CN219590502U - Coaxial laser radar - Google Patents
Coaxial laser radar Download PDFInfo
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- CN219590502U CN219590502U CN202320177195.1U CN202320177195U CN219590502U CN 219590502 U CN219590502 U CN 219590502U CN 202320177195 U CN202320177195 U CN 202320177195U CN 219590502 U CN219590502 U CN 219590502U
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- turning
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- 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
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Abstract
The utility model relates to a coaxial lidar comprising: a turning mirror device including a polygonal mirror surface rotatable about a rotation axis, the mirror surface for changing an angle of a light beam incident thereon; the light ray receiving and transmitting device comprises a transmitting circuit board, a receiving and transmitting lens and a turning mirror; the receiving and transmitting lens is arranged in parallel with the receiving circuit board, the transmitting circuit board is positioned at one side of the receiving circuit board, and the turning mirror is obliquely arranged between the receiving and transmitting lens and the receiving circuit board; the multi-surface reflecting mirror surface is positioned at one side of the receiving and transmitting lens, which is away from the receiving circuit board, and a gap exists between the multi-surface reflecting mirror surface and the receiving and transmitting lens; the light beam sent by the transmitting circuit board passes through the receiving and transmitting lens in the direction of deflection of the deflection mirror and is reflected by the reflecting mirror, and the returned light beam passes through the receiving and transmitting lens in the direction of deflection of the deflection mirror and is received by the receiving circuit board at two sides of the deflection mirror.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to a coaxial laser radar.
Background
The laser radar is a radar system for detecting the characteristic quantities such as the distance, the azimuth and the like of a target by emitting laser beams. The working principle is that a laser beam is emitted to a target to emit a signal, then the received echo signal reflected from the target is compared with the emitted signal, and after proper processing, the related information of the target, such as the distance information of the target, the contour information of the target, the azimuth information of the target and the like, can be obtained.
The prior art patent with publication number CN215641806U discloses a laser radar, a rotary mirror unit, comprising a polygonal rotary mirror portion rotatable about a rotation axis and having a plurality of reflecting surfaces for changing the angle of a light beam incident thereon; an emission unit configured to emit a probe beam; a receiving unit configured to receive an echo of the probe beam reflected by the target object; wherein the detection light beam is reflected by the reflecting surface of the polygon mirror part and then emitted; the echo is reflected by the reflecting surface and then reaches the receiving unit; and the scanning field of view scope that each reflecting surface of the polygon mirror portion corresponds is the same. By adopting one-dimensional rotating mirror scanning without frame splicing, the motion blurring effect generated by the laser radar during measurement is obviously inhibited, and the problems of point cloud distortion caused by scanning information obtained through frame splicing, abnormal visual field caused by scanning information obtained through frame splicing, large difference of resolution in each visual field and the like in the prior art are solved.
The emission unit comprises at least one first turning mirror, and the emission lens group comprises a plurality of emission lenses arranged between the emission module and the first turning mirror and between the first turning mirror and the beam splitting component; the receiving unit comprises at least one second turning mirror, and the receiving lens group comprises a plurality of receiving lenses arranged between the light splitting assembly and the second turning mirror and between the second turning mirror and the receiving module. Because the transmitting unit comprises at least one first turning reflector and a transmitting lens group, and the receiving unit comprises at least one second turning reflector and a receiving lens group, more accessories of the laser radar are caused, and therefore the manufacturing cost of the laser radar is improved; and because the fittings of the laser radar are more, the laser radar needs to be assembled with the fittings in a larger volume, so that the laser radar has a larger volume.
Disclosure of Invention
Based on this, it is an object of the present utility model to provide a coaxial lidar which has the advantages of low cost and reduced volume.
