CN219657874U

CN219657874U - Single-line laser radar

Info

Publication number: CN219657874U
Application number: CN202321050422.0U
Authority: CN
Inventors: 王艳
Original assignee: Qijing Guanhai Hangzhou Technology Co ltd
Current assignee: Qijing Guanhai Hangzhou Technology Co ltd
Priority date: 2023-05-05
Filing date: 2023-05-05
Publication date: 2023-09-08
Anticipated expiration: 2033-05-05

Abstract

The utility model relates to the technical field of laser radars, and discloses a single-line laser radar which comprises a shell, a laser ranging unit, a scanning unit and an angle measuring unit; the scanning unit comprises a motor fixing seat, a motor and a reflecting component; the angle measuring unit comprises an angle measuring circuit board, a photoelectric encoder and a code disc body, wherein the code disc body comprises a vertical code disc, a first shading ring and a second shading ring; the first shading ring is of a plane circular ring structure, is sleeved on the outer side of the motor and is fixedly connected with the reflecting part; the vertical code disc is of a cylindrical structure and is arranged on the first light shielding ring, and the top of the vertical code disc is provided with a tooth slot structure; the second shading ring is of a cylindrical structure and is positioned on the outer side of the vertical code disc, and the height of the second shading ring is higher than the center of a receiving and transmitting optical path of the photoelectric encoder. According to the single-line laser radar, the influence of ambient light on the angle measuring unit is reduced through the optimization of the code wheel body structure and the light isolation structure formed by the mutual correlation and shielding between the code wheel body structures, and the capability of resisting ambient light interference of the laser radar is improved.

Description

Single-line laser radar

Technical Field

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

Background

The laser radar is used as a novel distance measuring means, has the advantages of high measuring speed, high acquired data precision, strong real-time performance and the like, can be divided into single-line laser radar and multi-line laser radar according to the number of wire harnesses, and is the laser radar with the lowest cost at present, so that the single-line laser radar has better applicability and is widely applied to the field of autonomous navigation of mobile robots. The working principle of the single line laser is that a beam of laser is emitted, the laser irradiates the target through the convergence and reflection of an optical lens, the light reflected by the target also reaches the photoelectric sensing position in a detector through the reflection and convergence of the optical lens, the time difference between the emitted light and the light reflected by the received target is calculated through photoelectric conversion, the distance of the target is calculated according to the time difference, and the distance and the azimuth data of the target detected by the laser radar can be obtained by combining various scanning mechanisms and measured angle data.

When the scanning mechanism rotates around the central axis, the azimuth information of light emergent needs to be obtained, and in general, the single-line laser radar adopts a photoelectric encoder to measure angle information in cooperation with a code disc structure. For example, in patent publication number CN209342906U entitled "autopilot system, lidar and rotation angle detection control structure thereof", a rotation angle detection control structure is disclosed. Such a circular grating angle measuring device and measuring method are disclosed in patent publication number CN111398981a, entitled "a circular grating angle measuring device and measuring method, laser scanner". However, the above schemes do not consider the influence of the ambient light on the photoelectric encoder in practical application, when strong light directly irradiates the receiving area of the photoelectric encoder, the receiving is blind, and the angle measurement information is abnormal, so that the laser radar cannot work normally, and therefore the prior art scheme needs to be improved.

Disclosure of Invention

Based on the method, the single-line laser radar is provided, the influence of ambient light on the angle measuring unit is reduced through the optimization of the code disc body structure and the light isolation structure formed by the mutual correlation and shielding between the structures, and the capability of resisting the ambient light interference of the laser radar is improved.

In order to achieve the aim of the utility model, the utility model is realized by adopting the following technical scheme:

a single-line laser radar comprises a shell, a laser ranging unit, a scanning unit and an angle measuring unit, wherein the laser ranging unit, the scanning unit and the angle measuring unit are arranged in the shell; the scanning unit comprises a motor fixing seat, a motor fixed on the motor fixing seat and a reflecting component driven to rotate by the motor; the angle measurement unit includes:

the angle measurement circuit board is fixed on the motor fixing seat;

the photoelectric encoder is fixed on the side surface of the angle measurement circuit board, which is far away from the motor fixing seat;

the code disc body is positioned at one side of the photoelectric encoder far away from the angle measurement circuit board and comprises a vertical code disc, a first shading ring and a second shading ring which are concentrically arranged;

the first light shielding ring is of a planar circular ring structure, is sleeved on the outer side of the motor, is coaxially arranged with the rotation axis of the reflecting component, and is fixedly connected with the reflecting component;

the vertical code disc is of a cylindrical structure and is arranged on the first shading ring, and a tooth groove structure matched with the photoelectric encoder is arranged at the top of the vertical code disc;

the second light shielding ring is of a cylindrical structure, is arranged on the first light shielding ring, is positioned on the outer side of the vertical code disc, and is higher than the center of a light receiving and transmitting path of the photoelectric encoder.

