CN206132984U - Micro laser radar system - Google Patents
Micro laser radar system Download PDFInfo
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- CN206132984U CN206132984U CN201621173958.1U CN201621173958U CN206132984U CN 206132984 U CN206132984 U CN 206132984U CN 201621173958 U CN201621173958 U CN 201621173958U CN 206132984 U CN206132984 U CN 206132984U
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- galvanometer
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Abstract
The utility model discloses a micro laser radar system, include: laser instrument, collimating lens, the first laser mirror that shakes, second laser shake mirror, receiver lens, detector and control processing unit. Wherein, the transmit direction that first laser shakes the laser of being come by collimating lens transmission that the mirror sent the laser instrument carries out periodicity deflection, carries out the scanning survey to the object that awaits measuring from this, second laser shakes the mirror to carry out periodicity to the transmission direction of the reflection laser of being returned by determinand body surface surface reflection and deflects for in being received and is assembled the detector by the not equidirectional reflection laser energy who returns is enough by the receiver lens, control processing unit is according to the await measuring distance of object of the time difference measurement of laser instrument lasing and detector receive reflection laser, shakes the angle of deflection of the operating condition mirror surface of mirror when deflecting to laser according to first laser and draws the direction angle of the object that awaits measuring. The utility model discloses a micro laser radar system simple structure, small, with low costs.
Description
Technical field
This utility model belongs to laser radar field, and in particular to a kind of miniature laser radar system.
Background technology
Laser radar technique has years of researches history, is initially applied to the fields such as national defence, Aero-Space.In recent years with
The development of laser technology and the information processing technology, laser radar is unmanned in ground mapping, robot space orientation, automobile
Etc. aspect have increasing application.
Laser radar technique has phase measurement, impulsive mensuration, triangulation etc. in specific technical scheme, its
Middle impulsive mensuration is high due to far measuring distance, certainty of measurement, of great interest.The side of implementing of impulsive mensuration
Formula is：Laser instrument launches laser, after collimation process is radiated at object under test surface, and some laser is in body surface meeting
Reflected, and be received by a detector.According to measurement transmitting laser and receive reflection laser time difference come calculate object under test and
The distance between laser instrument.
In order to the space of measuring targets is positioned, in addition to range information, in addition it is also necessary to obtain the orientation of object under test
Information.What prior art was realized usually using rotary scanning mechanism, rotary scanning mechanism utilizes the rotation of itself, drives and swashs
Optical detection and ranging system rotates, and thus measuring targets carry out rotation sweep, according to the azimuth information of rotary scanning mechanism during scanning, obtains
To the azimuth that object under test is located.
Problem of the prior art is：
Rotary scanning mechanism will drive whole laser radar system to be rotated, as laser radar system is comprising many electricity
Road and optics, volume and weight is all than larger, therefore rotary scanning mechanism is also required to big volume and counterweight, reaches steady
Fixed scanning effect, installation to laser radar system and attractive in appearance brings impact.
The content of the invention
In terms of the purpose of this utility model is at least one of the problems referred to above and defect for solving prior art presence.
This utility model provides a kind of miniature laser radar system, makees laser scanning element using miniature laser galvanometer, makes
Laser radar system itself need not rotate the rotation sweep for being capable of achieving measuring targets.
For achieving the above object, this utility model provides a kind of miniature laser radar system, including：
Laser instrument, launches laser；Collimating lens, the laser that laser instrument is launched and transmitted is collimated；First swashs
Light galvanometer；Second laser galvanometer；Receiving lens, the transmitting laser that object under test surface is reflected are received and are converged；
The reflection laser for receiving is carried out opto-electronic conversion by detector；Control process unit, control laser instrument, detector, first laser
The working condition of galvanometer and second laser galvanometer simultaneously carries out data processing.
Wherein, first laser galvanometer is carried out to the direction of the launch of the laser after the collimation that transmitted by collimating lens partially
Turn, thus measuring targets are scanned measurement；Second laser galvanometer is to the reflection laser that reflected by object under test surface
Transmission direction enter horizontal deflection so that the reflection laser returned by different directions can be received by receiving lens and converge to detection
In device；Control process unit is launched laser and detector and receives the time difference of reflection laser to measure determinand according to laser instrument
The distance of body, draws object under test deflection according to the working condition of first laser galvanometer.
Laser galvanometer is a kind of conventional laser scanning device, is irradiated to mirror to change using the rotation of laser galvanometer minute surface
The direction of propagation of the laser in face, realizes the high-velocity scanning of laser by high speed rotation, and the application in daily life has laser marking
The scanheadss of machine.Laser galvanometer itself carries angular transducer, and when laser radar system works, laser galvanometer is by specular angle
Working condition when degree information enters horizontal deflection to laser is sent to control process unit.
