CN218824680U - Laser radar's coaxial light path structure and laser radar - Google Patents
Laser radar's coaxial light path structure and laser radar Download PDFInfo
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- CN218824680U CN218824680U CN202222846716.6U CN202222846716U CN218824680U CN 218824680 U CN218824680 U CN 218824680U CN 202222846716 U CN202222846716 U CN 202222846716U CN 218824680 U CN218824680 U CN 218824680U
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Abstract
The embodiment of the utility model provides a laser radar's coaxial light path structure and laser radar, laser radar's coaxial light path structure includes laser emitter, laser detector, first speculum, second speculum and galvanometer; the second reflector can be rotatably arranged, the second reflector is positioned on one side of the vibrating mirror, the reflecting surface of the second reflector faces the reflecting surface of the vibrating mirror, and the rotating axis of the second reflector is parallel to the scanning surface formed by the vibrating mirror; the laser emitter, the first reflector and the vibrating mirror are sequentially arranged along an optical axis of the laser emitter, a reflecting surface of the first reflector faces a reflecting surface of the vibrating mirror, and the first reflector is provided with a through hole for the stress light emitter; the laser detector is positioned on one side of the first reflector and faces the reflecting surface of the first reflector. The coaxial light path structure of the laser radar is simple and reliable in structure, the measurement performance of the laser radar can be improved, and the laser radar has the advantage of low cost.
Description
Technical Field
The utility model relates to a laser detection technical field, in particular to lidar's coaxial light path structure and lidar.
Background
In recent years, with the market demand, the application of the laser radar is wider and wider, and the development of the laser radar tends to be diversified. Conventional lidar is mostly multiline scanning lidar, like mechanical scanning radar, inside sets up a plurality of transmission modules and a plurality of receiving module, transmission module and receiving module one-to-one, in order to realize the transmission and the receipt of laser, generally for improving lidar's range finding precision and range finding scope, generally through the mode that increases transmission, receiving module, but also promoted lidar self cost and complexity when having increased radar performance, this market promotion who is unfavorable for lidar is popularized.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a laser radar's coaxial light path structure and laser radar aims at designing a simple structure's coaxial light path structure, not only can provide laser radar's measurement performance to can reduce laser radar's manufacturing cost.
The utility model provides a coaxial light path structure of a laser radar, which comprises a laser transmitter, a laser detector, a first reflector, a second reflector and a galvanometer;
the second reflecting mirror can be rotatably arranged, the second reflecting mirror is positioned at one side of the vibrating mirror, the reflecting surface of the second reflecting mirror faces the reflecting surface of the vibrating mirror, and the rotating axis of the second reflecting mirror is parallel to the scanning surface formed by the vibrating mirror;
the laser emitter, the first reflector and the vibrating mirror are sequentially arranged along the optical axis of the laser emitter, the reflecting surface of the first reflector faces the reflecting surface of the vibrating mirror, and the first reflector is provided with a perforation corresponding to the laser emitter so that the laser beam of the laser emitter can pass through the first reflector from the perforation and then is emitted after being reflected by the vibrating mirror and the second reflector in sequence;
the laser detector is positioned on one side of the first reflector, and faces the reflecting surface of the first reflector, so that the laser detector can receive laser echoes which sequentially pass through the second reflector, the vibration mirror and the first reflector.
The technical scheme of the utility model in, laser emitter's laser beam forms the scanning face through the scanning effect of mirror that shakes, and the effect of three-dimensional scanning is realized to the scanning effect of pivoted second mirror again, and this laser radar's coaxial light path structure's simple structure, reliable can enough improve laser radar's measurement performance to have low cost's advantage.
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, the first mirror and the second mirror are each disposed at an inclination of 45 ° with respect to an optical axis of the laser emitter.
In a specific embodiment, the optical axis of the laser transmitter 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 disposed between the laser detector and the first reflecting mirror.
In a specific embodiment, the coaxial optical path structure of the lidar is characterized in that the coaxial optical path structure further includes a collimating cylinder, the collimating cylinder is located between the laser emitter and the first reflecting mirror, a transmitting plano-convex mirror is disposed in the collimating cylinder, and one end of the collimating cylinder is connected to the first reflecting mirror.
In a specific embodiment, an inclined surface matched with the shape of the first reflector is arranged at one end, close to the first reflector, of the collimating cylinder, and the inclined surface is bonded with the edge, close to the collimating cylinder, of the through hole.