In some of these embodiments, the gap between the inner annular edge of the first light-shielding ring and the outer housing of the motor is less than or equal to 2mm and/or the gap between the outer annular edge of the first light-shielding ring and the outer housing is less than or equal to 2mm.

In some embodiments, the outer edge of the angle measurement circuit board is positioned outside the second light shielding ring, and a gap between the top edge of the second light shielding ring and the angle measurement circuit board is less than or equal to 2mm; or the outer edge of the angle measurement circuit board is positioned at the inner side of the second shading ring, and the gap between the top edge of the second shading ring and the motor fixing seat is less than or equal to 2mm.

In some embodiments, a gap between an inner side surface of the second light shielding ring and the photoelectric encoder is less than or equal to 2mm.

In some embodiments, the code wheel body further includes a third light shielding ring, where the third light shielding ring is disposed on the first light shielding ring and is located on the inner side of the vertical code wheel, and the height of the third light shielding ring is higher than the center of the transceiving optical path of the photoelectric encoder.

In some of these embodiments, the first shade ring is disposed perpendicular to the axis of rotation; the vertical code wheel and the second shading ring are perpendicular to the first shading ring.

In some of these embodiments, the code wheel is integrally injection molded from an opaque material.

In some embodiments, the code wheel body and the reflecting component are in an integral injection molding structure, and a reflecting layer for reflecting light rays is arranged on the surface of the reflecting component.

In some embodiments, the reflective layer is a metal film, and the metal film layer is plated on the reflective member.

In some of these embodiments, the housing includes a lower shell and an optical enclosure coupled to the lower shell, the optical enclosure being located outside of the scanning unit and the angle measurement unit.

In some of these embodiments, the optical enclosure is frosted or a light shielding member is disposed within the optical enclosure.

Compared with the prior art, the utility model has the advantages and positive effects that:

according to the single-line laser radar, the bottom, the top, the inner side and the outer side of the working area of the photoelectric encoder and the code disc body are respectively shielded by the optimization of the structure of the code disc body and the light isolation structure formed by the mutual association and shielding between the structures, so that the influence of ambient light on the angle measuring unit is weakened, the capability of resisting the ambient light interference of the laser radar is improved, and the working stability of the laser radar is improved; meanwhile, the single-line laser radar fully utilizes the existing structure, realizes the construction of the light isolation structure on the basis of not increasing parts by optimizing the code disc body structure, and has lower cost.

Other features and advantages of the present utility model will become apparent upon review of the detailed description of the utility model in conjunction with the drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the internal structure of a single-wire lidar of the present utility model;

FIG. 2 is a schematic diagram of the structure of each component in the single-line lidar of the present utility model;

FIG. 3 is a schematic diagram of the structure of a scanning unit and an angle measuring unit in the single-line laser radar of the present utility model;

FIG. 4 is a schematic diagram of the structure of the code wheel body in the single-line laser radar of the utility model;

reference numerals illustrate:

10-a laser ranging unit; 11-a laser emission circuit, 12-a collimating lens barrel; 13-collimating mirror; 14-a collimating lens group; 15-a receiving lens; 16-a reception processing circuit;

a 20-scan unit; 21-an electric motor; 22-a reflective member; 23-light guide columns; 24-a motor fixing seat;

30-an angle measurement unit; 31-an optoelectronic encoder; 32-an angle measurement circuit board; 33-code disc body; 331-vertical code wheel; 332-a first light-shielding ring; 333-a second light-shielding ring;

40-a housing; 41-a lower housing; 42-optical housing.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, as well as to include, for example, fixedly coupled, removably coupled, or integrally coupled, unless otherwise specifically indicated and defined. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

Referring to fig. 1 to 4, for one embodiment of the single-line lidar of the present utility model, the single-line lidar includes a laser ranging unit 10, a scanning unit 20, an angle measuring unit 30, and a housing 40.