According to the work of the embodiment of an exemplary of the present utility model, the first laser galvanometer and second laser galvanometer
Make cycle phase same.
According to the embodiment of another exemplary of the present utility model, the first laser galvanometer and second laser galvanometer are
One-dimensional laser galvanometer.
According to the embodiment of another exemplary of the present utility model, the one-dimensional laser galvanometer：First laser galvanometer and
The working method of second laser galvanometer is phase step type.
According to the embodiment of another exemplary of the present utility model, the one-dimensional laser galvanometer：First laser galvanometer and
The working method of second laser galvanometer is continuous way.
According to the embodiment of another exemplary of the present utility model, the in the one-dimensional laser galvanometer of the continuous way work
The working condition of dual-laser galvanometer has a time delay than first laser galvanometer.
According to the embodiment of another exemplary of the present utility model, the first laser galvanometer and second laser galvanometer are
Two-dimensional laser galvanometer.
According to the embodiment of another exemplary of the present utility model, the two-dimensional laser galvanometer：First laser galvanometer and
The working method of second laser galvanometer is phase step type.
According to the embodiment of another exemplary of the present utility model, the two-dimensional laser galvanometer：First laser galvanometer and
The working method of second laser galvanometer is that phase step type and continuous way are mixed, and first laser galvanometer and second laser galvanometer are first
Individual scanning direction is phase step type, is continuous way second scanning direction.
According to the two-dimensional laser of the embodiment of another exemplary of the present utility model, the phase step type and continuous way mixing
Galvanometer, is continuous way operative orientation second scanning direction, and the working condition of second laser galvanometer has than first laser galvanometer
One time delay.
According to the embodiment of another exemplary of the present utility model, the collimating lens are planoconvex lenss.
According to the embodiment of another exemplary of the present utility model, the receiving lens are Kepler-type telescope.
This utility model difference with the prior art is：
This utility model utilizes deflecting action of the miniature laser galvanometer to laser propagation direction, realizes sweeping for measuring targets
Retouch, simple structure, small volume is lightweight.Existing laser radar typically adopts bulky rotary scanning mechanism, by rotation
The whole laser radar system that rotarily drives for turning sweep mechanism itself is scanned, and volume is big, complex structure.
By below with reference to accompanying drawing to this utility model description, other objects and advantages of the present utility model will
It is clear that and can help be fully understood by this utility model.
Description of the drawings
Fig. 1 shows general illustration of the present utility model.
Fig. 2 shows the one-dimensional laser galvanometer schematic diagram in this utility model as a kind of embodiment of exemplary.
Fig. 3 shows the two-dimensional laser galvanometer schematic diagram of the embodiment in this utility model as another kind of exemplary.
Fig. 4 shows the collimating lens structures schematic diagram in this utility model.
Fig. 5 shows the receiving lens structural representation in this utility model.
Specific embodiment
Below by embodiment, and accompanying drawing is combined, the technical solution of the utility model is described in further detail.
In description, same or analogous drawing reference numeral indicates same or analogous part.It is following referring to the drawings to this utility model reality
The explanation for applying mode is intended to explain overall utility model design of the present utility model, and is not construed as to this practicality
A kind of new restriction.
In addition, in the following detailed description, for ease of explaining, elaborate many concrete details to provide to present disclosure
Embodiment comprehensive understanding.It will become apparent, however, that one or more embodiments can also be by the case of no detail
Implement.In other cases, known construction and device diagrammatically embodies to simplify accompanying drawing.
Conceived according to a general technical of the present utility model, there is provided a kind of miniature laser radar system, as shown in figure 1,
Including：
Laser instrument 102, launches laser；Collimating lens 103, the laser that laser instrument 102 is launched and transmitted carry out standard
Directly；First laser galvanometer 104；Second laser galvanometer 108；Receiving lens 109, by 106 surface of object under test reflect it is anti-
Penetrate laser 107 to be received and converged；Detector 110, reflection is swashed 107 light carries out opto-electronic conversion；Control process unit 101,
The working condition of control laser instrument 102, detector 110, first laser galvanometer 104 and second laser galvanometer 108 simultaneously carries out data
Process.