In a specific embodiment, the coaxial optical path structure of the lidar is characterized by further comprising a motor assembly, wherein the motor assembly is in power coupling connection with the second reflecting mirror, and the motor assembly is used for driving the second reflecting mirror to rotate.
In a specific embodiment, the galvanometer is a one-dimensional galvanometer.
In a specific embodiment, the center of the galvanometer is located on the rotation axis of the second mirror.
The utility model also provides a laser radar, include as above laser radar's coaxial light path structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a coaxial optical path structure of a laser radar according to an embodiment of the present invention.
The reference numbers illustrate: the device comprises a laser radar coaxial light path structure 100, a laser transmitter 1, a laser detector 2, a first reflecting mirror 3, a second reflecting mirror 4, a vibrating mirror 5, a receiving planoconvex mirror 6, a collimating cylinder 7, a transmitting planoconvex mirror 8 and a motor component 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear \8230;) are involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship between the components in a specific posture (as shown in the attached drawings), the motion situation, etc., and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a laser radar's coaxial light path structure, this laser radar's coaxial light path structure can apply to among laser scanning equipment such as laser radar, and figure 1 is the utility model provides a laser radar's coaxial light path structure applies to an embodiment of laser radar.
Referring to fig. 1, in the present embodiment, the coaxial optical path structure 100 of the laser radar includes a laser emitter 1, a laser detector 2, a first reflecting mirror 3, a second reflecting mirror 4, and a vibrating mirror 5, the second reflecting mirror 4 can be rotatably disposed, the second reflecting mirror 4 is located at one side of the vibrating mirror 5, a reflecting surface of the second reflecting mirror 4 faces a reflecting surface of the vibrating mirror 5, and a rotation axis of the second reflecting mirror 4 is parallel to a scanning surface formed by the vibrating mirror 5; the laser emitter 1, the first reflector 3 and the vibrating mirror 5 are sequentially arranged along the optical axis of the laser emitter 1, the reflecting surface of the first reflector 3 faces the reflecting surface of the vibrating mirror 5, and the first reflector 3 is provided with a through hole corresponding to the laser emitter 1, so that the laser beam of the laser emitter 1 can pass through the first reflector 3 from the through hole and then is reflected by the vibrating mirror 5 and the second reflector 4 in sequence and then is emitted; the laser detector 2 is located on one side of the first reflector 3, and the laser detector 2 faces the reflecting surface of the first reflector 3, so that the laser detector 2 can receive laser echoes reflected by the second reflector 4, the vibrating mirror 5 and the first reflector 3 in sequence.
Specifically, the coaxial optical path structure 100 of the laser radar is formed with a laser transmitting circuit and a laser receiving circuit, which are partially overlapped, thereby forming 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 a laser emitting loop, the laser emitter 1 is located at the initial end of the laser emitting loop, and the laser emitter 1 is used for generating laser beams. Optionally, in this embodiment, the laser emitter 1 is a semiconductor laser.
The direction in which the axis of rotation of the second reflecting mirror 4 is located is defined as up-down, so that the galvanometer 5 can oscillate about a horizontal axis. Laser beam that laser emitter 1 produced can pass first speculum 3 from the perforation department, laser beam throws on the plane of reflection of mirror 5 that shakes after passing first speculum 3, laser beam is through the vibration reflection of mirror 5 that shakes, can project on the plane of reflection of second mirror 4, and realize the vertical scanning and form laser radar's vertical field of view, the laser beam who projects on the plane of reflection of second mirror 4 passes through the rotation reflection of second mirror 4, can realize 360 scans of level and form laser radar's horizontal field of view.
The second reflecting mirror 4, the vibrating mirror 5, the first reflecting mirror 3 and the laser detector 2 are sequentially arranged along a laser receiving loop, the laser detector 2 is located at the tail end of the laser emitting loop, the laser detector 2 is used for receiving laser echoes reflected back, and therefore, the first reflecting mirror 3, the second reflecting mirror 4 and the vibrating mirror 5 are located on the overlapping portion of the laser emitting loop and the laser receiving loop. Optionally, in the present embodiment, the laser detector 2 is an avalanche photodiode.