The above object of the present utility model is achieved by the following technical solutions:
a coaxial lidar comprising:
a turning mirror device comprising a multi-faceted mirror surface rotatable about an axis of rotation, the mirror surface for changing an angle of a light beam incident thereon;
the light ray receiving and transmitting device comprises a transmitting circuit board, a receiving and transmitting lens and a turning mirror; the receiving and transmitting lens is arranged in parallel with the receiving circuit board, the transmitting circuit board is positioned on one side of the receiving circuit board, and the turning mirror is obliquely arranged between the receiving and transmitting lens and the receiving circuit board;
wherein, the multi-surface reflecting mirror surface is positioned at one side of the receiving-transmitting lens, which is away from the receiving circuit board, and a gap exists between the multi-surface reflecting mirror surface and the receiving-transmitting lens; the light beam emitted by the transmitting circuit board passes through the receiving and transmitting lens in the direction of deflection of the deflection mirror and is reflected by the reflecting mirror surface, and the returned light beam passes through the receiving and transmitting lens in the direction of deflection of the deflection mirror and is received by the receiving circuit board at two sides of the deflection mirror.
The utility model is further provided with: the transmitting circuit board is provided with a laser transmitter, and the laser transmitter faces the turning mirror.
The utility model is further provided with: the receiving circuit board is provided with a laser receiver, and the laser receiver faces the receiving-transmitting lens.
The utility model is further provided with: the light ray receiving and transmitting device further comprises a mounting box, and the turning mirror is obliquely arranged in the mounting box; the transmitting circuit board is fixed on the side face of the mounting box, the receiving circuit board is fixed on the other side face of the mounting box, and the transmitting circuit board and the receiving circuit board are located on the side face adjacent to the mounting box.
The utility model is further provided with: the transmitting circuit board is located outside the installation box, a turning piece is arranged between the transmitting circuit board and the installation box, and the turning mirror is arranged on the turning piece.
The utility model is further provided with: the transmitting circuit board sequentially penetrates through the turning piece and the mounting box and extends into the mounting box.
The utility model is further provided with: the receiving circuit board is positioned on the outer side of the mounting box, and penetrates through the mounting box and stretches into the mounting box.
The utility model is further provided with: the box cover covers the mounting box; the box cover is provided with a mounting hole, and the receiving and transmitting lens is arranged in the mounting hole.
The utility model is further provided with: the rotating mirror device further comprises a fixing piece, a mounting seat and a motor, wherein the motor is mounted on the fixing piece, an output shaft of the motor is connected with the mounting seat, and the reflecting mirror surface is fixed on the mounting seat.
The utility model is further provided with: the turning mirror device also comprises a plurality of photoelectric switches, wherein the photoelectric switches are positioned at the end parts of the reflecting mirror surface.
In summary, the beneficial technical effects of the utility model are as follows:
the utility model provides a coaxial laser radar, which comprises a turning mirror device and a light receiving and transmitting device, wherein the light receiving and transmitting device comprises a transmitting circuit board, a receiving and transmitting lens and a turning mirror; compared with the prior art, the receiving and transmitting lens and the turning mirror are only one, so that the expenditure of the receiving and transmitting lens and the turning mirror can be effectively reduced, the manufacturing cost of the laser radar is reduced, and the market competitiveness of the laser radar is improved. The light beam emitted by the transmitting circuit board passes through the receiving and transmitting lens in the direction of turning by the turning mirror and is reflected by the reflecting mirror, and the returned light beam passes through the receiving and transmitting lens in the direction of turning by the turning mirror and is received by the receiving circuit board at two sides of the turning mirror; therefore, after the light beam emitted by the emitting circuit board is turned by the turning mirror, the emitting light beam overlaps with the return light beam, and the path of the emitting light beam overlaps with the path of the return light beam, so that on one hand, the occupied volume of the light receiving and transmitting device is reduced, and on the other hand, the occupied volume of the turning mirror device is correspondingly reduced, and therefore, the volume of the laser radar is reduced. Due to the fact that the size of the laser radar is reduced, under the condition that overall accuracy is guaranteed, on one hand, the laser radar can adapt to more working scenes, and on the other hand, the overall cost of the laser radar can be reduced.