Wherein, the direction of the launch of the laser after the collimation that first laser galvanometer 104 pairs is transmitted by collimating lens 103 is entered
Line period is deflected, and is formed Laser Measurement 105 and is launched, and thus measuring targets 106 are scanned measurement；Second laser is shaken
The transmission direction of 108 pairs of reflection lasers 107 reflected by 106 surface of object under test of mirror carries out periodic deflection so that by
The reflection laser 107 that different directions are returned can be received and be converged in detector 110 by receiving lens 109；Control process list
Unit 101 launches laser and detector 110 and receives the time difference of reflection laser 107 to measure object under test according to laser instrument 102
106 distance, is that the laser that collimation lens 103 are transmitted enters horizontal deflection according to the working condition of first laser galvanometer 104
When minute surface deflection angle draw 106 deflection of object under test.
In first embodiment of the present utility model, the first laser galvanometer and second laser galvanometer shake for one-dimensional laser
Mirror.
In second embodiment of the present utility model, the first laser galvanometer and second laser galvanometer shake for two-dimensional laser
Mirror.
First embodiment
The specific works mode of this utility model first embodiment is as follows：
First laser galvanometer 104 and second laser galvanometer 108 in the present embodiment is all one-dimensional laser galvanometer.It is commercial at present
The maximum deflection angle of one-dimensional laser galvanometer can accomplish more than 50 °, repetition rate is in more than 10KHz.Maximum deflection angle is also referred to as
Range of deflection, when being laser galvanometer periodic deflection in one deflection cycle minute surface range of deflection angles.For convenience of stating, make
For a kind of preferred version, maximum deflection angle is adopted in the present embodiment for 50 °, repetition rate is come for the one-dimensional laser galvanometer of 10KHz
Illustrated.One of ordinary skill in the art should be understood that one-dimensional with other maximum deflection angles and repetition rate
Laser galvanometer also apply be applicable to the present embodiment.
The operating diagram of the one-dimensional laser galvanometer in this utility model is as shown in Figure 2.One-dimensional laser galvanometer has two partially
Quote foot 201 and 202, when bias voltage equal in magnitude, in opposite direction is applied respectively in pin 201 and 202, one-dimensional laser
The minute surface 203 of galvanometer can deflect.Change the size of bias voltage, the angle of deflection can change；When applying periodicity
During the voltage signal of change, the deflection angle of minute surface 203 can generating period change.
As a kind of preferred version, the collimating lens 103 in the present embodiment as shown in figure 4, be planoconvex lenss, will be transmitted across
The laser beam transformation of the diverging for coming is the directional light of collimation.
As a kind of preferred version, the receiving lens 109 in the present embodiment as shown in figure 5, be Kepler-type telescope, will
The directional light for transmitting is converged.
In t0Moment, the control transmitting laser of laser instrument 102 of control process unit 101.The laser of the transmitting of laser instrument 102 is passed through
After collimating lens 103 are collimated, become the smaller directional light of the angle of divergence, this directional light is through traveling to up to first laser galvanometer
104。
In t0Moment, control process unit 101 control the work of first laser galvanometer 104 and second laser galvanometer 108 simultaneously
Make state, there is provided periodic bias voltage, the deflection of the minute surface therefore generating period of two laser galvanometers.The present embodiment
In, it is that statement is convenient, it is X-direction that deflection can be made to cause the cyclically varying orientation of the laser for being transferred to minute surface.
The laser of the transmitting of laser instrument 102, when traveling on the minute surface of first laser galvanometer 104, occurs to reflect in minute surface, shape
Launch into Laser Measurement 105 to object under test 106, on the surface of object under test 106, some laser can occur reflection, shape
Into reflection laser 107.
Reflection laser 107 travels to the minute surface up to second laser galvanometer 108, and the direction of propagation deflects, sending out after deflection
Penetrate laser to be received by receiving lens 109, and converge to detector 110, the signal for detecting is carried out photoelectricity and turned by detector 110
Change, and transfer information to control process unit 101.It is t that control process unit 101 records moment now1。
Laser instrument 102 transmitting laser be pulse laser, certainty of measurement and pulse width of the laser radar to space length
Relevant, in general, pulse width is wider, and certainty of measurement is lower.Simultaneously as the measurement distance and pulse width of laser radar
Also there is relation, as pulse width is wider, laser energy is bigger, then measurement distance is bigger.Therefore, pulse width comprehensively will be examined
Consider.For convenience of stating, as a kind of exemplary illustration, in the present embodiment, the pulse width of pulse laser was 10 nanoseconds.This area
Those of ordinary skill should be understood that pulse width is to become a kind of restriction of the present embodiment 10 nanoseconds.
