CN206479638U - A kind of optical scanner sensor - Google Patents
A kind of optical scanner sensor Download PDFInfo
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- CN206479638U CN206479638U CN201720074473.5U CN201720074473U CN206479638U CN 206479638 U CN206479638 U CN 206479638U CN 201720074473 U CN201720074473 U CN 201720074473U CN 206479638 U CN206479638 U CN 206479638U
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- rearview mirror
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Abstract
The utility model is related to a kind of optical scanner sensor, including：Rotating mechanism；The pyramid-shaped mirror rotated under rotating mechanism drive；Multiple generating laser groups below the pyramid-shaped mirror, group number is identical with the side rearview mirror number of pyramid-shaped mirror, each generating laser group includes two generating lasers, the shape of its respective locus and side rearview mirror matches, during so that pyramid-shaped mirror rotating to any angle, the laser beam that at least one in two transmitters is launched can completely be blocked by side rearview mirror, and each generating laser is performed according to specific firing order to be launched and measure；Receiving lens；A photosensitive receiving point is provided with circuit board for receiving, circuit board for receiving.The optical scanner sensor can realize that the multilayer conical surface is scanned, and have the advantages that high scan frequency, highly reliable, low-power consumption, low cost, while the individual layer flat scanning that scan frequency is multiplied can also be realized.
Description
Technical field
The utility model is related to optical scanning technique field, is swept more particularly, to a kind of pulsed ranging Multi Slice Mode optics
Retouch sensor.
Background technology
Ranging type optical scanner sensor is also referred to as ranging type laser radar, it is necessary to certain scan frequency (for example
50Hz) complete range measurement to the object on one or more specific aerial cross sectional of use environment, it is a kind of basic
Measuring method is " flight time measurement method ".
Flight time measurement method refers to that laser radar launches laser pulse on specific space angle, while detection is herein
The laser pulse of measured target surface reflection on space angle, calculates laser pulse from when being transmitted into the flight being reflected back
Between, passage time-distance is converted to distance value, as shown in fig. 1.
Current pulsed ranging Multi Slice Mode laser radar installs multiple active ranging dresses on same rotating mechanism
Put, each range unit includes laser emitting portion and laser pick-off part, range unit and laser radar it is non-rotating
Power supply and signal transmission are realized between part by metal friction formula conducting slip ring.The laser beam of each range unit transmitting
Optical axis inclination angle it is different, rotating mechanism starts after rotation, the optical axis of the laser beam of each range unit transmitting
One layer of conical scanning face is formd, so as to carry out 3-D scanning to test environment in multilayer conical surface mode.
The problem of current Multi Slice Mode laser radar is present is as follows：
Rotary load quality is larger, and rotating speed and scan frequency are relatively low, and power consumption is higher；
Metal friction formula conducting slip ring reliability is not high, and service life is limited；
Need multiple opto-electronic receiver components, and receiving unit needed in light path it is accurate right one by one with Laser emission component
Should, resetting difficulty is larger, and cost is higher.
Utility model content
The purpose of this utility model is to provide a kind of optical scanner sensor, is swept to can effectively mitigate current multilayer
The rotary load of laser radar rotating mechanism is retouched, passive rotary load is realized, while can effectively simplify the structure of laser radar,
Reach raising scan frequency, reduce the purpose of cost.In addition, laser radar disclosed in the utility model can also realize scanning
The individual layer flat scanning that frequency is multiplied.
To reach above-mentioned purpose, optical scanner sensor disclosed in the utility model, including：
Rotating mechanism, the rotary shaft of the rotating mechanism is referred to as central shaft；
The pyramid-shaped mirror rotated below the rotating mechanism, under rotating mechanism drive, the pyramid
The bottom surface of shape speculum is connected with the rotary part of the rotating mechanism, and the side of the pyramid-shaped mirror is plane reflection
Respectively have on mirror, referred to as side rearview mirror, the left and right sides different height of each side rearview mirror one extend pyramid with
Outer extension echo area, the higher extension echo area in position is referred to as high-order extension echo area, the relatively low extension in position
Echo area is referred to as low level extension echo area；
It is being evenly distributed along the periphery and many with the side rearview mirror number identical below the pyramid-shaped mirror
Individual generating laser group, the center of circle of the generating laser group arrangement circumference is located on the central shaft, and the transmitter group
Plane and the central axis where arrangement circumference, each generating laser group include arranging along the center Axial and radial
Cloth and the equal outside of spacing and the generating laser of inner side two, outside transmitter is corresponding with the high-order extension echo area and claims
For high-order generating laser, inner side transmitter is corresponding with low level extension echo area and referred to as low level generating laser, described
The transmitting optical axis of high-order generating laser and low level generating laser points to the side rearview mirror and parallel with the central shaft；
Receiving lens below the pyramid-shaped mirror, it is anti-by measured target that the receiving lens are used for convergence
Penetrate, and by the laser beam of side rearview mirror secondary reflection again, the optical axis of the receiving lens and the center overlapping of axles；
A photosensitive reception is provided with circuit board for receiving below the receiving lens, the circuit board for receiving
Point, the photosensitive receiving point is located in the focus of the receiving lens.
