CN109031243A - A kind of laser radar launcher and launching technique - Google Patents
A kind of laser radar launcher and launching technique Download PDFInfo
- Publication number
- CN109031243A CN109031243A CN201810926483.6A CN201810926483A CN109031243A CN 109031243 A CN109031243 A CN 109031243A CN 201810926483 A CN201810926483 A CN 201810926483A CN 109031243 A CN109031243 A CN 109031243A
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- Prior art keywords
- laser
- laser beam
- galvanometer
- angle
- transmitting
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of laser radar launcher and launching techniques, comprising: at least two lasers have angle for emitting laser, and between the laser beam of each laser transmitting；Reflecting mirror for changing the transmission direction of the laser beam of laser transmitting, and then changes the intersection position of laser beam；Galvanometer is set to the intersection position of laser beam, for changing the shooting angle of the laser beam.Reflecting mirror can change the transmission direction of laser beam, and then change the intersection position of laser beam, change the setting position of galvanometer, so as to shorten the linear distance between laser and galvanometer, and then reduce the volume of laser beam emitting device.
Description
Technical field
The present invention relates to detection technique field more particularly to a kind of laser radar launcher and launching techniques.
Background technique
Unmanned field is paid close attention to by people recently, the reliability and security relationship of pilotless automobile people
Life security.Laser radar is installed on pilotless automobile, laser radar utilizes TOF principle, can be in automobile traveling process
In, it detects object nearby and measures object distance, to control the travelling route and vehicle of vehicle by the control module of vehicle
Stopping open.
TOF principle is a branch of high-power pulse laser of transmitting, is beaten on testee, by measuring launch time and connecing
Time difference between time receiving calculates distance.Laser radar is usually made of Laser emission end and laser pick-off end, by by laser
Radar is mounted on pilotless automobile, is able to detect the obstacle in pilotless automobile traveling process by laser ranging technique
Object, helps pilotless automobile planning travelling line, and escape from danger object achievees the purpose that safe driving.
In order to increase the seating space of pilotless automobile, the volume of automobile parts is the smaller the better.But lead in laser radar
Often include multiple lasers, there is certain angle between the light beam of each laser transmitting, in order to reduce laser radar rotation
The volume and quality of scanning means, and scanning speed is improved, rotating scanning device is generally arranged at the intersection position of each light beam, this
Cause the distance between rotating scanning device and laser longer, so that the volume of laser radar launcher is increased, it is unfavorable
In the miniaturization of laser radar.
Summary of the invention
In view of the above-mentioned problems of the prior art, the purpose of the present invention is to provide a kind of laser radar launcher,
The linear distance between laser and galvanometer can be reduced, to reduce the volume of laser radar launcher, reach laser thunder
Up to the purpose of miniaturization.
To achieve the above object, the technology of the present invention solution is as follows:
A kind of laser radar launcher, comprising:
At least two lasers have angle for emitting laser, and between the laser beam of each laser transmitting；
Reflecting mirror for changing the transmission direction of the laser beam of laser transmitting, and then changes the intersection position of laser beam；
Galvanometer is set to the intersection position of laser beam, for changing the shooting angle of the laser beam.
Further, further include collimation unit, for collimating the laser of the laser transmitting, reduce the diverging of the laser
Angle.
Further, the laser is semiconductor laser, and the collimation unit includes for compressing fast axis divergence angle
First cylindrical lens and the second cylindrical lens for compressing slow axis divergence.
Further, the quantity of the laser is three, between the laser beam of the two neighboring laser transmitting
Angle is equal.
Further, the galvanometer is set to the intersection position of three laser beams.
Further, the galvanometer is two dimension MEMS galvanometer.
Further, the angle between the reflecting surface and incident beam of the reflecting mirror is 50o-80o。
A kind of laser radar launching technique, at least two lasers swash for emitting laser, each laser transmitting
There is angle between light light beam；Laser beam is incident on the reflecting surface of reflecting mirror, generates reflection laser light beam, causes several to swash
The intersection position of light light beam changes；Galvanometer is set to the intersection position of laser beam, for changing the outgoing of the laser beam
Angle.
Further, the quantity of the laser is three, between the laser beam of the two neighboring laser transmitting
Angle is equal, and the galvanometer is set to the intersection position of three laser beams.
Further, the reflecting surface is with the angle for the laser beam being incident on reflecting surface 50o-80oBetween.
