CN110376565A - Multi-line laser radar Optical devices - Google Patents
Multi-line laser radar Optical devices Download PDFInfo
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- CN110376565A CN110376565A CN201910473394.5A CN201910473394A CN110376565A CN 110376565 A CN110376565 A CN 110376565A CN 201910473394 A CN201910473394 A CN 201910473394A CN 110376565 A CN110376565 A CN 110376565A
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- lens
- laser
- component mounting
- fixed
- mounting frame
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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
- G01S7/4811—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 present invention relates to laser radar range fields, to propose a kind of easy, low cost multi-line laser radar optical texture.The structure reduces manual adjustment by honeycomb device fixed frame fixed laser transmitter and laser pickoff, reduces resetting difficulty.For this reason, the technical scheme adopted by the present invention is that multi-line laser radar Optical devices, comprising: lens, lens mount, laser emitter, laser pickoff, component mounting frame, fixed frame, turntable；The identical lens of two panels are separately fixed on two identical lens mounts, and two lens mounts are parallel to each other and are fixed on a spinstand, make the center of two panels lens in sustained height.Present invention is mainly applied to the design and manufacture of laser radar.
Description
Technical field
The present invention relates to range measurement fields, more particularly, to multi-thread laser ranging field.More particularly to multi-thread laser thunder
Up to Optical devices.
Background technique
Early in the 1970s, the developed countries such as U.S. have begun to the research of pilotless automobile, and take
Obtained breakthrough progress.And at home, pilotless automobile research is since the 1980s.In recent years, with
The development of the development of sensing technology, pilotless automobile has reached new peak.The realization of unmanned function must by by
The sensor-based system of numerous sensor compositions, obstacles avoidance system is part mostly important in unmanned sensor-based system.It is passing through
After having gone through the visual identity at initial stage, numerous research units select laser radar as the sensor of obstacle avoidance system one after another.In order to full
Requirement of the sufficient autonomous driving vehicle to its range sensor scanning range and angular resolution, the usage quantity of laser radar is from one
A to become multiple, type expands to three-dimensional space from two-dimensional surface, and vertical scanning also develops to from single line multi-thread.
For laser radar as the most effective solution of automatic Pilot, intelligent automobile is all being actively developed with swashing in countries in the world
The research work of optical radar, wherein the offshore companies such as IBEO, Velodyne, SICK, Hokuyo are in a leading position ground in the field
Position, their tandem product are at home and abroad widely applied on the intelligent automobile of each research institution.Domestic laser thunder
The research and development manufacturer reached is then mainly that Pekinese north section day draws, the standing grain match in Shanghai, the poly- wound of the Sagitar in Shenzhen and radium mind energy, Yi Jiwu
The sea of the Chinese reaches number cloud.Wherein the multi-line laser radar of radium mind energy is still in development, laser of the sea up to the main still single line of number cloud
Radar, remaining enterprise then have developed the multi-line laser radar of finished product.Nonetheless, existing multi-line laser radar is still general at present
Store-through is in adjustment difficulty, it is difficult to the problem of volume production, and also cost is very high.Therefore, it designs a kind of easy, low cost multi-thread sharp
Optical radar optical texture develops laser radar particularly significant.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is directed to propose a kind of easy, low cost multi-line laser radar light
Learn structure.The structure reduces manual adjustment by honeycomb device fixed frame fixed laser transmitter and laser pickoff, reduces
Resetting difficulty.For this reason, the technical scheme adopted by the present invention is that multi-line laser radar Optical devices, comprising: lens, swash at lens mount
Optical transmitting set, laser pickoff, component mounting frame, fixed frame, turntable；The identical lens of two panels be separately fixed at two it is identical
Lens mount on, by two lens mounts be parallel to each other it is fixed on a spinstand, make the center of two panels lens in sustained height, by one
Batch laser emitter is fixed on first component mounting, and with first component mounting frame of fastened by screw；First device is filled
Carrier is fixed on first fixed frame；The height and position for adjusting first component mounting frame makes in first component mounting
The luminous point height of the laser emitter of frame center is identical as the centre-height of first lens；First fixed frame is fixed
On a spinstand, using the direction in face of lens as front-rear direction, the left-right position of first fixed frame is adjusted；Adjustment first is thoroughly
The front-rear direction of mirror holder makes the luminous point of the laser emitter in first component mounting frame center at a distance from lens
For the focal length of the lens；A collection of laser pickoff corresponding with the laser emitter is fixed into second component mounting frame
On, with second component mounting frame of fastened by screw；Second component mounting frame is fixed on second fixed frame, and adjusts the
The height and position of two component mounting framves keeps the receiving point of the laser emitter in second component mounting frame center high
It spends identical as the centre-height of second lens of phase；Second fixed frame is fixed on a spinstand, to face the direction of lens
For front-rear direction, the left-right position of second fixed frame is adjusted, adjusts the front-rear direction of second lens mount, is made in second
The receiving point of the laser pickoff of component mounting frame center is the focal length of the lens at a distance from second lens.
