CN109387822B - Coaxial multiple frequency laser radar - Google Patents
Coaxial multiple frequency laser radar Download PDFInfo
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- CN109387822B CN109387822B CN201811503354.2A CN201811503354A CN109387822B CN 109387822 B CN109387822 B CN 109387822B CN 201811503354 A CN201811503354 A CN 201811503354A CN 109387822 B CN109387822 B CN 109387822B
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- reflecting mirror
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- 238000007493 shaping process Methods 0.000 claims abstract description 45
- 230000003287 optical effect Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 13
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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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 invention discloses a coaxial multiple frequency laser radar with higher scanning precision, wherein a light source, a second reflector, a shaping lens and a first reflector are sequentially arranged; the second reflecting mirror is provided with a second reflecting mirror surface, and the second reflecting mirror is provided with a light hole; the light source is positioned at one side of the back surface of the second reflecting mirror surface, and the measuring laser emitted by the light source passes through the light hole; then the laser beam is refracted by the shaping lens and then is emitted parallel to the main optical axis to form shaping laser; the light source, the shaping lens and the light hole are coaxially arranged; the first reflecting mirror is connected with the motor and rotates around the axial lead; the first reflecting mirror is provided with a first reflecting mirror surface and is of a regular prismatic table structure; the axial lead of the first reflecting mirror is vertical to the shaping laser; the receiving sensor is positioned above the second reflecting mirror, and the reflected light of the measured object is focused on the receiving sensor under the reflection of the second reflecting mirror. By reducing the detection time length, the scanning slice density in unit time is increased, the measurement accuracy is improved, and the reliability is high.
Description
Technical Field
The invention relates to a laser measuring device, in particular to a coaxial multiple frequency laser radar.
Background
It is known that: a laser scanner is an instrument that measures the size, shape, etc. of a workpiece using the principle of time flight. The time flight principle of the laser is as follows: the laser transmitter sends laser pulse wave, and internal timer starts calculation time t1, and after the laser wave hits the object, partial energy returns, and when laser receiver received the return laser, stops internal timer t2, and the distance of laser radar to the object is: s=c× (t 2-t 1)/2, where C is the speed of light.
Measurement principle of laser scanner: the laser transmitter transmits laser pulse waves, when the laser waves hit an object, part of energy returns, when the laser receiver receives the returned laser waves, the energy of the returned waves is enough to trigger a threshold value, and the laser scanner calculates the distance value from the laser scanner to the object; the laser scanner continuously emits laser pulse waves, the laser pulse waves strike a mirror surface rotating at a high speed, and the laser pulse waves are emitted to all directions so as to form a two-dimensional area scanning. The scanning of this two-dimensional area can achieve the following two functions: 1) Setting protection areas with different shapes in the scanning range of the scanner, and sending out alarm signals when an object enters the areas; 2) In the scanning range of the scanner, the scanner outputs the distance of each measuring point, and according to the distance information, the outline of the object and the coordinate positioning can be calculated.
Patent document CN105759253B discloses a laser scanning rangefinder. The light source emits measurement laser, the measurement laser is emitted into the light hole of the reflector, and the light hole is internally provided with the reflecting plate, so that the measurement laser is emitted onto the reflecting plate in the light hole, and the measurement laser is reflected by the reflecting plate and emitted out along the horizontal direction. When the measuring laser meets the measured object, reflection occurs on the surface of the measured object, a beam of reflected light of the measured object is reflected, the reflected light of the measured object is irradiated on the reflecting mirror surface of the reflecting mirror, the path of the reflected light is changed through the reflection of the reflecting mirror surface, the reflecting mirror reflects upward reflecting light of the reflecting mirror, the reflecting light of the reflecting mirror irradiates on the focusing lens above the reflecting mirror, the reflecting light of the reflecting mirror irradiates on the photoelectric sensor through the focusing lens in a focusing mode, the photoelectric sensor records the received light signal, the light signal is converted into an electric signal, and then the electric signal is processed through the processing system to finally obtain the distance between the measured object and the measuring reference point. The reflector is rotated by the rotating device to perform rotary scanning. However, the scanning can only be performed once per rotation, the detection time is long, and the scanning precision is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing a coaxial multiple frequency laser radar with higher scanning precision.
