CN112327311A - Receiving device of laser radar and laser radar - Google Patents
Receiving device of laser radar and laser radar Download PDFInfo
- Publication number
- CN112327311A CN112327311A CN202011148553.3A CN202011148553A CN112327311A CN 112327311 A CN112327311 A CN 112327311A CN 202011148553 A CN202011148553 A CN 202011148553A CN 112327311 A CN112327311 A CN 112327311A
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- 230000003287 optical effect Effects 0.000 claims abstract description 33
- 230000006835 compression Effects 0.000 claims description 35
- 238000007906 compression Methods 0.000 claims description 35
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
-
- 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
- G01S7/486—Receivers
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
-
- 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
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present disclosure relates to laser radars, and particularly to a receiving device of a laser radar and a laser radar. The application provides laser radar's receiving arrangement includes: the receiving optical module and the receiving end are sequentially arranged on the receiving optical path, the receiving optical module receives and converges laser reflected light, the receiving end is used for receiving and processing the laser reflected light, a reflection module is arranged on the receiving optical path between the receiving optical module and the receiving end and used for reflecting the laser reflected light converged by the receiving optical module to the receiving end, and the reflection module can adjust a pitch angle and a horizontal angle so that the laser reflected light is always reflected to the receiving end. This application laser radar's receiving arrangement sets up a reflection module between receiving optical module and receiving terminal, and adjustable pitch angle, level angle of reflection module make laser-reflected light reflect the receiving terminal all the time on, satisfy laser radar measurement requirement, the device simple structure, convenient operation.
Description
Technical Field
The present disclosure relates to laser radars, and particularly to a receiving device of a laser radar and a laser radar.
Background
In the existing radar manufacturing process, reflected light needs to be focused by a lens and then accurately projected to a receiving end, so that the laser radar receiving device needs to be calibrated. Typically calibration is done in the following way: firstly, fixing a photoelectric sensor or a circuit board module provided with the photoelectric sensor, and adjusting the position of a lens or a lens group module to focus light on the photoelectric sensor; and secondly, fixing the lens or the lens group module, and adjusting the position of the photoelectric sensor or the circuit board module to focus light on the photoelectric sensor.
The angle adjustment method described above is generally accomplished in two steps: adjusting the azimuth angle; and adjusting the pitching angle. Usually, two sets of adjusting mechanisms are needed to be used for respectively completing the adjustment, the adjusting mechanisms generally occupy larger space, locking is needed to be complicated after each step of adjustment, adjusted dimensionality is often influenced when another dimensionality is adjusted, and the time required for debugging is longer.
Disclosure of Invention
The application aims to provide a laser radar's receiving arrangement and laser radar, and the structure that solves current laser radar receiving arrangement existence is complicated, adjusts inconvenient problem.
To achieve the purpose, the embodiment of the application adopts the following technical scheme:
in one aspect, a receiving apparatus for a laser radar includes: the receiving optical module and the receiving end are sequentially arranged on the receiving optical path, the receiving optical module receives and converges laser reflected light, the receiving end is used for receiving and processing the laser reflected light, a reflection module is arranged on the receiving optical path between the receiving optical module and the receiving end and used for reflecting the laser reflected light converged by the receiving optical module to the receiving end, and the reflection module can adjust a pitch angle and a horizontal angle so that the laser reflected light is always reflected to the receiving end.
In a possible implementation manner, the reflecting module comprises a reflecting mirror and an angle adjusting unit, the angle adjusting unit comprises a reflector swinging block, a fixed block, a compression screw, an adjusting screw and a pressure spring, the fixed block is provided with a plurality of positioning holes and a plurality of adjusting holes, the reflector swinging block is provided with a plurality of screw holes, the compression screw penetrates through the positioning hole and the screw hole to connect the fixing block and the reflector swinging block, the diameter of the compression screw is smaller than the aperture of the positioning hole, the compression screw can make a certain displacement in the positioning hole, a compression spring is sleeved on the compression screw, used for propping against the reflector swinging block, one end of the adjusting screw is connected with the fixed block through the adjusting hole, the other end of the adjusting screw is propped against the reflector swinging block after penetrating through the fixed block, the length of the mirror swinging block penetrating through the adjusting hole is adjustable, and the mirror swinging block is used for adjusting the position between the mirror swinging block and the fixed block.