Referring to fig. 1, a housing 40 mainly provides protection for a product, and a laser ranging unit 10, a scanning unit 20, and an angle measuring unit 30 are disposed within the housing 40.

The laser ranging unit 10 is used for completing the emission and the reception of laser and the calculation of flight time, and completing the output of ranging data.

The scanning unit 20 is used for performing angular deflection of light emitted and received by the laser ranging unit 10 through the rotating reflecting member 22, and implementing repeated measurement scanning over a wide angular range.

In the present embodiment, as shown in fig. 2, the scanner unit 20 includes a motor fixing base 24, a motor 21 fixed to the lower side of the motor fixing base 24, and a reflecting member 22 driven to rotate by the motor 21. The reflecting member 22 is preferably a mirror.

The angle measuring unit 30 is used for measuring the rotation angle of the reflecting member 22, so as to obtain the azimuth information of the object measured by the ranging unit at a certain moment.

In the present embodiment, as shown in fig. 3, the angle measurement unit 30 includes a photoelectric encoder 31, an angle measurement circuit board 32, and a code wheel 33. The angle measuring unit 30 is disposed near the side of the scanning unit 20, and the relative movement of the code wheel 33 and the photoelectric encoder 31 is achieved by the rotational movement of the scanning unit 20.

Wherein the angle measuring circuit board 32 is fixed to the bottom surface of the motor fixing base 24.

The photoelectric encoder 31 is fixed to the bottom surface of the angle measurement circuit board 32. The photoelectric encoder 31 has a C-shaped structure, a pair of light emitting and receiving devices are oppositely arranged up and down, a narrow channel is formed in the middle, when an opaque object passes through, light between the emitting and receiving devices is blocked, and the photoelectric encoder 31 recognizes a blocking signal; after the object passes, the light between the transmitting and receiving devices is restored, and the photoelectric encoder 31 recognizes a light-on signal. The angle measurement circuit board recognizes and calculates angle information according to the characteristics of the electric signals by converting the optical signals into the processable electric signals.

The code wheel 33 is located at the lower side of the photoelectric encoder 31. Referring to fig. 4, the code wheel body 33 includes a vertical code wheel 331, a first light shielding ring 332, and a second light shielding ring 333, which are concentrically arranged.

The first light shielding ring 332 is a planar ring structure, and is sleeved on the outer side of the motor 21, and is coaxially disposed with the rotation axis of the reflecting member 22. The bottom surface of the first light shielding ring 332 is fixedly connected to the reflecting member 22. The first light shielding ring 332 has two main functions, namely, one is used as a structural carrier of the vertical code wheel 331 and the second light shielding ring 333, and the other is used for weakening ambient light through shielding effect of the circular ring in the width direction.

The vertical code wheel 331 is a tubular structure, and is arranged on the first light shielding ring 332, the top of the vertical code wheel 331 is provided with a hollowed-out part, tooth grooves which are distributed alternately are formed, the centers of the tooth grooves are aligned with the center of a receiving-transmitting light path of the photoelectric encoder 31, and the bottom end of the vertical code wheel 331 is connected with the first light shielding ring 332 into a whole. The photoelectric encoder 31 is matched with the vertical code wheel 331 and is arranged on the upper side of the vertical code wheel 331. Specifically, when the code wheel 33 follows the scanning unit 20 to rotate around the central axis, the tooth slot moves in the narrow channel of the C-shaped structure of the photoelectric encoder corresponding to the position of the light emitting and receiving device, so that the angular position information represented by the tooth slot structure of the code wheel 33 is converted into a processable electrical signal by the photoelectric encoder 31.

The second light shielding ring 333 is a cylindrical structure, and is disposed on the first light shielding ring 332 and located outside the vertical code wheel 331. The second light shielding ring 333 is higher than the center of the transceiving optical path of the photoelectric encoder 31, and the bottom end of the second light shielding ring 333 is integrally connected with the first light shielding ring 332. The second light shielding ring 333 mainly functions to attenuate the ambient light by the shielding effect in the height direction.