The technical scheme adopted for solving the technical problems is as follows: a coaxial multiple frequency laser radar comprises a light source, a second reflecting mirror, a shaping lens and a receiving sensor; the first mirror is also included;
the light source, the second reflecting mirror, the shaping lens and the first reflecting mirror are sequentially arranged;
the second reflecting mirror is provided with a second reflecting mirror surface, and the second reflecting mirror is provided with a light hole;
The light source is positioned at one side of the back surface of the second reflecting mirror surface, and measurement laser emitted by the light source passes through the light hole; then the laser beam is refracted by the shaping lens and then is emitted parallel to the main optical axis to form shaping laser;
The light source, the shaping lens and the light hole are coaxially arranged;
the first reflecting mirror is connected with the motor and rotates around the axial lead;
The first reflecting mirror is provided with a first reflecting mirror surface and is of a regular prismatic table structure; the axial lead of the first reflecting mirror is perpendicular to the shaping laser;
The receiving sensor is positioned above the second reflecting mirror, and the reflected light of the measured object is focused on the receiving sensor under the reflection of the second reflecting mirror.
Further, the axial lead of the first reflecting mirror is vertically and vertically arranged with the shaping laser.
Further, the axial lead of the first reflecting mirror is transversely and vertically arranged with the shaping laser.
Further, the first reflector shell and the motor rotor are of an integrated structure.
Further, the first reflecting mirror is a regular triangular prism.
Further, the light hole is arranged at the middle position of the second reflecting mirror.
Further, the second reflecting mirror is a plane mirror.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a coaxial multiple frequency laser radar with higher scanning precision. The device has the advantages of simple structure, convenient operation, reduced detection time length, increased scanning slice density in unit time, improved measurement accuracy and high reliability.
Drawings
FIG. 1 is a schematic structural view of a first embodiment of the present invention;
FIG. 2 is a schematic structural view of a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a second embodiment of the motor and first mirror of the present invention;
Reference numerals: 1-a light source; 11-measuring laser; 2-a second mirror; 21-a second mirror surface; 22-light holes; 3-receiving a sensor; 4-shaping lenses; 41-shaping laser; 42-shaping the laser reflected light; 5-a first mirror; 51-reflected light from the object under test; 52-a first mirror surface; 6-an axial lead; 7-motor.
Detailed Description
The invention will be further described with reference to the drawings and examples.
As shown in the drawing, a coaxial multiple frequency laser radar comprises a light source 1, a second reflecting mirror 2, a shaping lens 4 and a receiving sensor 3; further comprising a first mirror 5; the light source 1, the second reflecting mirror 2, the shaping lens 4 and the first reflecting mirror 5 are sequentially arranged; the second reflecting mirror 2 is provided with a second reflecting mirror surface 21, and the second reflecting mirror 2 is provided with a light hole 22; the light source 1 is positioned at one side of the back surface of the second reflecting mirror surface 21, and the measuring laser 11 emitted by the light source 1 passes through the light hole 22; then the laser beam is refracted by the shaping lens 4 and is emitted parallel to the main optical axis to form shaping laser 41; the light source 1, the shaping lens 4 and the light hole 22 are coaxially arranged; the first reflecting mirror 5 is connected with the motor 7, and the first reflecting mirror 5 rotates around the axial lead 6; the first reflecting mirror 5 is provided with a first reflecting mirror surface 52, and the first reflecting mirror 5 is of a regular prismatic table structure; the axial lead 6 of the first reflecting mirror 5 is perpendicular to the shaping laser 41; the receiving sensor 3 is located above the second reflecting mirror 2, and the reflected light 51 of the object to be measured is focused on the receiving sensor 3 under the reflection of the second reflecting mirror 21.