Further, lens can choose the convex lens that common material is K9, BK7, and lens 1 are for collecting light, Pr
For received optical power, τaFor laser single pass transmission, η in atmosphererFor receiving optics efficiency, ρTFor target reflectivity, PtFor
Laser emission optical power, DlaserFor receiving lens diameter, θ is the optical axis of optical transmitting system and the angle of area target normal direction, R
For laser action distance, the diameter of lens should meet formula (1),
Lens mount is plastic material lens mount, and laser emitter strobe pulse laser diode, laser pickoff can select
The common laser pickoff such as PIN type photodiode, avalanche photodide is selected, laser pickoff detecting band includes laser
Transmitter emission wavelength.Meanwhile the diameter of laser pickoff should be less than the diameter of laser emitter；Component mounting frame can choose
Aluminium, copper product are processed, and component mounting frame is equipped with device slot, are used for fixed laser transmitter or laser pickoff, device
Slot head diameter is D1, tail diameter D2, the instrument head diameter of required fixation is d1, tail diameter d2, then should meet D1
≥d1, D2≥d2；Component mounting frame is equipped with fastening bolt holes, positioning bolt hole and fastening bolt slot, and fastening bolt holes are for leading to
It crosses screw to be secured together to two component mounting framves, the component mounting frame for will fasten by screw of positioning bolt hole
Specified altitude assignment fixed to fixed frame, fastening bolt slot is more than the surface of component mounting frame for preventing fastening bolt.
Minimum range in component mounting frame between two adjacent device slots is h, and the diameter of laser emitter 3 is
Dlaser, the focal length of lens 1 is f, and laser radar vertical angular resolution is a, and the value of the minimum range h between device slot 8 is answered
Meet formula (2) and (3) simultaneously:
h≥Dlaser (2)
h≥f tan(a) (3)
The radius of light echo disc of confusion is less than two neighboring laser pickoff distance at laser pickoff at this time.
Fixed frame selection aluminium, copper product are processed, and length should be more than the length of component mounting frame, and on fixed frame
Design loads rack slot, for keeping component mounting frame adjustable relative to the vertical position of fixed frame, two loading frame groove center distances
Equal to the distance between two positioning bolt holes on component mounting frame.
Turntable selects the materials such as aluminium, copper, is provided with fixed rack slot and lens rack slot, fixed rack slot and lens rack slot
It is mutually perpendicular to, the focal length of lens is f, if fixed rack slot and lens mount groove center vertical range are L1, then should meet L=f, lens
Frame diameter is Dholder, the distance between centre distance and two lens rack slots of two fixed rack slots are L2, then L2≥
Dholder, the effect of fixed rack slot is to keep the horizontal distance of lens mount and fixed frame adjustable.The effect of lens rack slot is to make lens mount
It is adjustable with the vertical range of fixed frame.
The features of the present invention and beneficial effect are:
Simple, low cost multi-line laser radar optical texture proposed by the present invention, can get it is following the utility model has the advantages that
1) easy, low cost multi-line laser radar optical texture can connect to avoid adjustment laser emitter with laser
Position and the angle for receiving device, reduce the difficulty of adjustment, greatly reduce time and the human cost of production, make multi-line laser radar
Volume production is possibly realized.
2) easy, low cost multi-line laser radar optical texture, only by adjusting lens and laser emitter, laser
Three-dimensional position relationship between receiver, it will be able to keep light channel structure more perfect.