In a possible implementation mode, the aperture of the positioning hole is 2-2.3mm, and the diameter of the compression screw is 1.8-2 mm.
In a possible implementation mode, the length of the adjusting screw is 10-12mm, and the adjustable length is 2-4 mm.
In a possible embodiment, the mirror is arranged on the mirror oscillating block or is integrated into the mirror oscillating block.
In a possible implementation manner, a swinging block limiting column is arranged on the reflector swinging block and used for limiting the position between the fixed block and the reflector swinging block.
In a possible implementation mode, the pitch angle of the mirror swinging block is 4-9 degrees, and the horizontal angle is 4-15 degrees.
In one possible implementation, the mirror oscillating mass has a pitch angle of 4.9 to 8.7 ° and a horizontal angle of 4.9 to 12.8 °.
In a possible implementation manner, the receiving end is a photoelectric sensor.
On the other hand, the receiving device of the laser radar is the receiving device described above, and further comprises a transmitting device, wherein the transmitting device comprises a transmitting light source and a transmitting optical lens group, outgoing light of the transmitting light source irradiates a target through the transmitting optical lens group, and target return light is received by the receiving device.
This application laser radar's receiving arrangement sets up a reflection module between receiving optical module and receiving terminal, and adjustable pitch angle, level angle of reflection module make laser-reflected light reflect the receiving terminal all the time on, satisfy laser radar measurement requirement, the device simple structure, convenient operation.
Drawings
Fig. 1 is a schematic diagram of the working principle of the receiving device of the present application.
Fig. 2 is an exploded view of the receiving apparatus of the present application.
Fig. 3 is an assembly schematic of a receiver of the present application.
Fig. 4 is a schematic view of the laser radar of the present application.
In the figure: a receiving optical module; 2. a receiving end; 3. a reflection module; 4. a mirror; 5. a mirror oscillating block; 6. a fixed block; 7. a compression screw; 8. an adjusting screw; 9. a pressure spring; 10. positioning holes; 11. an adjustment hole; 12. a screw hole; 13. a swing block limiting column; 14. an emission light source; 15. an emission optical lens group; 16. and (4) a target.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a receiving apparatus of a laser radar includes: the receiving optical module 1 and the receiving end 2 are sequentially arranged on a receiving optical path, the receiving optical module 1 receives and converges laser reflected light, the receiving end 2 is used for receiving and processing the laser reflected light, a reflecting module 3 is arranged on the receiving optical path between the receiving optical module 1 and the receiving end 2 and used for reflecting the laser reflected light converged by the receiving optical module 1 to the receiving end 2, and the reflecting module 3 can adjust a pitch angle and a horizontal angle to enable the laser reflected light to be reflected to the receiving end 2 all the time.
This application laser radar's receiving arrangement sets up a reflection module 3 between receiving optical module 1 and receiving terminal 2, and the adjustable angle of pitch, the horizontal angle of reflection module 3 make laser reflection light reflect receiving terminal 2 all the time on, satisfy laser radar measurement requirement, the device simple structure, convenient operation.
As shown in fig. 2, the reflection module includes a reflection mirror 4 and an angle adjusting unit, the angle adjusting unit includes a reflection mirror swinging block 5, a fixed block 6, a compression screw 7, an adjusting screw 8 and a compression spring 9, the fixed block 6 is provided with a plurality of positioning holes 10 and a plurality of adjusting holes 11, the reflection mirror swinging block 5 is provided with a plurality of screw holes 12, the compression screw 7 passes through the positioning holes 10 and the screw holes 12 to connect the fixed block 6 and the reflection mirror swinging block 5, the diameter of the compression screw 7 is smaller than the aperture of the positioning holes 10, the compression screw 7 can make a certain displacement in the positioning holes 10, the compression screw 7 is sleeved with the compression spring 9 for propping against the reflection mirror swinging block 5, one end of the adjusting screw 8 is connected with the fixed block 6 through the adjusting hole 8, the other end of the adjusting screw passes through the fixed block 6 and then props against the reflection mirror swinging block 5, the length of the adjusting screw, used for adjusting the position between the oscillating block and the fixed block of the reflector.