In this embodiment, the code wheel 33 may be integrally injection molded from a light-impermeable material and assembled on the upper portion of the scanning unit 20, the photoelectric encoder 31 is surface-mounted on the angle measurement circuit board 32, and the C-shaped opening is disposed on the tooth slot portion of the vertical code wheel 331. The scanning unit 20 is driven to rotate by the motor 21 in the middle, the outer shell of the motor 21 is generally made of metal, and light transmission cannot occur, so that the photoelectric encoder 31 is located in a cavity structure surrounded by the bottom first light shielding ring 332, the outer second light shielding ring 333, the outer shell of the inner motor 21 and the top angle measuring circuit board 32 during operation, and the cavity cannot be completely sealed due to relative movement among components, but basically achieves the effect of reducing ambient light, so that the interference influence of the ambient light on the angle measuring unit 30 is reduced.

Referring to fig. 2, in the present embodiment, the laser ranging unit 10 includes a laser transmitting circuit 11, a collimator lens barrel 12, a collimator mirror 13, a collimator lens group 14, a receiving lens 15, and a receiving processing circuit 16.

The collimating lens barrel 12 is distributed in a right angle, and the emergent direction of the collimated laser is changed from horizontal to vertical upwards through the collimating reflector 13. The laser emitted from the laser emission circuit 11 is collimated by the collimator lens group 14, and then is projected onto the reflecting member 22 of the scanning unit 20 with a small spot size and a small divergence angle.

The scanning unit 20 is disposed on the upper side of the laser ranging unit 10, and includes a motor 21, a reflecting member 22, a light guiding column 23, and a motor fixing seat 24.

In this embodiment, the motor 21 is a brushless motor, and is mounted on the motor fixing base 24 by screws, and the motor fixing base 24 is connected with the housing 40. The reflecting part 22 is connected with the outer shell of the motor 21 through a self-positioning structure, and the reflecting surface forms an included angle of 45 degrees with the horizontal plane. The light guide column 23 is in a right angle shape, and the chamfer is adhered to the surface of the reflecting component 22 through glue to divide the reflecting component 22 into an emitted light reflecting area in the barrel and a received light reflecting area outside the barrel, and the vertical part of the light guide column 23 and the vertical part of the collimating lens barrel 12 are mutually nested, so that emitted light is restrained in the barrel and does not escape. The lateral portion of the light guide column 23 maintains a small gap of about 1mm with the inner wall of the housing 40.

The angle measuring unit 30 includes a photoelectric encoder 31, an angle measuring circuit board 32, and a code wheel 33. The photoelectric encoder 31 is attached to the bottom surface of the angle measurement circuit board 32, and the angle measurement circuit board 32 is mounted on the motor fixing seat 24 through screws. The code wheel 33 is fixed to the upper end of the reflecting member 22.

The gap between the inner rim of the first shading ring 332 and the outer casing of the motor 21 is 2mm or less. Preferably, a mounting gap of about 1mm is maintained between the inner annular rim of the first shading ring 332 and the outer casing of the motor 21.

The gap between the outer annular edge of the first shading ring 332 and the outer shell 40 is less than or equal to 2mm. Preferably, a movement gap of about 1mm is maintained between the outer annular rim of the first light shielding ring 332 and the housing 40.

The first light shielding ring 332 maintains a small installation gap with the outer housing of the motor 21 through the inner side, and maintains a small movement gap with the outer housing 40 through the outer side, thereby enhancing the shielding effect in the width direction and improving the weakening effect on the ambient light.

In the present embodiment, the outer edge of the angle measurement circuit board 32 is located outside the second light shielding ring 333, that is, the diameter of the angle measurement circuit board 32 is larger than the diameter of the second light shielding ring 333, and the gap between the top edge of the second light shielding ring 333 and the angle measurement circuit board 32 is less than or equal to 2mm. Preferably, a movement gap of about 1mm is maintained between the top edge of the second light shielding ring 333 and the angle measurement circuit board 32.

The gap between the inner side surface of the second light shielding ring 333 and the photoelectric encoder 31 is 2mm or less. Preferably, a movement gap of about 1mm is maintained between the inner side of the second light shielding ring 333 and the photoelectric encoder 31.

The second light shielding ring 333 maintains a small movement gap with the angle measuring circuit board 32 through the top end, and maintains a small movement gap with the photoelectric encoder 31 on the inner side, thereby enhancing the shielding effect in the height direction and improving the weakening effect on the ambient light.