The back surface of the second mirror surface 21 is the opposite side surface of the second mirror surface 21. The shaping lens 4 is a convex lens. In practice, the coaxial multiple lidar is arranged on a moving carrier, such as: one side or two sides of the running direction of the flying unmanned plane and the train. The light source 1 is located at one side of the back of the second reflecting mirror 21 of the second reflecting mirror 2, the measuring laser 11 emitted by the light source 1 passes through the light transmitting hole 22 on the second reflecting mirror 2, and the originally divergent measuring laser 11 is refracted by the shaping lens 4 and then is emitted parallel to the main optical axis after passing through the shaping lens 4, so as to form the shaping laser 41. The shaping laser light 41 is reflected on the first reflecting surface 52 of the first reflecting mirror 5, and the shaping laser light reflected light 42 is formed. When the shaped laser reflected light 42 encounters the object to be measured, it is reflected from the surface of the object to be measured, forming object reflected light 51. Some of the reflected light 51 of the object is scattered in the air due to diffuse reflection, and the other part of the reflected light 51 of the object is reflected back to the first reflecting surface 52 in the opposite direction of the reflected light 42 of the shaped laser light, and is emitted to the shaped lens 4 in the opposite direction of the shaped laser light 41 by the reflection of the first reflecting surface 52. The object reflected light 51 is collected on the second mirror surface 21 of the second mirror 2 by the collecting action of the shaping lens 4, and finally is focused on the receiving sensor 3 by the reflecting action of the second mirror surface 21. The light source 1, the shaping lens 4 and the light hole 22 are coaxially arranged, so that the measuring laser 11 and the reflected light 51 of the measured object converged by the shaping lens 4 are both positioned on the main optical axis. One of the first reflecting mirror surfaces 52 of the first reflecting mirror 5 rotates, the light source 1 emits the measurement laser light 11, a timer set in advance records the start time t1, the object reflected light 51 reaches the receiving sensor 3, and the timer records the arrival time t2. Finally, the distance between the coaxial multiple frequency laser radar and the measured object is calculated through a distance formula. The implementation process realizes one-time measurement of the measured object. The first reflecting mirror 5 rotates around its axis 6, and the axis 6 is perpendicular to the shaping laser 41, so that the following first reflecting mirror 52 can be moved to a position overlapping the preceding first reflecting mirror 52. Each first mirror 52 rotates to a position overlapping with the position of the first mirror 52 capable of receiving the shaping laser light 41, and scanning is performed again, and the first mirror 5 rotates continuously, so that the scanning is continuously performed, and frequency multiplication is realized. The regular prism table structure of the first reflecting mirror 5 increases the sweep speed by reducing the detection time length, thereby increasing the scanning slice density in unit time and improving the scanning precision. The more the number of edges of the regular land, the more the number of times the first mirror 5 is rotated one turn for scanning, the higher the scanning accuracy, but the narrower the scanning range. Therefore, the first reflecting mirrors 5 of different numbers of edges can be provided according to different use cases. The motion carrier is carried with coaxial multiple frequency laser radar to continuously move, so that the object to be tested can be continuously scanned in the motion direction. The axis 6 of the first mirror 5 is perpendicular to the shaping laser light 41, and thus the scanning direction is perpendicular to the flight direction.
The invention includes two embodiments:
First embodiment: as shown in fig. 1, the axis 6 of the first reflecting mirror 5 is vertically disposed with respect to the shaping laser 41. The axis 6 of the first reflecting mirror 5 is vertically arranged with the shaping laser 41 based on a three-dimensional rectangular coordinate system, that is, the first reflecting mirror 5 rotates around the y axis, so that scanning in the z axis direction is realized.
The second embodiment: as shown in fig. 2, the axis 6 of the first reflecting mirror 5 is disposed transversely and perpendicularly to the shaping laser 41. The axis 6 of the first reflecting mirror 5 is arranged transversely and perpendicularly to the shaping laser 41 with reference to a three-dimensional rectangular coordinate system, i.e. the first reflecting mirror 5 rotates about the z-axis, so that scanning in the x-axis direction is achieved.
The motor 7 and the first mirror 5 may have two connection modes: in the first connection mode, the motor 7 is detachably connected with the first reflecting mirror 5. First, due to the installation gap, a relative positional shift is likely to occur between the motor 7 and the first mirror 5; further, when the first reflecting mirror 5 or the motor 7 needs to be replaced, the relative position is liable to be shifted by repeating the mechanical connection, and both of them tend to cause a decrease in the accuracy of the reception and reflection of the first reflecting mirror 5. In order to solve the above-mentioned technical problem, it is preferable that the second connection mode, as shown in fig. 3, is that the housing of the first reflecting mirror 5 and the rotor of the motor 7 are integrally formed. Firstly, compensating the rotation position deviation generated by the installation clearance through a computer system when the computer system is installed for the first time, so as to ensure the precision; secondly, when the condition that needs to be changed appears, can reduce the position deviation that produces because of installing again after changing first speculum 5 or motor 7 through whole change first speculum 5 and motor 7, guarantee the precision.
The more the number of edges of the regular land is, the smaller the scanning range is, and the higher the scanning frequency is. In order to achieve a scan in the range of 70 °, the first mirror 5 is preferably a regular triangular prism. The normal line of the first mirror surface 52 swings when the first mirror surface 52 rotates, and the scanning range is the same in directions on both sides of the normal line with the normal line as a reference line, 35 ° on each side, and the sum is 70 °.
In order to facilitate the second mirror 2 to receive the reflected light 51 of the object to be measured, it is preferable that the light-transmitting hole 22 is disposed at a middle position of the second mirror 2. When the measurement laser light 11 is emitted from the light hole 22 and is located at the middle position of the second reflecting mirror 2 and the object reflected light 51 is reflected and converged on the second reflecting mirror surface 21 of the second reflecting mirror 2, the object reflected light 51 can be received to the maximum extent, and the measurement accuracy can be improved.