Laser instrument 102 is periodic transmission pulse laser, measurement of its cycle according to object under test or laser radar
Distance determines that the cycle should propagate a time required back and forth more than laser in measurement distance.It is exemplary as one kind
Explanation, when the distance of object under test 106 is 150 meters, launch laser from laser instrument 102, laser reaches object under test 106
Behind surface, the time that reflection laser 107 is received by a detector is about 1 microsecond, then the cycle of 102 emission pulse laser of laser instrument will
It is delicate more than 1.Used as a kind of preferred version of the present embodiment, the cycle that can select 102 emission pulse laser of laser instrument is 2 micro-
Second, i.e., every 2 microsecond transmitting pulsatile once width is the laser of 10 nanoseconds.One of ordinary skill in the art should be understood that laser
The cycle of device 102 is a kind of exemplary illustration for 2 microseconds, should not become a kind of restriction of the present embodiment.
In exemplary illustration in the present embodiment, the operating frequency of first laser galvanometer 104 and second laser galvanometer 108 is
10KHz, i.e., the time of a cycle that often works is 100 microseconds.From the foregoing, it will be observed that in a cycle, laser instrument 102 transmits 50
Miniature laser radar measuring targets in subpulse laser, i.e. the present embodiment measure 50 times.As laser galvanometer is in the cycle
Property change bias voltage under work, the yawing moment of laser galvanometer minute surface is also periodically variable, i.e., in the present embodiment
Angular measurement 50 times in different directions in the range of 50 ° of the X yawing moments of miniature laser radar.
In this utility model, the effect of first laser galvanometer 104 is the periodic deflection by minute surface so that transmitting laser
105 in different directions angular object under test 106 scan；The effect of second laser galvanometer 108 is inclined by the periodicity of minute surface
Turn so that the reflection laser 107 that different directions are returned, can be received by receiving lens 109.
As a kind of preferred version, the work side of first laser galvanometer 104 and second laser galvanometer 108 in the present embodiment
Formula is phase step type, i.e., the deflection angle of laser galvanometer is with bias voltage sudden transformation.
Used as a kind of preferred version, the first laser galvanometer 104 and second laser in the present embodiment with sudden transformation shakes
The working condition of mirror 108 is identical.As a kind of exemplary illustration, with the cycle as 100 seconds, range of deflection is 50 ° of laser galvanometer
As a example by.From t0Moment, every the deflection angle of the minute surface of 2 microseconds, first laser galvanometer 104 and second laser galvanometer 108
Make a saltus step, for example, from 0 to 2 microseconds, 1 ° of deflection mirror surface；From 2 to 4 microseconds, 2 ° of deflection mirror surface；From 4 to 6 microseconds, minute surface is inclined
Turn 3 °, so continue, until from 98 to 100 microseconds, 50 ° of deflection mirror surface, first laser galvanometer 104 and second laser galvanometer 108
Complete a working cycle.
As another kind of preferred version, the work of first laser galvanometer 104 and second laser galvanometer 108 in the present embodiment
Mode is continuous way.The deflection angle of laser galvanometer is directly proportional to the size of bias voltage, when bias voltage linearly changes,
The deflection angle of laser galvanometer also linear change.Used as a kind of exemplary illustration, with the cycle as 100 seconds, range of deflection is 50 °
As a example by laser galvanometer, when bias voltage from change to 50 volts for 0 volt when, the deflection angle of laser galvanometer changes to 50 degree from 0 degree, then
Within the same cycle not in the same time, it is different by the deflected angle of the transmitting laser 105 of first laser galvanometer 104, i.e.,
The direction of the launch is different.
As a kind of preferred version, swashed with the first laser galvanometer 104 and second that continuous way mode works in the present embodiment
The working condition of light galvanometer 108 is identical, i.e., have identical deflection angle at any one time.
As another kind of preferred version, the working condition of the second laser galvanometer worked in continuous way mode in the present embodiment
There is a time delay than first laser galvanometer.As second laser galvanometer 108 will be launched by first laser galvanometer 104
With different directions angle transmitting reflection laser 107 of the laser 105 on 106 surface of object under test reflex to receiving lens 109
Range of receiving in, and launch laser 105 and reach second laser galvanometer 108 through first laser galvanometer 104 and reflection laser 107
There is a time difference, therefore the working condition of second laser galvanometer has a time delay than first laser galvanometer.Time delay
Occurrence refer to object under test distance determine.
As a kind of exemplary illustration, with the cycle as 100 seconds, as a example by range of deflection is 50 ° of laser galvanometer.Note t1Moment
And t0The time difference at moment is Δ T1, according to the measuring principle of pulse detection method, on the object under test 106 measured in this measurement
Certain point with laser instrument 102 apart from L isWherein C is the aerial transmission speed of laser.It is current to measure
On measured 106 surface of object under test, the deflection of certain point is 1 °.