Detailed description of the invention:
A kind of simple, low cost multi-line laser radar Optical devices of Fig. 1.
In Fig. 1,1 is lens, and 2 be lens mount, and 3 be laser emitter, and 4 be laser pickoff, and 5 be component mounting frame, and 6 are
Fixed frame, 7 be turntable.
Fig. 2 component mounting frame structure chart.In Fig. 2,8 be device slot, and 9 be fastening bolt holes, and 10 be positioning bolt hole, and 11 are
Fastening bolt slot.
Fig. 3 device groove location schematic diagram.
Fig. 4 fixed frame schematic diagram.
In Fig. 4,12 be loading rack slot.
Fig. 5 turntable schematic diagram.
In Fig. 5,13 be fixed rack slot, and 14 be lens rack slot.
Specific embodiment
To achieve the above object, a kind of easy, low cost multi-line laser radar optical texture is designed, comprising: lens
1, lens mount 2, laser emitter 3, laser pickoff 4, component mounting frame 5, fixed frame 6, turntable 7.
A kind of easy, low cost multi-line laser radar optical texture, is shown in that Fig. 1, the identical lens 1 of two panels are fixed respectively
On two identical lens mounts 2.
Further, two lens mounts 2 are parallel to each other and are fixed on turntable 7, make the center of two panels lens 1 same
Highly.
Further, a certain number of laser emitters 3 are fixed on first component mounting frame 5, and uses fastened by screw
First component mounting frame 5.
Further, first component mounting frame 5 is fixed on first fixed frame 6.
Further, the height and position for adjusting first component mounting frame 5 makes in first 5 center of component mounting frame
The luminous point height of the laser emitter 3 of position is identical as the centre-height of first lens 1.
Further, first fixed frame 6 is fixed on turntable 7, using the direction in face of lens 1 as front-rear direction,
Adjust the left-right position of first fixed frame 6.
Further, the front-rear direction for adjusting first lens frame 2 makes in first 5 center of component mounting frame
Laser emitter 3 luminous point at a distance from lens 1 be lens 1 focal length.
Further, a certain number of laser pickoffs 4 are fixed on second component mounting frame 5.
Further, with second component mounting frame 5 of fastened by screw.
Further, second component mounting frame 5 is fixed on second fixed frame 6, and adjusts second device dress
The height and position of carrier 5 makes the reception point height and phase of the laser emitter 4 in second 5 center of component mounting frame
The centre-height of second lens 1 is identical.
Further, second fixed frame 6 is fixed on turntable 7, using the direction in face of lens 1 as front-rear direction,
Adjust the left-right position of second fixed frame 6.Further,
Further, the front-rear direction for adjusting second lens mount 2 makes in second 5 center of component mounting frame
Laser pickoff 4 receiving point at a distance from second lens 1 be lens 1 focal length.
Further, lens 1 can choose the convex lens that common material is K9, BK7.The effect of lens 1 is to collect light
Line, if PrFor received optical power, τaFor laser single pass transmission, η in atmosphererFor receiving optics efficiency, ρTFor target reflection
Rate, PtFor Laser emission optical power, DlaserFor receiving lens diameter, θ is the optical axis and area target normal direction of optical transmitting system
Angle, R is laser action distance, and the diameter of lens 1 should meet following formula (1),
Such as use material for the convex lens of K9 glass, diameter 30mm, focal length 50mm.
Further, lens mount 2 can choose common plastic material lens mount.The lens mount of plastic material is such as used,
And internal diameter is 30mm, outer diameter 34mm, centre-height 25mm.
Further, laser emitter 3 can choose common pulsed laser diode, pulsed laser diode volume
It is small, peak power is high, be suitable for multi-line laser radar application.The pulsed laser diode of model SPLPL90_3 is such as used,
Head diameter is 4.9mm, tail diameter 5.7mm.
Further, laser pickoff 4 can choose PIN type photodiode, avalanche photodide etc. it is common swash
Optical receiver.When selecting laser pickoff 4, it should ensure that its detecting band includes 3 emission wavelength of laser emitter.Meanwhile swashing
The diameter of optical receiver 4 should be less than the diameter of laser emitter 3.The avalanche photodide of model AD500-8 is such as used,
Head diameter is 4.7mm, tail diameter 5.6mm.