A kind of laser radar launcher of the present invention and launching technique, comprising: at least two lasers, it is sharp for emitting
Light, and there is angle between the laser beam of each laser transmitting；Reflecting mirror, for changing the laser light of laser transmitting
The transmission direction of beam, and then change the intersection position of laser beam；Galvanometer is set to the intersection position of laser beam, for changing
Become the shooting angle of the laser beam.Reflecting mirror can change the transmission direction of laser beam, and then change laser beam
Intersection position, change the setting position of galvanometer, so as to shorten the linear distance between laser and galvanometer, and then reduce
The volume of laser beam emitting device.
Detailed description of the invention
Fig. 1 is the architecture diagram of a kind of laser radar launcher of the present invention and launching technique；
Fig. 2 is the light path schematic diagram of a kind of laser radar launcher of the present invention and launching technique；
Fig. 3 is the top view of the light path schematic diagram of a kind of laser radar launcher of the present invention and launching technique；
Fig. 4 is the left view of the light path schematic diagram of a kind of laser radar launcher of the present invention and launching technique.
Specific embodiment
Illustrate a kind of laser radar launcher of the present invention and launching technique below with reference to embodiment.
A kind of laser radar launcher of the present invention and launching technique, as shown in Figure 1, including the laser for emitting laser
Device 1；The collimation unit 2 of laser beam divergent angle is compressed for collimated laser beam；Laser beam after collimation is set
In transmission path, for changing the reflecting mirror 3 in Laser beam propagation direction and then change laser beam intersection position；Setting is swashing
Light light beam intersection position, for changing the galvanometer 4 of the shooting angle of laser beam.Reflecting mirror 3 is to change the transmission of laser beam
Direction, and then the intersection position of laser beam is changed, the setting position of galvanometer 4 is changed, so as to shorten laser 3 and vibration
Linear distance between mirror 4, and then reduce the volume of laser beam emitting device.
Specifically, the quantity of laser 1 is three, respectively first laser device 1-1, second laser 1-2, third swash
Light device 1-3, second laser 1-2 are located between first laser device 1-1 and third laser 1-3, second laser 1-2 transmitting
The laser beam that laser beam, third laser 1-3 emit, the angle between laser beam that first laser device 1-1 emits is equal,
It is 20o .First laser device 1-1, second laser 1-2, third laser 1-3 are semiconductor laser, the laser of transmitting
Wavelength is 905nm.
The quantity of collimation unit 2 is three, respectively the first collimation unit 2-1, the second collimation unit 2-2, third collimation
Unit 2-3, the first collimation unit 2-1 are used to collimate the laser beam of first laser device 1-1 transmitting, and the second collimation unit 2-2 is used
In the laser beam of collimation second laser 1-2 transmitting, third collimation unit 2-3 is used to collimate third laser 1-3 transmitting
Laser beam.First collimation unit 2-1, the second collimation unit 2-2, the structure of third collimation unit 2-3 are identical, include being used for
Compress the first cylindrical lens 2-12 at semiconductor laser fast axis divergence angle and for compressing 1 slow axis divergence of semiconductor laser
Second cylindrical lens 2- 11.First collimation unit 2-1, the second collimation unit 2-2, third collimation unit 2-3 are also possible to by single
Non-spherical lens.The transmitting laser coaxial of first collimation unit 2-1 and first laser device 1-1 are arranged, the second collimation unit 2-2 with
The transmitting laser coaxial of second laser 1-2 is arranged, the transmitting laser coaxial of third collimation unit 2-3 and third laser 1-3
Setting.
Reflecting mirror 3 is fixed on bottom plate 6, and the reflecting surface of reflecting mirror 3 and the angle for the laser beam for entering to be set to reflecting surface exist
50o-80oBetween.
Galvanometer 4 is MEMS 2-D vibration mirror, and the reflecting surface of galvanometer 4 is located at first laser device 1-1, second laser 1-2, third
On the laser beam intersection point that laser 1-3 is emitted.Galvanometer 4 is vibrated according to Lissajou figure, makes to be emitted laser scanning formation one
Block region.Galvanometer 4 is 60 in the rotation angle of vertical directiono.Galvanometer 4 is in rotary course, the intersection point position of three laser beams
In on the reflecting surface of galvanometer 4.By the way that the reflecting surface of galvanometer 4 to be arranged on the intersection point of three laser beams, galvanometer can reduce
Reflecting surface area finally improve its vibration frequency to reduce the mirror surface diameter of galvanometer, improve sample rate, reach laser thunder
Up to the purpose of miniaturization.