In t0+ 2 microsecond moment, the emission pulse laser again of laser instrument 102, in t2At the moment, reflection laser 107 is by detector
Receive.Note t2Moment and t0The time difference at+2 microsecond moment is Δ T2, in this measurement on the object under test 106 that measures certain point with
Laser instrument 102 apart from L isThe deflection of certain point on measured 106 surface of object under test of current measurement
For 2 °.
Continue such repetition measurement, in t0+ 98 microsecond moment, the emission pulse laser again of laser instrument 102, in t50When
Carve, reflection laser 107 is received by a detector.Note t2Moment and t0The time difference at+98 microsecond moment is Δ T50, survey in this measurement
Object under test 106 on certain point with laser instrument 102 apart from L beIt is to be measured measured by current measurement
On 106 surface of object, the deflection of certain point is 50 °.
So far, the miniature laser radar system in the present embodiment completes the measure the cycle of 100 microseconds.
Second embodiment
The specific works mode of this utility model second embodiment is as follows：
First laser galvanometer 104 and second laser galvanometer 108 in the present embodiment is all two-dimensional laser galvanometer, commercial at present
Two-dimensional laser galvanometer deflection angle in the two directions and repetition rate can accomplish, in first yawing moment：Deflection
More than 50 ° of angle, repetition rate in more than 10KHz, in second yawing moment：10 ° of deflection angle, repetition rate is in more than 1KHz.
Note both direction is X-direction and Y-direction normal thereto, for convenience of stating, as a kind of preferred version, the present embodiment using
The maximum deflection angle of X-direction is 10 °, and repetition rate is 1KHz；Maximum deflection angle in the Y direction is 50 °, and repetition rate is
The two-dimensional laser galvanometer of 10KHz is illustrative.One of ordinary skill in the art should be understood that maximum partially with other
The two-dimensional laser galvanometer of corner and repetition rate also apply be applicable to the present embodiment.
The operating diagram of the two-dimensional laser galvanometer in this utility model is as shown in Figure 3.Two-dimensional laser galvanometer has two pairs partially
Quote foot：301 and 302,303 and 304, when applying bias voltage equal in magnitude, in opposite direction respectively in pin 301 and 302
When, the minute surface 305 of two-dimensional laser galvanometer can deflect in X-direction；It is when applying equal in magnitude respectively in pin 303 and 304, square
During to contrary bias voltage, the minute surface 305 of two-dimensional laser galvanometer can be deflected in the Y direction.Change the size of bias voltage,
The angle of deflection can change；When periodically variable voltage signal is applied, the deflection angle of minute surface 305 can generating period
Property change.
As a kind of preferred version, the collimating lens 103 in the present embodiment as shown in figure 4, be planoconvex lenss, will be transmitted across
The laser beam transformation of the diverging for coming is the directional light of collimation.
As a kind of preferred version, the receiving lens 109 in the present embodiment as shown in figure 5, be Kepler-type telescope, will
The directional light for transmitting is converged.
In t0Moment, the control transmitting laser of laser instrument 102 of control process unit 101.The laser of the transmitting of laser instrument 102 is passed through
After collimating lens 103 are collimated, become the smaller directional light of the angle of divergence, this directional light is through traveling to up to first laser galvanometer
104。
In t0Moment, control process unit 101 control the work of first laser galvanometer 104 and second laser galvanometer 108 simultaneously
Make state, there is provided periodic bias voltage, the deflection of the minute surface therefore generating period of two laser galvanometers.
The laser of the transmitting of laser instrument 102, when traveling on the minute surface of first laser galvanometer 104, reflects in minute surface transmitting, shape
Launch into Laser Measurement 105 to object under test 106, on the surface of object under test 106, some laser can occur reflection, shape
Into reflection laser 107.
Reflection laser 107 travels to the minute surface up to second laser galvanometer 108, and the direction of propagation deflects, sending out after deflection
Penetrate laser to be received by receiving lens 109, and converge to detector 110, the signal for detecting is carried out photoelectricity and turned by detector 110
Change, and transfer information to control process unit 101.It is t that control process unit 101 records moment now1。
Laser instrument 102 transmitting laser be pulse laser, certainty of measurement and pulse width of the laser radar to space length
Relevant, in general, pulse width is wider, and certainty of measurement is lower.Simultaneously as the measurement distance and pulse width of laser radar
Also there is relation, as pulse width is wider, laser energy is bigger, then measurement distance is bigger.Therefore, general pulse width is comprehensive
Consider.Used as a kind of preferred version, the pulse width for making pulse laser was 10 nanoseconds.One of ordinary skill in the art should know
Road, pulse width are to become a kind of restriction of the present embodiment 10 nanoseconds.