Further, component mounting frame 5 can choose the common materials such as aluminium, copper and be processed.Component mounting frame 5 is being processed
When should follow following principle: see Fig. 2, the effect of device slot 8 is fixed laser transmitter 3 or laser pickoff 4, if device slot 8
Head diameter is D1, tail diameter D2, the instrument head diameter of required fixation is d1, tail diameter d2, then should meet D1≥
d1, D2≥d2.The effect of fastening bolt holes 9 is to be secured together to two component mounting framves 5 by screw, positioning bolt hole 10
Effect be by screw by the component mounting frame 5 fastened be fixed to fixed frame 6 specified altitude assignment.The work of fastening bolt slot 11
Be prevent fastening bolt be more than component mounting frame 5 surface.
Further, the position of device slot 8 and angle should follow following principle in processing: Fig. 3 be seen, if component mounting frame
Minimum range in 5 between two adjacent device slots 8 is h, and the diameter of laser emitter 3 is Dlaser, the focal length of lens 1 is f,
Laser radar vertical angular resolution is a.In multi-line laser radar, the optical signal on difference measurement road easily generates crosstalk, works as h
Value when should meet formula (2) and (3) simultaneously, can effectively avoid crosstalk,
h≥Dlaser (2)
h≥f tan(a) (3)
It is such as processed using aluminum material, distance is 34mm, positioning bolt between the fastening bolt holes 9 of component mounting frame 5
The distance between hole 10 is 41mm.Wherein the head diameter of the device slot 8 of one group of component mounting frame 5 is 4.9mm, and tail diameter is
5.7mm, the head diameter of the device slot 8 of another group of component mounting frame 5 are 4.7mm, tail diameter 5.6mm.
Further, fixed frame 6 can choose the common materials such as aluminium, copper and be processed.The length of fixed frame 6 should be more than
The length of component mounting frame 5, and should be designed on fixed frame 6 and load rack slot 12, see Fig. 4, makes component mounting frame 5 relative to fixed frame
6 vertical position is adjustable.Two 12 centre distances of loading rack slot should be equal on component mounting frame 5 two positioning bolt holes 10 it
Between distance.It is such as processed using aluminum material, two loading 12 centre distances of rack slot are 41mm.Two 12 centers of loading rack slot
The centre-height of line is 25mm.
Further, turntable 7 can choose the common materials such as aluminium, copper and be processed.Turntable 7 should design fixed rack slot
13 and lens rack slot 14, see Fig. 5, fixed rack slot 13 and lens rack slot 14 should be mutually perpendicular to, if the focal length of lens 1 is f, if solid
Determine rack slot 13 and 14 center vertical range of lens rack slot is L1, then should meet L=f.If 2 diameter of lens mount is Dholder, two solid
The centre distance and the distance between two lens rack slots 14 for determining rack slot 13 are L2, then L2≥Dholder, the work of fixed rack slot 13
With being to keep lens mount 6 and the horizontal distance of fixed frame 6 adjustable.The effect of lens rack slot 14 is to make hanging down for lens mount 6 and fixed frame 6
Directly apart from adjustable.Such as to be processed using aluminum material, fixed rack slot 13 and 14 center vertical range of lens rack slot are 50mm, two
The distance between centre distance and two lens rack slots 14 of fixed rack slot 13 are 34mm.