As shown in fig. 2 and 3, when in use, a compression screw 7 firstly passes through the positioning hole 10, the pressure spring 9 and the screw hole 12 to connect the fixed block 6 and the mirror swinging block 5, and the relative position of the fixed block 6 and the mirror swinging block 5 is preliminarily determined. Because the diameter of the compression screw 7 is smaller than the aperture of the positioning hole 10, the compression screw 7 can make a certain displacement in the positioning hole 10, so the relative position of the fixed block 6 and the reflector swinging block 5 can be adjusted, after the adjustment, another compression screw 7 passes through another group of positioning holes 10, the compression spring 9 and the screw hole 12, the fixed block 6 is connected with the reflector swinging block 5, at the moment, the compression spring 9 is positioned between the fixed block 6 and the reflector swinging block 5 and props against the reflector swinging block 5, the pitch angle and the horizontal angle of the reflector swinging block 5 can be adjusted by compressing the compression spring 9, and at the moment, the pitch angle and the horizontal angle of the reflector swinging block 5 are both in the adjustable maximum angle stroke.
One end of an adjusting screw 8 penetrates through an adjusting hole 11 in the fixed block 6, the other end of the adjusting screw passes through a screw hole 12 and then abuts against the reflector swinging block 5, the adjusting screw 8 is screwed in to control the length of the adjusting screw penetrating through the adjusting hole 11, the compression length of the compression spring 9 is adjusted, and then the pitching angle and the horizontal angle of the reflector swinging block 5 are adjusted.
When the reflection light spot is adjusted to the position that the receiving end 2 is close to the middle position, namely the reflection signal can be clearly received, the adjustment is finished.
The diameter of the positioning hole 10 is 2-2.3mm, and the diameter of the compression screw 7 is 1.8-2 mm.
The diameter of the positioning hole 10 is larger than the diameter of the compression screw 7, and the compression screw 7 can move and rotate in the positioning hole 10 to a certain extent.
The length of the adjusting screw 8 is 10-12mm, and the adjustable length is 2-4 mm.
The length of the adjusting screw 8 which extends out after passing through the adjusting hole 11 can be adjusted, and when one end of the adjusting screw is contacted with the swinging block, the length of the adjusting screw which extends out is the length of the pressing spring 9 on the pressing screw 7 which is continuously compressed.
The reflector 4 is arranged on the reflector swinging block 5 or integrated with the reflector swinging block 5.
The reflecting mirror 4 is arranged on the reflecting mirror swinging block 5, so that the reflecting mirror 4 is convenient to replace, and the reflecting mirror 4 and the reflecting mirror swinging block 5 are integrated, so that the assembling steps are simplified.
The reflector swinging block 5 is provided with a swinging block limiting column 13 for limiting the position between the fixed block 6 and the reflector swinging block 5.
The swing block stopper 13 further restricts the position between the fixed block 6 and the mirror swing block 5.
The pitch angle of the reflector swinging block 5 is 4-9 degrees, and the horizontal angle is 4-15 degrees.
The pitching angle of the reflector swinging block 5 is 4.9-8.7 degrees, and the horizontal angle is 4.9-12.8 degrees.
The pitch angle and the horizontal angle of the reflector swinging block 5 are adjusted in the range, and then the pitch angle and the horizontal angle of the reflector 4 are adjusted, so that the requirement for aligning the faculae of the laser receiving device can be met.
The receiving end 2 is a photoelectric sensor.
As shown in fig. 4, in another aspect, a laser radar includes a receiving device as described above, and further includes a transmitting device, the transmitting device includes a transmitting light source 14 and a transmitting optical lens group 15, an outgoing light of the transmitting light source 14 is irradiated onto a target through the transmitting optical lens group 15, and a target return light is received by the receiving device.
By adopting the receiving device provided by the embodiment of the application, the laser radar can adjust the receiving light path, and has the advantages of simple structure, small size, space saving and better stability. In particular, the convenience and reliability of debugging the optical radar can be improved.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. A receiving apparatus of a laser radar, comprising: the receiving optical module and the receiving end are sequentially arranged on the receiving optical path, the receiving optical module receives and converges laser reflected light, and the receiving end is used for receiving and processing the laser reflected light.