Laser instrument 102 is periodic transmission pulse laser, measurement of its cycle according to object under test or laser radar
Distance determines that the cycle should propagate a time required back and forth more than laser in measurement distance.It is exemplary as one kind
Explanation, when the distance of object under test 106 is 150 meters, launch laser from laser instrument 102, laser reaches object under test 106
Behind surface, the time that reflection laser 107 is received by a detector is about 1 microsecond, then the cycle of 102 emission pulse laser of laser instrument will
It is delicate more than 1.Used as a kind of preferred version of the present embodiment, the cycle that can select 102 emission pulse laser of laser instrument is 2 micro-
Second, i.e., every 2 microsecond transmitting pulsatile once width is the laser of 10 nanoseconds.One of ordinary skill in the art should be understood that laser
The cycle of device 102 is a kind of exemplary illustration for 2 microseconds, should not become a kind of restriction of the present embodiment.
In the present embodiment, as a kind of exemplary illustration, first laser galvanometer 104 and second laser galvanometer 108 are in X-direction
Operating frequency be 1KHz, i.e., time of a cycle that often works is to be all 1 millisecond；Operating frequency in the Y direction is
10KHz, i.e., the time of a cycle that often works is 100 microseconds.From the foregoing, it will be observed that a cycle in the X direction is in 1 millisecond,
Laser instrument 102 transmits 500 subpulse laser, i.e., the miniature laser radar measuring targets in the present embodiment measure 500 times；
A cycle in the Y direction is that laser instrument 102 transmits 50 subpulse laser, i.e., miniature in the present embodiment in 100 microseconds
Laser radar measuring targets measure 50 times.
In this utility model, the effect of first laser galvanometer 104 is the periodic deflection by minute surface so that transmitting laser
105 in different directions angular object under test 106 scan；The effect of second laser galvanometer 108 is inclined by the periodicity of minute surface
Turn so that the reflection laser 107 that different directions are returned, can be received by receiving lens 109.
As a kind of preferred version, the work side of first laser galvanometer 104 and second laser galvanometer 108 in the present embodiment
Formula is phase step type.As a kind of exemplary illustration, in X-direction, from t0Moment, every 100 microseconds, first laser galvanometer
104 and second laser galvanometer 108 minute surface X-direction deflection angle make a saltus step, for example, from 0 to 100 microseconds, minute surface
1 ° of deflection；From 100 to 200 microseconds, 2 ° of deflection mirror surface；From 200 to 300 microseconds, 3 ° of deflection mirror surface so continues, until from 900
To 1 millisecond, 10 ° of deflection mirror surface, first laser galvanometer 104 and second laser galvanometer 108 complete a work week in X-direction
Phase.In the Y direction, from t0Moment, every 2 microseconds, first laser galvanometer 104 and second laser galvanometer 108 minute surface in Y side
To deflection angle make a saltus step, for example, from 0 to 2 microseconds, 1 ° of deflection mirror surface；From 2 to 4 microseconds, 2 ° of deflection mirror surface；From 4 to
6 microseconds, 3 ° of deflection mirror surface so continue, until from 98 to 100 microseconds, 50 ° of deflection mirror surface, first laser galvanometer 104 and second
Laser galvanometer 108 completes a working cycle in the Y direction.Used as a kind of preferred version, first laser galvanometer 104 and second swashs
The working condition of light galvanometer 108 is identical, i.e., have identical deflection angle at any one time.
As another kind of preferred version, the work of first laser galvanometer 104 and second laser galvanometer 108 in the present embodiment
Mode is that phase step type and continuous way are mixed, and first laser galvanometer and second laser galvanometer are phase step type in X-direction, in the Y direction
For continuous way.In the Y direction, the deflection angle of laser galvanometer is directly proportional to the size of bias voltage, when bias voltage linearly changes
When, the deflection angle of laser galvanometer also linear change.For example, as a kind of exemplary illustration, when bias voltage is changed to from 0 volt
When 50 volts, the deflection angle of laser galvanometer changes to 50 degree from 0 degree, then within the same cycle not in the same time, by first
The angle that the transmitting laser 105 of laser galvanometer 104 is deflected is different, i.e., the direction of the launch is different.As second laser galvanometer 108 will
By the transmitting laser 105 with different directions angle launched by first laser galvanometer 104 in the anti-of 106 surface of object under test
Penetrate laser 107 to reflex in the range of receiving of receiving lens 109, and launch laser 105 through first laser galvanometer 104 and reflection
Laser 107 reaches second laser galvanometer 108 time difference, therefore as a kind of preferred version of this scheme, second laser
The working condition of galvanometer has a time delay in the Y direction than first laser galvanometer.The occurrence of time delay refers to be measured
The distance of object is determined.