The rotating mirror device comprises a multi-surface reflecting mirror surface which rotates to improve the scanning frequency of the mechanical radar. The reflecting mirror surface is provided with a plurality of photoelectric switches, the photoelectric switches are located at the end parts of the reflecting mirror surface, and the photoelectric switches are used for testing angle values between the reflecting mirror surface and the light receiving and transmitting device in real time so as to accurately calculate the scanning angle required by the light receiving and transmitting device.
For a better understanding and implementation, the present utility model is described in detail below with reference to the drawings.
Drawings
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Fig. 1 is a schematic structural view of a lidar of the present utility model.
Fig. 2 is a schematic structural view of the lidar of the present utility model.
Fig. 3 is a cross-sectional view of section A-A of fig. 2.
Fig. 4 is a cross-sectional view of the portion B-B of fig. 2.
In the figure, 1, a turning mirror device; 11. a reflecting mirror surface; 12. a fixing member; 121. an optoelectronic switch; 13. a mounting base; 14. a motor; 2. a light receiving and transmitting device; 21. a transmitting circuit board; 211. a laser emitter; 22. a receiving circuit board; 221. a laser receiver; 23. a transmitting/receiving lens; 24. a folder; 241. a fold mirror; 25. a mounting box; 251. and a box cover.
Detailed Description
Terms of orientation such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possible mentioned in this specification are defined with respect to their construction, and they are relative concepts. Therefore, the position and the use state of the device may be changed accordingly. These and other directional terms should not be construed as limiting terms.
The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of implementations consistent with aspects of the present disclosure.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
The present utility model will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1 to 4, a coaxial laser radar according to the present utility model includes a turning mirror device 1 and a light transceiver 2; the turning mirror device 1 is located outside the light receiving and transmitting device 2. The turning mirror device 1 includes a polygon mirror 11, the polygon mirror 11 being rotatable about a rotation axis, the polygon mirror 11 being configured to change an angle of a light beam incident thereon, the polygon mirror 11 of the turning mirror device 1 being rotated to raise a scanning frequency of the coaxial type laser radar; the light ray receiving and transmitting device 2 comprises a transmitting circuit board 21, a receiving circuit board 22, a receiving and transmitting lens 23 and a turning mirror 241, wherein the receiving and transmitting lens 23 and the receiving circuit board 22 are arranged in parallel, the transmitting circuit board 21 is positioned at one side of the receiving circuit board 22, and the turning mirror 241 is obliquely arranged between the receiving and transmitting lens 23 and the receiving circuit board 22; the multi-surface reflecting mirror 11 is positioned on one side of the receiving and transmitting lens 23 away from the receiving circuit board 22, and a gap exists between the multi-surface reflecting mirror 11 and the receiving and transmitting lens 23; the light beam emitted from the transmitting circuit board 21 is deflected by the deflecting mirror 241, passes through the transmitting and receiving lens 23 and is reflected by the reflecting mirror 11, and the returned light beam is reflected by the reflecting mirror 11, passes through the transmitting and receiving lens 23 and is received by the receiving circuit board 22 via both sides of the deflecting mirror 241.
Compared with the prior art, the transceiver lens 23 and the turning mirror 241 are only one, so that the expenditure of the transceiver lens 23 and the turning mirror 241 can be effectively reduced, the manufacturing cost of the laser radar is reduced, and the market competitiveness of the laser radar is improved. The light beam emitted by the transmitting circuit board 21 is deflected by the deflecting mirror 241, passes through the receiving and transmitting lens 23 and is reflected by the reflecting mirror 11, and the returned light beam is reflected by the reflecting mirror 11, passes through the receiving and transmitting lens 23 and is received by the receiving circuit board 22 through the two sides of the deflecting mirror 241; it can be seen that, after the light beam emitted by the emitting circuit board 21 is deflected by the deflecting mirror 241, the emitting light beam overlaps with the return light beam, and the path of the emitting light beam overlaps with the path of the return light beam, so that, on one hand, the volume occupied by the light transceiver 2 is reduced, and on the other hand, the volume occupied by the deflecting mirror device 1 is correspondingly reduced, thereby reducing the volume of the laser radar. Due to the fact that the size of the laser radar is reduced, under the condition that overall accuracy is guaranteed, on one hand, the laser radar can adapt to more working scenes, and on the other hand, the overall cost of the laser radar can be reduced.