The second reflecting mirror 2 may be a plane mirror, and in order to ensure that the second reflecting mirror 2 can uniformly receive the reflected light 51 of the object to be measured, the second reflecting mirror 2 is preferably a plane mirror. The second reflecting mirror 2 may be provided in any shape such as a circular shape, a square shape, or the like as necessary.
The above is a specific implementation of the present invention, and it can be seen from the implementation process that the present invention provides a coaxial multiple frequency laser radar with high scanning accuracy. The device has the advantages of simple structure, convenient operation, reduced detection time length, increased scanning slice density in unit time, improved measurement accuracy and high reliability.
Claims (7)
1. A coaxial multiple frequency laser radar comprises a light source (1), a second reflecting mirror (2), a shaping lens (4) and a receiving sensor (3); the method is characterized in that: also comprises a first reflecting mirror (5);
The light source (1), the second reflecting mirror (2), the shaping lens (4) and the first reflecting mirror (5) are sequentially arranged;
The second reflecting mirror (2) is provided with a second reflecting mirror surface (21), and the second reflecting mirror (2) is provided with a light hole (22);
The light source (1) is positioned at one side of the back surface of the second reflecting mirror surface (21), and the measuring laser (11) emitted by the light source (1) passes through the light hole (22); then the laser beam is refracted by the shaping lens (4) and then is emitted parallel to the main optical axis to form shaped laser (41);
The light source (1), the shaping lens (4) and the light hole (22) are coaxially arranged;
The first reflecting mirror (5) is connected with the motor (7), and the first reflecting mirror (5) rotates around the axial lead (6);
The first reflecting mirror (5) is provided with a first reflecting mirror surface (52), and the first reflecting mirror (5) is of a regular prismatic table structure; the axial lead (6) of the first reflecting mirror (5) is perpendicular to the shaping laser (41);
the receiving sensor (3) is positioned above the second reflecting mirror (2), and the reflected light (51) of the measured object is focused on the receiving sensor (3) under the reflection of the second reflecting mirror surface (21).
2. The coaxial multiple frequency lidar of claim 1, wherein: the axial lead (6) of the first reflecting mirror (5) is vertically arranged with the shaping laser (41).
3. The coaxial multiple frequency lidar of claim 1, wherein: the axial lead (6) of the first reflecting mirror (5) is transversely and vertically arranged with the shaping laser (41).
4. A co-axial multiple frequency lidar as claimed in any of claims 1 to 3, wherein: the shell of the first reflecting mirror (5) and the rotor of the motor (7) are of an integrated structure.
5. A co-axial multiple frequency lidar as claimed in any of claims 1 to 3, wherein: the first reflecting mirror (5) is a regular triangular frustum.
6. A co-axial multiple frequency lidar as claimed in any of claims 1 to 3, wherein: the light hole (22) is arranged in the middle of the second reflecting mirror (2).
7. A co-axial multiple frequency lidar as claimed in any of claims 1 to 3, wherein: the second reflecting mirror (2) is a plane mirror.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503354.2A CN109387822B (en) | 2018-12-10 | 2018-12-10 | Coaxial multiple frequency laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503354.2A CN109387822B (en) | 2018-12-10 | 2018-12-10 | Coaxial multiple frequency laser radar |
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| CN109387822A CN109387822A (en) | 2019-02-26 |
| CN109387822B true CN109387822B (en) | 2024-07-02 |
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| CN109814087A (en) * | 2019-03-11 | 2019-05-28 | 上海禾赛光电科技有限公司 | Laser transmitting-receiving module and laser radar system |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN209215576U (en) * | 2018-12-10 | 2019-08-06 | 四川经曼光电科技有限公司 | A kind of coaxial multiple frequence laser radar |
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| CN209215576U (en) * | 2018-12-10 | 2019-08-06 | 四川经曼光电科技有限公司 | A kind of coaxial multiple frequence laser radar |
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Country or region after: China Address after: Room 404, Zone B, Science and Technology City Software Industry Park, No. 35 Mian An Road, Fucheng District, Mianyang City, Sichuan Province, 621000 Applicant after: Shanghai jingman Photoelectric Technology Co.,Ltd. Address before: 621000 No. 35 Mian'an Road, Fucheng District, Mianyang City, Sichuan Province (Software Industry Park of Science and Technology City) Applicant before: SICHUAN JINGMAN PHOTOELECTRIC TECHNOLOGY Co.,Ltd. Country or region before: China |
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