As a kind of exemplary illustration, from t0Moment is to t0In+100 microseconds, it is that first laser galvanometer 104 and second swashs
In the first job cycle in the Y direction of light galvanometer 108, now two laser galvanometers are 1 ° in the deflection angle of X-direction.
Note t1Moment and t0The time difference at moment is Δ T1, according to the measuring principle of pulse detection method, measure in this measurement
Object under test 106 on certain point with laser instrument 102 apart from L beWherein C is the aerial biography of laser
Defeated speed.On measured 106 surface of object under test of current measurement, certain point is 1 ° in the deflection of X-direction, the deflection of Y-direction
For 1 °.
In t0+ 2 microsecond moment, the emission pulse laser again of laser instrument 102, in t2At the moment, reflection laser 107 is by detector
Receive.Note t2Moment and t0The time difference at+2 microsecond moment is Δ T2, in this measurement on the object under test 106 that measures certain point with
Laser instrument 102 apart from L isOn measured 106 surface of object under test of current measurement, certain point is in X-direction
Deflection be 1 °, the deflection in Y-direction be 2 °.
Continue such repetition measurement, in t0+ 98 microsecond moment, the emission pulse laser again of laser instrument 102, in t50When
Carve, reflection laser 107 is received by a detector.Note t2Moment and t0The time difference at+98 microsecond moment is Δ T50, survey in this measurement
Object under test 106 on certain point with laser instrument 102 apart from L beIt is to be measured measured by current measurement
On 106 surface of object, certain point is 1 ° in the deflection of X-direction, and the deflection in Y-direction is 50 °.
So far, the miniature laser radar system in the present embodiment completes the measurement week in the Y direction of 100 microseconds
Phase, now the deflection in X-direction is 1 °.
In t0During+100 microsecond, first laser galvanometer 104 and second laser galvanometer 108 jump to 2 ° in the deflection of X-direction,
From t0+ 100 microseconds are to t0Between+200 microseconds, the miniature laser radar system repetition in the present embodiment is above-mentioned in the Y direction
Periodic measurement, in Y-direction per microsecond change once, change to 50 ° from 1 °.
So continue, in t0During+900 microsecond, first laser galvanometer 104 and second laser galvanometer 108 are in the direction of X-direction
Angle jumps to 2 °, from t0+ 900 microseconds are to t0Between+1 millisecond, become per microsecond in the miniature laser radar system Y-direction of Shi Lizhong
Change once, 50 ° are changed to from 1 °.
From t0To t0+ 1 millisecond, the laser radar system in the present embodiment completes a complete measure the cycle, completes
500 measurements.10 ° are changed to from 1 ° in the X direction, a cycle；50 ° are changed to from 1 ° in the Y direction, changed 10 it is all
Phase.
It should be noted that for ease of the understanding of persons skilled in the art, it is right in this utility model specific embodiment
The parameter of used part has made exemplary restriction, and the such as pulse width of laser instrument was 10 nanoseconds, and the working cycle is 2 micro-
Second；The maximum deflection angle of one-dimensional laser galvanometer is 50 °, and the working cycle is 10KHz.One of ordinary skill in the art, it should be appreciated that
This restriction is intended merely to clearer elaboration general technical design of the present utility model, and should not be used as this utility model technology
A kind of restriction in scheme.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this area
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of the structure described in various embodiments
Independent assortment can be carried out in the case of prominent.
Although being illustrated to this utility model with reference to accompanying drawing, the embodiment disclosed in accompanying drawing is intended to this practicality
New embodiment is illustrative, and it is not intended that to a kind of restriction of the present utility model.
Although illustrating that some embodiments of design of the present utility model have been shown and have illustrated, ordinary skill people
Member will be understood that, in the case of the principle and spirit conceived without departing substantially from this utility model, these embodiments can be made a change, originally
The scope of utility model is limited with claim and their equivalent.