Optionally, referring to fig. 1, in this embodiment, the coaxial optical path structure 100 of the laser radar further includes a collimating cylinder 7, the collimating cylinder 7 is located between the laser emitter 1 and the first reflecting mirror 3, a transmitting plano-convex mirror 8 is disposed in the collimating cylinder 7, and one end of the collimating cylinder 7 is connected to the first reflecting mirror 3.
Specifically, the collimating cylinder 7 and the emission plano-convex mirror 8 are located on the laser emission circuit and between the laser emitter 1 and the first reflecting mirror 3. The collimating cylinder 7 and the transmitting plano-convex mirror 8 are used for collimating the laser beam transmitted by the laser transmitter 1 into a parallel beam and converging all the transmitted light into a rear laser transmitting loop.
The transmitting end of laser emitter 1 usually stretches into a collimation section of thick bamboo 7, and the internal diameter of collimation section of thick bamboo 7 is greater than the diameter of the transmitting end of laser emitter 1, ensures that the transmitting end of laser emitter 1 can stretch into a collimation section of thick bamboo 7 to laser emitter 1 can also reciprocate the adjustment and move the adjustment along the optical axis direction of laser emitter 1. The optical signal collimation that can be emitted laser emitter 1 through the inside transmission plano-convex mirror 8 of collimation section of thick bamboo 7 becomes parallel beam, because the internal diameter of collimation section of thick bamboo 7 is greater than the diameter of laser emitter 1's transmitting end, can conveniently adjust the position of laser emitter 1 in collimation section of thick bamboo 7, ensures that the optical signal that laser emitter 1 was emitted is after the energy is strongest through transmitting plano-convex mirror 8, fixes laser emitter 1 and collimation section of thick bamboo 7.
One end of the collimating cylinder 7, which is far away from the laser emitter 1, is connected to the first reflecting mirror 3, and optionally, referring to fig. 1, in this embodiment, one end of the collimating cylinder 7, which is close to the first reflecting mirror 3, is provided with an inclined plane adapted to the shape of the first reflecting mirror 3, and the inclined plane is bonded to the edge of the through hole, which is close to the collimating cylinder 7.
Specifically, the perforation is located in the middle of the first reflecting mirror 3, the aperture of the perforation is larger than the inner diameter of the collimating cylinder 7, and the aperture of the perforation is smaller than the outer diameter of the collimating cylinder 7, so that the end of the collimating cylinder 7 far away from the laser emitter 1 can be bonded with the edge of the perforation close to the collimating cylinder 7. For example, referring to fig. 1, in the embodiment, an angle between one end of the collimating cylinder 7 close to the first reflecting mirror 3 and the first reflecting mirror 3 is 45 °.
Optionally, referring to fig. 1, in the present embodiment, the first reflecting mirror 3 is disposed to be inclined by 45 ° with respect to the optical axis of the laser emitter 1.
Specifically, the first reflecting mirror 3 is used to change the propagation angle of the laser echo of the laser receiving circuit, the first reflecting mirror 3 is perpendicular to the scanning plane formed by the galvanometer 5, and the first reflecting mirror 3 is inclined at an angle of 45 ° with respect to the horizontal plane. The center of the first reflector 3 is provided with a through hole, the through hole can be penetrated by the collimating cylinder 7, and the central axis of the first reflector 3 and the central axes of the laser emitter 1 and the collimating cylinder 7 are in the same horizontal plane.
Optionally, referring to fig. 1, in the present embodiment, the galvanometer 5 is a one-dimensional galvanometer.
Alternatively, referring to fig. 1, in the present embodiment, the center of the galvanometer 5 is located on the rotation axis of the second reflecting mirror 4.
Specifically, the galvanometer 5 is located on the laser emission loop, reflects the laser beam calibrated by the collimating cylinder 7, and adjusts the vertical angle of the laser beam, so that the laser beam can scan and reflect the laser beam at a certain angle on the vertical plane.
Optionally, referring to fig. 1, in this embodiment, the coaxial optical path structure 100 of the lidar further includes a motor assembly 9, the motor assembly 9 is in power coupling connection with the second reflecting mirror 4, and the motor assembly 9 is configured to drive the second reflecting mirror 4 to rotate. The motor assembly 9 is used for driving the second reflecting mirror 4 to rotate horizontally, so that the laser beam reflected by the vibrating mirror 5 can perform 360-degree horizontal rotation scanning. And simultaneously reflecting the received laser echo to a laser receiving loop.
