The coaxial optical path structure of lidar according to any one of claims 1-5, wherein the vibrating mirror is a one-dimensional vibrating mirror. 10. A laser radar, characterized in that it comprises the coaxial optical path structure of the laser radar according to any one of claims 1-9.

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