Claims (10)
1. a kind of miniature laser radar system, including：
Laser instrument, launches laser；Collimating lens, the laser that laser instrument is launched and transmitted is collimated；First laser is shaken
Mirror；
Second laser galvanometer；Receiving lens, the transmitting laser that object under test surface is reflected are received and are converged；Detection
Reflection laser is carried out opto-electronic conversion by device；Control process unit, control laser instrument, detector, first laser galvanometer and second swash
The working condition of light galvanometer simultaneously carries out data processing；
It is characterized in that：
First laser galvanometer carries out periodic deflection to the direction of the launch of the laser after the collimation that transmitted by collimating lens, by
This measuring targets is scanned measurement；The transmission of reflection laser of the second laser galvanometer to being reflected by object under test surface
Direction carries out periodic deflection so that the reflection laser returned by different directions can be received by receiving lens and converge to detection
In device；Control process unit is launched laser and detector and receives the time difference of reflection laser to measure determinand according to laser instrument
The distance of body, draws object under test deflection according to the working condition of first laser galvanometer.
2. miniature laser radar system according to claim 1, it is characterised in that the first laser galvanometer and second swashs
The working cycle of light galvanometer is identical.
3. miniature laser radar system according to claim 2, it is characterised in that the first laser galvanometer and second swashs
Light galvanometer is one-dimensional laser galvanometer.
4. miniature laser radar system according to claim 2, it is characterised in that the first laser galvanometer and second swashs
Light galvanometer is two-dimensional laser galvanometer.
5. the miniature laser radar system according to claim 3 or 4, it is characterised in that the first laser galvanometer and
The working method of dual-laser galvanometer is phase step type.
6. miniature laser radar system according to claim 3, it is characterised in that the first laser galvanometer and second swashs
The working method of light galvanometer is continuous way.
7. miniature laser radar system according to claim 6, it is characterised in that the working condition ratio of second laser galvanometer
First laser galvanometer has a time delay.
8. miniature laser radar system according to claim 4, it is characterised in that the first laser galvanometer and second swashs
The working method of light galvanometer is that phase step type and continuous way are mixed, and is phase step type first scanning direction, scans at second
Direction is continuous way.
9. miniature laser radar system according to claim 8, it is characterised in that dimension is scanned at described second, the
The working condition of dual-laser galvanometer has a time delay than first laser galvanometer.
10. the miniature laser radar system according to any one of claim 2,3,4,6,7,8 or 9, it is characterised in that institute
Receiving lens are stated for Kepler-type telescope.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621173958.1U CN206132984U (en) | 2016-10-26 | 2016-10-26 | Micro laser radar system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621173958.1U CN206132984U (en) | 2016-10-26 | 2016-10-26 | Micro laser radar system |
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| CN206132984U true CN206132984U (en) | 2017-04-26 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627813A (en) * | 2018-08-13 | 2018-10-09 | 北京经纬恒润科技有限公司 | A kind of laser radar |
| CN109085600A (en) * | 2018-08-21 | 2018-12-25 | 南京华讯方舟通信设备有限公司 | A kind of MEMS scanning laser radar and scan method |
| CN110068831A (en) * | 2019-04-02 | 2019-07-30 | 深圳市速腾聚创科技有限公司 | Glisten radar and its emitter and detection method |
| CN112180398A (en) * | 2020-09-29 | 2021-01-05 | 广州大学 | Multi-line laser radar and control method thereof |
| CN112558089A (en) * | 2019-09-26 | 2021-03-26 | 深圳市速腾聚创科技有限公司 | Flash radar and distance information detection method |
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2016
- 2016-10-26 CN CN201621173958.1U patent/CN206132984U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627813A (en) * | 2018-08-13 | 2018-10-09 | 北京经纬恒润科技有限公司 | A kind of laser radar |
| CN108627813B (en) * | 2018-08-13 | 2021-10-15 | 北京经纬恒润科技股份有限公司 | Laser radar |
| CN109085600A (en) * | 2018-08-21 | 2018-12-25 | 南京华讯方舟通信设备有限公司 | A kind of MEMS scanning laser radar and scan method |
| CN110068831A (en) * | 2019-04-02 | 2019-07-30 | 深圳市速腾聚创科技有限公司 | Glisten radar and its emitter and detection method |
| CN112558089A (en) * | 2019-09-26 | 2021-03-26 | 深圳市速腾聚创科技有限公司 | Flash radar and distance information detection method |
| CN112558089B (en) * | 2019-09-26 | 2024-02-27 | 深圳市速腾聚创科技有限公司 | Flash radar and distance information detection method |
| CN112180398A (en) * | 2020-09-29 | 2021-01-05 | 广州大学 | Multi-line laser radar and control method thereof |
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