The second reflecting mirror 4 is used for reflecting the emitted laser to the outside to detect the object, and reflecting the laser echo reflected by the outside to the laser receiving loop. Alternatively, referring to fig. 1, in the present embodiment, the second reflecting mirror 4 is disposed at an angle of 45 ° with respect to the optical axis of the laser emitter 1.
Optionally, referring to fig. 1, in the present embodiment, the second reflecting mirror 4 and the laser detector 2 are respectively located at two sides of the vibrating mirror 5 in a direction perpendicular to the optical axis of the laser emitter 1. The second mirror 4 is located above the galvanometer 5 and the laser detector 2 is located below the galvanometer 5.
Optionally, referring to fig. 1, in the present embodiment, an optical axis of the laser transmitter 1 is perpendicular to an optical axis of the laser detector 2. The direction at the optical axis place of laser emitter 1 is the horizontal direction, and the direction at the optical axis place of laser detector 2 is from top to bottom, and laser detector 2 is located laser emitter 1's below to laser detector 2 sets up.
Optionally, referring to fig. 1, in the present embodiment, the coaxial optical path structure 100 of the laser radar further includes a receiving plano-convex mirror 6, and the receiving plano-convex mirror 6 is disposed between the laser detector 2 and the first reflecting mirror 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 configured to focus the laser echo reflected by the first reflecting mirror 3 so that the focused laser echo is received by the 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 laser echoes received by the laser receiving loop 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 by translating up and down on the central vertical line of the receiving plano-convex mirror 6 and the laser detector 2, so that the focus of the laser echo collected by the receiving plano-convex mirror 6 is just positioned on the laser detector 2.
The mirror 5 that shakes is located first speculum 3 and 4 axis junctures of second speculum for 5 that shakes can be with the laser reflection of laser emission return circuit and laser receiving return circuit, simultaneously because the characteristic of mirror 5 that shakes, can be certain angle reflection laser beam in the vertical plane, make laser beam can scan the transmission at an angle within range. The size of the galvanometer 5 should be determined in combination with the actual transmitted collimated spot size and the received laser echo.
The second reflecting mirror 4 of the motor assembly 9 is positioned right above the vibrating mirror 5, and the size of the second reflecting mirror 4 is ensured to ensure that the laser beam reflected by the vibrating mirror 5 falls on the second reflecting mirror 4 and is reflected out.
The receiving plano-convex mirror 6 is positioned right below the first reflecting mirror 3, receives the laser echo reflected by the first reflecting mirror 3, and focuses and transmits the received laser echo to the laser detector 2 right below through the receiving plano-convex mirror 6. It is particularly noted that the area of the receiving plano-convex mirror 6 should be larger than or equal to the downward projection area of the first reflecting mirror 3, which is to ensure that the reflected laser echo can be fully irradiated onto the receiving plano-convex mirror 6. Meanwhile, the centers of the first reflecting mirror 3, the receiving planoconvex mirror 6 and the laser detector 2 are on the same central axis, and the spacing distance between the receiving planoconvex mirror 6 and the laser detector 2 can be flexibly adjusted, so that the focus of the received laser echo is on the laser detector 2.
The principle of operation of the lidar coaxial optical path structure 100 may be as follows:
1. laser emission, wherein a laser emitter 1 generates a control signal to control an LD unit on the laser emitter 1 to emit a laser signal, the laser signal passes through a collimating cylinder 7, the emitted laser signal is collimated into a parallel beam by an emitting plano-convex mirror 8 in the collimating cylinder 7, the laser signal passing through a 45-degree first reflecting mirror 3 from a perforation is projected onto a vibrating mirror 5, the vibrating mirror 5 powered on and working vertically scans and reflects the received laser beam to a second reflecting mirror 4 according to a certain angle, then the laser beam is reflected out through the 45-degree second reflecting mirror 4 to detect an object, meanwhile, the 45-degree second reflecting mirror 4 is driven by a motor assembly 9 to horizontally rotate at 360 degrees, the corresponding optical signal also continuously emits the laser signal along with the rotation of the second reflecting mirror 4, so that the laser signal can be scanned at a certain angle in a vertical plane and can be scanned and emitted at 360 degrees in a horizontal plane;
2. receiving laser, detecting that an object is reflected by the transmitted laser signal, deflecting by an angle of 90 degrees through a second reflecting mirror 4 with an angle of 45 degrees, then reflecting to a vibrating mirror 5, reflecting to a first reflecting mirror 3 by the vibrating mirror 5, reflecting the laser beam by the first reflecting mirror 3 to enter a receiving plano-convex mirror 6, collimating and focusing the reflected laser signal on a laser detector 2, generating an echo signal, and then transferring to the subsequent data processing of a laser radar to complete the receiving of a signal.