In some embodiments, the transceiver lens 23 is a convex lens, and one of two corresponding surfaces of the convex lens is a plane, and the other surface is a convex surface; wherein the plane of the transceiver lens 23 is disposed parallel to the receiving circuit board 22.
In some embodiments, the transmitting circuit board 21 is disposed at an angle to the receiving circuit board 22, and the transmitting circuit board 21 is preferably disposed perpendicular to the receiving circuit board 22.
In some embodiments, referring to fig. 2 and 4, the light transceiving device 2 further includes a mounting box 25, and the turning mirror 241 is obliquely disposed within the mounting box 25; the transmitting circuit board 21 is fixed to the side of the mounting box 25, the receiving circuit board 22 is fixed to the other side of the mounting box 25, and the transmitting circuit board 21 and the receiving circuit board 22 are located on the sides adjacent to the mounting box 25. Wherein, the transmitting circuit board 21 is located outside the mounting box 25, a folding member 24 is disposed between the transmitting circuit board 21 and the mounting box 25, a folding mirror 241 is disposed on the folding member 24, and the folding mirror 241 on the folding member 24 penetrates through the mounting box 25 and extends into the mounting box 25. The transmitting circuit board 21 sequentially penetrates through the turning piece 24 and the mounting box 25 to extend into the mounting box 25, the transmitting circuit board 21 is provided with a laser transmitter 211, the laser transmitter 211 is located in the mounting box 25, the laser transmitter 211 faces the turning mirror 241, and the light beam emitted by the laser transmitter 211 is turned through the action of the turning mirror 241. The receiving circuit board 22 is located outside the mounting box 25, the receiving circuit board 22 extends into the mounting box 25 through the mounting box 25, the receiving circuit board 22 is provided with a laser receiver 221, the laser receiver 221 is located in the mounting box 25, and the laser receiver 221 faces the receiving and transmitting lens 23 so that the laser receiver 221 receives the returned light beam. The light receiving and transmitting device 2 further comprises a box cover 251, the box cover 251 covers the installation box 25, the box cover 251 is provided with an installation hole, and the receiving and transmitting lens 23 is installed in the installation hole; wherein, the plane of the receiving and transmitting lens 23 faces into the mounting box 25, and the convex surface of the receiving and transmitting lens 23 faces out of the mounting box 25.
In some embodiments, referring to fig. 2 and 3, the turning mirror device 1 further includes a fixing member 12, a mounting seat 13, and a motor 14, the motor 14 is mounted on the fixing member 12, an output shaft of the motor 14 is connected to the mounting seat 13, so that the motor 14 drives the mounting seat 13 to rotate, and the reflecting mirror 11 is fixed on the mounting seat 13. Wherein the axle center of the output shaft of the motor 14 is on the same straight line with the rotation axis; four reflecting mirror surfaces 11 are arranged, and two adjacent reflecting mirror surfaces 11 are vertically arranged. The turning mirror device 1 further comprises a plurality of photoelectric switches 121, the photoelectric switches 121 are located at the end portions of the reflecting mirror surface 11, and the photoelectric switches 121 are used for testing the angle values between the reflecting mirror surface 11 and the light receiving and transmitting device 2 in real time so as to accurately calculate the scanning angle required by the light receiving and transmitting device 2.
The embodiments of the present utility model are all preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model in this way, therefore: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.