In other embodiments, the outer edge of the angle measurement circuit board 32 may be located inside the second light shielding ring 333, i.e. the diameter of the angle measurement circuit board 32 is smaller than that of the second light shielding ring 333, and then the top edge of the second light shielding ring 333 needs to keep a small movement gap with the bottom surface of the mounting seat of the motor 21.

As shown in fig. 2, the housing 40 includes a lower case 41 and an optical housing 42. The laser ranging unit 10 is disposed in the lower case 41, and the optical cover 42 covers the outside of the scanning unit 20 and the angle measuring unit 30. The optical housing 42 is molded from a plastic material that is transparent only to infrared light, thereby reducing the effect of ambient light on the internal optics. The portion of the optical housing 42 corresponding to the outside of the field of view of the mirror may be frosted or other shading measures such as adding shading components may be used to further reduce the adverse effect of ambient light on the angle measurement unit 30.

In other embodiments, the code wheel 33 and the reflecting member 22 may be integrally injection molded, and the reflecting member 22 is provided with a reflecting layer for reflecting light. For example, the reflective layer may be a metal film, and the surface of the reflective member 22 may be metallized to achieve excellent reflection. The code wheel body 33 and the reflecting component 22 are integrally formed through injection molding, so that the assembly process steps are reduced, the accuracy of the code channel position is improved, the overall light weight of the rotating body is realized, the power consumption of the motor 21 can be reduced, and the service life of the radar is prolonged.

In other embodiments, the code wheel body further includes a third light shielding ring (not shown), where the third light shielding ring is disposed on the first light shielding ring and is located on the inner side of the vertical code wheel, and the height of the third light shielding ring is higher than the center of the transceiving optical path of the photoelectric encoder. The height of the third shading ring is equal to that of the first shading ring. The third shading ring can shade the inner side of the code disc body in the height direction, so that the weakening effect on the ambient light is further improved.

The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A single-line laser radar comprises a shell, a laser ranging unit, a scanning unit and an angle measuring unit, wherein the laser ranging unit, the scanning unit and the angle measuring unit are arranged in the shell; the scanning unit comprises a motor fixing seat, a motor fixed on the motor fixing seat and a reflecting component driven to rotate by the motor; characterized in that the angle measuring unit comprises:

the angle measurement circuit board is fixed on the motor fixing seat;

2. The single-wire lidar of claim 1, wherein a gap between an inner rim of the first light-shielding ring and an outer housing of the motor is less than or equal to 2mm and/or a gap between an outer rim of the first light-shielding ring and the outer housing is less than or equal to 2mm.

3. The single-wire lidar of claim 1, wherein an outer edge of the angle measurement circuit board is located outside of the second light-shielding ring, and a gap between a top edge of the second light-shielding ring and the angle measurement circuit board is less than or equal to 2mm; or the outer edge of the angle measurement circuit board is positioned at the inner side of the second shading ring, and the gap between the top edge of the second shading ring and the motor fixing seat is less than or equal to 2mm.

4. The single-wire lidar of claim 1, wherein a gap between an inner side surface of the second light-shielding ring and the photoelectric encoder is 2mm or less.

5. The single-wire lidar of claim 1, wherein the code wheel body further comprises a third shading ring, the third shading ring is arranged on the first shading ring and positioned on the inner side of the vertical code wheel, and the height of the third shading ring is higher than the center of a transceiving optical path of the photoelectric encoder.

6. The single line lidar of claim 1, wherein the first light shielding ring is disposed perpendicular to the axis of rotation; the vertical code wheel and the second shading ring are perpendicular to the first shading ring.

7. The single-wire lidar of claim 1, wherein the code wheel body is integrally injection molded from an opaque material.

8. The single-wire lidar according to claim 1, wherein the code wheel body and the reflecting member are of an integrally injection-molded structure, and a reflecting layer for reflecting light is provided on a surface of the reflecting member.

9. The single-wire lidar of claim 8, wherein the reflective layer is a metal film, and the metal film layer is plated on the reflective member.

10. The single line lidar of any of claims 1 to 9, wherein the housing comprises a lower housing and an optical enclosure connected to the lower housing, the optical enclosure being located outside the scanning unit and the angle measurement unit.