Laser radar's coaxial light path structure 100 contains laser emission return circuit and laser receiving return circuit, compares with the mechanical type scanning radar of many transmission, many receipts, on the basis that has increased laser radar range finding, and relative cost is comparatively cheap, and the structure is comparatively simple, and the installation and debugging and the maintenance in later stage in the initial stage of being convenient for
The technical scheme of the utility model among, laser emitter 1's laser beam forms the scanning face through the scanning effect of mirror 5 that shakes, and the effect of three-dimensional scanning is realized to the scanning effect of pivoted second mirror 4 again, and this laser radar's coaxial light path structure 100's simple structure, reliable can enough improve laser radar's measurement performance to have low cost's advantage.
The utility model provides a laser radar, this laser radar include laser radar's coaxial light path structure and laser range unit, because this laser radar's coaxial light path structure has adopted the technical scheme of above-mentioned embodiment, consequently have the beneficial effect that the technical scheme of above-mentioned embodiment brought.
The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (10)
1. A coaxial light path structure of a laser radar is characterized by comprising a laser transmitter, a laser detector, a first reflecting mirror, a second reflecting mirror and a vibrating mirror;
the second reflector can be rotatably arranged, the second reflector is positioned on one side of the vibrating mirror, the reflecting surface of the second reflector faces the reflecting surface of the vibrating mirror, and the rotating axis of the second reflector is parallel to the scanning surface formed by the vibrating mirror;
the laser emitter, the first reflector and the vibrating mirror are sequentially arranged along an optical axis of the laser emitter, a reflecting surface of the first reflector faces a reflecting surface of the vibrating mirror, and the first reflector is provided with a through hole corresponding to the laser emitter, so that a laser beam of the laser emitter can pass through the first reflector from the through hole, and then is sequentially reflected by the vibrating mirror and the second reflector and then is emitted;
the laser detector is positioned on one side of the first reflector, and faces the reflecting surface of the first reflector, so that the laser detector can receive laser echoes which sequentially pass through the second reflector, the vibrating mirror and the first reflector.
2. The lidar coaxial optical path structure of claim 1, wherein the second reflecting mirror and the laser detector are respectively located on both sides of the galvanometer in a direction perpendicular to an optical axis of the laser transmitter.
3. The lidar coaxial optical path structure of claim 1, wherein the first mirror and the second mirror are each disposed at an inclination of 45 ° with respect to an optical axis of the laser transmitter.
4. The lidar coaxial optical path structure of claim 1, wherein an optical axis of the laser transmitter is perpendicular to an optical axis of the laser detector.
5. The lidar of claim 1, further comprising a receiving plano-convex mirror disposed between the laser detector and the first mirror.
6. The lidar coaxial optical path structure of any of claims 1-5, further comprising a collimating cylinder located between the laser transmitter and the first reflector, wherein a transmitting plano-convex mirror is disposed in the collimating cylinder, and one end of the collimating cylinder is connected to the first reflector.
7. The lidar structure of claim 6, wherein an end of the collimating cylinder adjacent to the first reflector is provided with a bevel adapted to the shape of the first reflector, the bevel being bonded to an edge of the through-hole adjacent to the collimating cylinder.
8. The lidar structure according to any of claims 1 to 5, further comprising a motor assembly, wherein the motor assembly is coupled to the second reflector, and the motor assembly is configured to drive the second reflector to rotate.
9. The lidar structure according to any one of claims 1 to 5, wherein said galvanometer is a one-dimensional galvanometer.
10. A lidar comprising a lidar coaxial optical path structure according to any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222846716.6U CN218824680U (en) | 2022-10-27 | 2022-10-27 | Laser radar's coaxial light path structure and laser radar |
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| CN202222846716.6U CN218824680U (en) | 2022-10-27 | 2022-10-27 | Laser radar's coaxial light path structure and laser radar |
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| CN218824680U true CN218824680U (en) | 2023-04-07 |
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| CN202222846716.6U Active CN218824680U (en) | 2022-10-27 | 2022-10-27 | Laser radar's coaxial light path structure and laser radar |
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