Between first laser device 1-1 and galvanometer 3, the second collimation unit 2-2 is located at second and swashs first collimation unit 2-1
Between light device 1-2 and galvanometer 4, third collimation unit 2-3 is between third laser 1-3 and galvanometer 3.By by collimation unit
2 are placed between laser 1 and galvanometer 3, can reduce the requirement of laser radar optical system collimation unit 2, can select more
Kind collimation microscope group, reaches higher collimation requirements, to reach higher measurement accuracy and measure the requirement of remote object.
A kind of laser radar launching technique, at least two lasers 1 are for emitting laser, the laser light of each laser transmitting
There is angle, laser 1 is semiconductor laser between beam.After the collimated unit 2 of the laser beam that laser 1 emits collimates,
It is incident on reflecting surface, generates reflection laser light beam, the intersection position of several laser beams is caused to change；Galvanometer 4 is set to sharp
The intersection position of light light beam, for changing the shooting angle of laser beam.Reflecting surface is the mirror surface of reflecting mirror 3.Reflecting surface with enter
The angle of the laser beam on reflecting surface is mapped to 50o-80oBetween.Reflecting surface can change the transmission direction of laser beam, into
And the intersection position of laser beam is changed, the setting position of galvanometer is changed, so as to shorten between laser 1 and galvanometer 4
Linear distance, and then reduce the volume of laser beam emitting device.
Specifically, the quantity of laser 1 is three, respectively first laser device 1-1, second laser 1-2, third laser
Device 1-3, second laser 1-2 are located between first laser device 1-1 and third laser 1-3, and first laser device 1-1 and second swashs
Angle between angle and second laser 1-2 between light device 1-2 and third laser 1-3 is 20o。
The laser beam of first laser device 1-1 transmitting is incident on the mirror of reflecting mirror 3 after the first collimation unit 2-1 collimation
On face；The laser beam of second laser 1-2 transmitting is incident on the mirror surface of reflecting mirror 3 after the second collimation unit 2-2 collimation
On；The laser beam of third laser 1-3 transmitting is incident on the mirror surface of reflecting mirror 3 after third collimation unit 2-3 collimation.
First collimation unit 2-1, the second collimation unit 2-2 are identical with the structure of third collimation unit 2-3, are by partly leading for compressing
The first cylindrical lens 1-12 at body laser fast axis divergence angle and the second column for compressing semiconductor laser slow axis divergence are saturating
Mirror 1-11 composition.First collimation unit 2-1, the second collimation unit 2-2, third collimation unit 2-3 are also possible to by single aspheric
Face lens.The transmitting laser coaxial of first collimation unit 2-1 and first laser device 1-1 is arranged, the second collimation unit 2-2 and second
The transmitting laser coaxial of laser 1-2 is arranged, and the transmitting laser coaxial of third collimation unit 2-3 and third laser 1-3 are arranged.
Reflecting mirror 3 reflects the laser beam after the first collimation unit 2-1 is collimated, swashing after the second collimation unit 2-2 collimation
Laser beam after light light beam, third collimation unit 2-3 collimation, for changing the transmission direction of laser beam, and then changes three
The intersection position of laser beam.Reflecting mirror 3 is fixed on bottom plate 6, the reflecting surface of reflecting mirror 3 and is incident on mirror surface
The angle of laser beam is 50o-80oBetween.
Galvanometer 4 is MEMS 2-D vibration mirror, and the reflecting surface of galvanometer 4 is located at first laser device 1-1, second laser 1-2, third
On the laser beam intersection point that laser 1-3 is emitted.Galvanometer 4 is vibrated according to Lissajou figure, makes to be emitted laser scanning formation one
Block region.Galvanometer 4 is 60 in the rotation angle of vertical directiono.Galvanometer 4 is in rotary course, the intersection point position of three laser beams
In on the reflecting surface of galvanometer 4.By the way that the reflecting surface of galvanometer 4 to be arranged on the intersection point of three laser beams, galvanometer can reduce
Reflecting surface area finally improve its vibration frequency to reduce the mirror surface diameter of galvanometer, improve sample rate, reach laser thunder
Up to the purpose of miniaturization.