Claims (6)
1. a kind of multi-line laser radar Optical devices, characterized in that include: lens, lens mount, laser emitter, laser pick-off
Device, component mounting frame, fixed frame, turntable；The identical lens of two panels are separately fixed on two identical lens mounts, by two
Lens mount, which is parallel to each other, to be fixed on a spinstand, makes the center of two panels lens in sustained height, a collection of laser emitter is fixed
On first component mounting, and with first component mounting frame of fastened by screw；First component mounting frame is fixed on first
On fixed frame；The height and position for adjusting first component mounting frame makes the laser in first component mounting frame center
The luminous point height of transmitter is identical as the centre-height of first lens；First fixed frame is fixed on a spinstand, with face
Direction to lens is front-rear direction, adjusts the left-right position of first fixed frame；The front-rear direction of first lens frame is adjusted,
Make the focal length of luminous point lens at a distance from lens of the laser emitter in first component mounting frame center；
A collection of laser pickoff corresponding with the laser emitter is fixed on second component mounting frame, with fastened by screw second
A component mounting frame；Second component mounting frame is fixed on second fixed frame, and adjusts second component mounting frame
Height and position makes second lens of reception point height and phase of the laser emitter in second component mounting frame center
Centre-height it is identical；Second fixed frame is fixed on a spinstand, using the direction in face of lens as front-rear direction, adjustment the
The left-right position of two fixed frames adjusts the front-rear direction of second lens mount, makes in second component mounting frame centre bit
The receiving point for the laser pickoff set is the focal length of the lens at a distance from second lens.
2. multi-line laser radar Optical devices as described in claim 1, characterized in that further, lens can choose often
The material seen is the convex lens of K9, BK7, and lens 1 are for collecting light, PrFor received optical power, τaIt is saturating for laser one way in atmosphere
Penetrate rate, ηrFor receiving optics efficiency, ρTFor target reflectivity, PtFor Laser emission optical power, DlaserIt is straight for receiving lens
Diameter, θ are the optical axis of optical transmitting system and the angle of area target normal direction, and R is laser action distance, and the diameter of lens should meet
Formula (1),
3. multi-line laser radar Optical devices as described in claim 1, characterized in that lens mount is plastic material lens mount,
Laser emitter strobe pulse laser diode, laser pickoff can choose PIN type photodiode, avalanche photodide
Etc. common laser pickoff, laser pickoff detecting band includes laser emitter emission wavelength.Meanwhile laser pickoff
Diameter should be less than the diameter of laser emitter；Component mounting frame can choose aluminium, copper product is processed, and set on component mounting frame
There is device slot, be used for fixed laser transmitter or laser pickoff, device slot head diameter is D1, tail diameter D2, required solid
Fixed instrument head diameter is d1, tail diameter d2, then should meet D1≥d1, D2≥d2；Component mounting frame is equipped with fastening spiral shell
Keyhole, positioning bolt hole and fastening bolt slot, fastening bolt holes are used to be secured together to two component mounting framves by screw,
The specified altitude assignment for being used to be fixed to the component mounting frame fastened by screw fixed frame of positioning bolt hole, fastening bolt slot
For prevent fastening bolt be more than component mounting frame surface.
4. multi-line laser radar Optical devices as described in claim 1, characterized in that two adjacent devices in component mounting frame
Minimum range between part slot is h, and the diameter of laser emitter 3 is Dlaser, the focal length of lens 1 is f, laser radar vertical angle
Resolution ratio is a, and the value of the minimum range h between device slot 8 should meet formula (2) and (3) simultaneously:
h≥Dlaser (2)
h≥f tan(a) (3)
The radius of light echo disc of confusion is less than two neighboring laser pickoff distance at laser pickoff at this time.
5. multi-line laser radar Optical devices as described in claim 1, characterized in that fixed frame selects aluminium, copper product to carry out
Processing, length should be more than the length of component mounting frame, and design loads rack slot on fixed frame, for making component mounting frame phase
It is adjustable for the vertical position of fixed frame, two loading frame groove centers distances be equal on component mounting frame two positioning bolt holes it
Between distance.
6. multi-line laser radar Optical devices as described in claim 1, characterized in that turntable selects the materials such as aluminium, copper,
On be provided with fixed rack slot and lens rack slot, fixed rack slot and lens rack slot are mutually perpendicular to, and the focal length of lens is f, if fixed frame
Slot and lens mount groove center vertical range are L1, then should meet L=f, lens mount diameter is Dholder, in two fixed rack slots
The distance between heart distance and two lens rack slots are L2, then L2≥Dholder, the effect of fixation rack slot is to make lens mount and consolidate
The horizontal distance for determining frame is adjustable.The effect of lens rack slot is to keep the vertical range of lens mount and fixed frame adjustable.
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| CN201910473394.5A CN110376565A (en) | 2019-05-31 | 2019-05-31 | Multi-line laser radar Optical devices |
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Application publication date: 20191025 |