2. The lidar receiving device according to claim 1, wherein the reflection module comprises a reflector and an angle adjusting unit, the angle adjusting unit comprises a reflector swinging block, a fixed block, a compression screw, an adjusting screw and a compression spring, the fixed block is provided with a plurality of positioning holes and a plurality of adjusting holes, the reflector swinging block is provided with a plurality of screw holes, the compression screw passes through the positioning holes and the screw holes to connect the fixed block and the reflector swinging block, the diameter of the compression screw is smaller than the aperture of the positioning holes, the compression screw can make a certain displacement in the positioning holes, the compression screw is sleeved with the compression spring to support the reflector swinging block, one end of the adjusting screw is connected with the fixed block through the adjusting hole, the other end of the adjusting screw passes through the fixed block and then supports against the reflector swinging block, and the length of the adjusting screw passing through the adjusting holes is adjustable, used for adjusting the position between the oscillating block and the fixed block of the reflector.
3. The lidar receiving apparatus according to claim 2, wherein the diameter of the positioning hole is 2-2.3mm, and the diameter of the compression screw is 1.8-2 mm.
4. The lidar receiving apparatus according to claim 3, wherein the adjusting screw has a length of 10-12mm and an adjustable length of 2-4 mm.
5. The lidar receiving apparatus of claim 4, wherein the mirror is disposed on or integrated with the mirror oscillating block.
6. The lidar receiving apparatus according to claim 5, wherein the mirror oscillating block is provided with an oscillating block positioning post for positioning between the fixed block and the mirror oscillating block.
7. The lidar receiving apparatus according to claim 5, wherein the mirror oscillating block has a pitch angle of 4 to 9 ° and a horizontal angle of 4 to 15 °.
8. The lidar receiver of claim 7, wherein the mirror oscillating block has a pitch angle of 4.9 to 8.7 ° and a horizontal angle of 4.9 to 12.8 °.
9. The lidar receiving apparatus of claim 7, wherein the receiving end is a photosensor.
10. A laser radar, its receiving arrangement is 1-8 the receiving arrangement, its characterized in that still includes emitter, emitter include emission light source, emission optical lens group, emission light source outgoing light shine on the target through emission optical lens group, target return light is received by receiving arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011148553.3A CN112327311A (en) | 2020-10-23 | 2020-10-23 | Receiving device of laser radar and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011148553.3A CN112327311A (en) | 2020-10-23 | 2020-10-23 | Receiving device of laser radar and laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN112327311A true CN112327311A (en) | 2021-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011148553.3A Pending CN112327311A (en) | 2020-10-23 | 2020-10-23 | Receiving device of laser radar and laser radar |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018056516A1 (en) * | 2016-09-22 | 2018-03-29 | 전자부품연구원 | Optical-system module and scanning lidar including same |
| CN109031244A (en) * | 2018-08-16 | 2018-12-18 | 北醒（北京）光子科技有限公司 | A kind of laser radar coaxial optical system and laser radar |
| CN111273262A (en) * | 2020-02-25 | 2020-06-12 | 森思泰克河北科技有限公司 | Laser radar transceiver and adjustment method |
| US20200292671A1 (en) * | 2019-03-11 | 2020-09-17 | Hesai Photonics Technology Co., Ltd. | Laser radar system |
| CN214310880U (en) * | 2020-10-23 | 2021-09-28 | 北醒（北京）光子科技有限公司 | Receiving device of laser radar and laser radar |
-
2020
- 2020-10-23 CN CN202011148553.3A patent/CN112327311A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018056516A1 (en) * | 2016-09-22 | 2018-03-29 | 전자부품연구원 | Optical-system module and scanning lidar including same |
| CN109031244A (en) * | 2018-08-16 | 2018-12-18 | 北醒（北京）光子科技有限公司 | A kind of laser radar coaxial optical system and laser radar |
| US20200292671A1 (en) * | 2019-03-11 | 2020-09-17 | Hesai Photonics Technology Co., Ltd. | Laser radar system |
| CN111273262A (en) * | 2020-02-25 | 2020-06-12 | 森思泰克河北科技有限公司 | Laser radar transceiver and adjustment method |
| CN214310880U (en) * | 2020-10-23 | 2021-09-28 | 北醒（北京）光子科技有限公司 | Receiving device of laser radar and laser radar |
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