Reflecting mirror 3 is set between collimation unit 2 and galvanometer 4, can reduce straight line between laser 1 and galvanometer 4 away from
From, and then reduce the volume of laser radar launcher, achieve the purpose that laser radar minimizes.
For first collimation unit 2-1 between first laser device 1-1 and reflecting mirror 3, the second collimation unit 2-2 is located at second
Between laser 1-2 and reflecting mirror 3, third collimation unit 2-3 is between third laser 1-3 and reflecting mirror 3, by will be quasi-
Straight unit 2 is placed between laser 1-3 and reflecting mirror 3, can reduce the requirement of laser radar optical system collimation unit 2,
A variety of collimation microscope groups can be selected, higher collimation requirements are reached, to reach higher measurement accuracy and measure remote object
The requirement of body.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.The nouns of locality such as upper and lower, left and right, top, bottom in the present invention, only indicate each component
Between relative position, do not represent the fixation position of each component.For those skilled in the art, it is not departing from
In the case where the principle and substance of the present invention, various changes and modifications can be made therein, these variations and modifications are also considered as the present invention
Protection scope.
Claims (10)
1. a kind of laser radar launcher, comprising:
At least two lasers have angle for emitting laser, and between the laser beam of each laser transmitting；
Reflecting mirror for changing the transmission direction of the laser beam of laser transmitting, and then changes the intersection position of laser beam；
Galvanometer is set to the intersection position of laser beam, for changing the shooting angle of the laser beam.
2. laser radar launcher as described in claim 1, which is characterized in that it further include collimation unit, it is described for collimating
The laser of laser transmitting, reduces the angle of divergence of the laser.
3. laser radar launcher as described in claim 1, which is characterized in that the laser is semiconductor laser, institute
Stating collimation unit includes the first cylindrical lens for compressing fast axis divergence angle and the second cylindrical lens for compressing slow axis divergence.
4. laser radar launcher as described in claim 1, which is characterized in that the quantity of the laser is three, adjacent
Angle between the laser beam of two laser transmittings is equal.
5. laser radar launcher as claimed in claim 4, which is characterized in that the galvanometer is set to the friendship of three laser beams
Point position.
6. the laser radar launcher as described in any one of claim 1-5, which is characterized in that the galvanometer is two dimension
MEMS galvanometer.
7. the laser radar launcher as described in any one of claim 1-5, which is characterized in that the reflection of the reflecting mirror
Angle between face and incident beam is 50o-80o。
8. a kind of laser radar launching technique, which is characterized in that at least two lasers are for emitting laser, each laser
There is angle between the laser beam of transmitting；Laser beam is incident on reflecting surface, generates reflection laser light beam, causes several to swash
The intersection position of light light beam changes；Galvanometer is set to the intersection position of laser beam, for changing the outgoing of the laser beam
Angle.
9. laser radar launcher as claimed in claim 8, which is characterized in that the quantity of the laser is three, adjacent
Angle between the laser beam of two laser transmittings is equal, and the galvanometer is set to the intersection point position of three laser beams
It sets.
10. laser radar launcher as claimed in claim 8, which is characterized in that the reflecting surface and be incident on reflecting surface
Laser beam angle 50o-80oBetween.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810926483.6A CN109031243A (en) | 2018-08-15 | 2018-08-15 | A kind of laser radar launcher and launching technique |
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| CN201810926483.6A CN109031243A (en) | 2018-08-15 | 2018-08-15 | A kind of laser radar launcher and launching technique |
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Cited By (5)
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| CN110161511A (en) * | 2019-04-30 | 2019-08-23 | 探维科技(北京)有限公司 | A kind of laser radar system |
| CN111381239A (en) * | 2018-12-29 | 2020-07-07 | 华为技术有限公司 | Laser measurement module and laser radar |
| CN111989591A (en) * | 2019-03-25 | 2020-11-24 | 深圳市速腾聚创科技有限公司 | Laser radar and adjusting method thereof |
| CN113589301A (en) * | 2020-05-14 | 2021-11-02 | 北京一径科技有限公司 | Laser radar transmitting device and laser radar system |
| US11782144B2 (en) | 2019-04-04 | 2023-10-10 | Suteng Innovation Technology Co., Ltd. | Lidar and adjustment method thereof |
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