Claims (10)
1. A coaxial lidar, comprising:
a turning mirror device (1), said turning mirror device (1) comprising a multi-faceted mirror surface (11), said multi-faceted mirror surface (11) being rotatable about an axis of rotation, said mirror surface (11) being adapted to change the angle of a light beam incident thereon;
the light ray receiving and transmitting device (2), the light ray receiving and transmitting device (2) comprises a transmitting circuit board (21), a receiving circuit board (22), a receiving and transmitting lens (23) and a turning mirror (241); the receiving and transmitting lens (23) is arranged in parallel with the receiving circuit board (22), the transmitting circuit board (21) is positioned on one side of the receiving circuit board (22), and the turning mirror (241) is obliquely arranged between the receiving and transmitting lens (23) and the receiving circuit board (22);
wherein the multi-surface reflecting mirror surface (11) is positioned at one side of the receiving-transmitting lens (23) away from the receiving circuit board (22), and a gap exists between the multi-surface reflecting mirror surface (11) and the receiving-transmitting lens (23); the light beam emitted by the transmitting circuit board (21) passes through the receiving and transmitting lens (23) in the direction of deflection of the deflection mirror (241) and is reflected by the reflecting mirror surface (11), and the returned light beam passes through the receiving and transmitting lens (23) in the direction of reflection of the reflecting mirror surface (11) and is received by the receiving circuit board (22) through two sides of the deflection mirror (241).
2. A coaxial lidar according to claim 1, wherein: the emitting circuit board (21) is provided with a laser emitter (211), and the laser emitter (211) faces the turning mirror (241).
3. A coaxial lidar according to claim 1, wherein: the receiving circuit board (22) is provided with a laser receiver (221), and the laser receiver (221) faces the receiving and transmitting lens (23).
4. A coaxial lidar according to claim 1, wherein: the light ray receiving and transmitting device (2) further comprises a mounting box (25), and the turning mirror (241) is obliquely arranged in the mounting box (25); the transmitting circuit board (21) is fixed on the side face of the mounting box (25), the receiving circuit board (22) is fixed on the other side face of the mounting box (25), and the transmitting circuit board (21) and the receiving circuit board (22) are located on the side face adjacent to the mounting box (25).
5. A coaxial lidar according to claim 4, wherein: the emitting circuit board (21) is located on the outer side of the mounting box (25), a turning piece (24) is arranged between the emitting circuit board (21) and the mounting box (25), and the turning mirror (241) is arranged on the turning piece (24).
6. A coaxial lidar according to claim 5, wherein: the transmitting circuit board (21) sequentially penetrates through the folding piece (24) and the installation box (25) and extends into the installation box (25).
7. A coaxial lidar according to claim 4, wherein: the receiving circuit board (22) is positioned on the outer side of the installation box (25), and the receiving circuit board (22) penetrates through the installation box (25) and stretches into the installation box (25).
8. A coaxial lidar according to claim 4, wherein: the box cover (251) is used for covering the mounting box (25); the box cover (251) is provided with a mounting hole, and the receiving and transmitting lens (23) is arranged in the mounting hole.
9. A coaxial lidar according to claim 1, wherein: the rotating mirror device (1) further comprises a fixing piece (12), a mounting seat (13) and a motor (14), wherein the motor (14) is mounted on the fixing piece (12), an output shaft of the motor (14) is connected with the mounting seat (13), and the reflecting mirror surface (11) is fixed on the mounting seat (13).
10. A coaxial lidar according to claim 1, wherein: the turning mirror device (1) further comprises a plurality of photoelectric switches (121), and the photoelectric switches (121) are positioned at the end parts of the reflecting mirror surface (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320177195.1U CN219590502U (en) | 2023-01-17 | 2023-01-17 | Coaxial laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320177195.1U CN219590502U (en) | 2023-01-17 | 2023-01-17 | Coaxial laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219590502U true CN219590502U (en) | 2023-08-25 |
Family
ID=87691971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320177195.1U Active CN219590502U (en) | 2023-01-17 | 2023-01-17 | Coaxial laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219590502U (en) |
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2023
- 2023-01-17 CN CN202320177195.1U patent/CN219590502U/en active Active
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