It is preferred that, plane where the bottom surface of the pyramid-shaped mirror and the central axis, and with each side
The intersecting polygon that cuts of plane where speculum is regular polygon, and this regular polygon is centrally located on the central shaft.
It is preferred that, the angle between the side rearview mirror and the central shaft is referred to as the inclination angle of side rearview mirror, each described
The inclination angle of side rearview mirror increases to maximum by predetermined incremental amplitude from minimum value.
It is preferred that, the inclination angle of the side rearview mirror is increased to by minimum value successively along the circumference of the pyramid-shaped mirror
Maximum.
It is preferred that, each high-order extension echo area is respectively positioned on the left side of the side rearview mirror belonging to it, each described low
Position extension echo area is respectively positioned on the right side of the side rearview mirror belonging to it.
Or, each high-order extension echo area is respectively positioned on the right side of the side rearview mirror belonging to it, each low level
Extension echo area is respectively positioned on the left side of the side rearview mirror belonging to it.
It is preferred that, all high-order extension echo areas are arranged along the central axis direction in the generating laser group justifies
Projection of shape all same in plane residing for week, all low levels extend echo area and swashed along the central axis direction described
The projection of shape in plane residing for optical transmitting set group arrangement circumference is also identical.
It is preferred that, the inclination angle of one of them side rearview mirror is 45 °.
It is preferred that, the incremental amplitude of the side rearview mirror is not more than 1 °.
It is preferred that, the inclination angle of each side rearview mirror is equal.
It is preferred that, the intersection of the plane where two adjacent side rearview mirrors is referred to as the side of the pyramid-shaped mirror
Crest line, when the pyramid-shaped mirror rotates and the incline line is gone to directly over any one generating laser group, institute
The high-order laser of the generating laser group can completely be blocked by stating the high-order extension echo area of incline line side
Transmitter transmitting laser beam, the incline line opposite side the low level extension echo area can completely block this it is described swash
The laser beam of the low level laser transmitter projects of optical transmitting set group.
It is preferred that, the shape of the laser beam of whole high-order generating lasers and the low level laser transmitter projects
All same.
Optionally, all the high-order extension echo area and the low level extend echo area along the central axis direction in institute
The projection of shape stated in the plane residing for generating laser group arrangement circumference is identical.
It is preferred that, all the high-order generating laser in the generating laser group is concurrently launched, and simultaneously closes off,
All the low level generating laser in the generating laser group is concurrently launched, and simultaneously closes off, and any one of
In generating laser group, the high-order generating laser and the low level generating laser alternate emission.
It is preferred that, rotated when the pyramid reflects, and any one of laser generator group is located in one of institute
When stating the lower section side of side rearview mirror, if the high-order extension echo area and the generating laser group of the side rearview mirror
Homonymy, then the high-order generating laser of this laser generator group perform transmitting；If the side rearview mirror is described low
The low level generating laser execution of position extension echo area and the generating laser group homonymy, then the laser generator group
Transmitting.
It is preferred that, it is described when the laser generator group is located at the bottom center position of any one side rearview mirror
The emission state rotation of high-order generating laser and the low level generating laser.
It is preferred that, when the plane where two adjacent side rearview mirrors intersection formation incline line go to it is any one
During the surface of the laser generator group, the emission state wheel of the high-order generating laser and the low level generating laser
Change.
It is preferred that, in addition to the installation pedestal between the pyramid-shaped mirror and the circuit board for receiving, it is described
Generating laser group and the receiving lens are arranged in the installation pedestal.
It can be derived using the method for geometric optics, in optical scanner sensor disclosed in the utility model, if side
The number of speculum is N, and its inclination angle is different, when pyramid-shaped mirror rotates a circle, and each generating laser group exists
Form that N layers of inclination angle are different on each side rearview mirror, the scanning fan conical surface that azimuth subtended angle is (360/N) °, all scanning
The fan conical surface has been spliced into the different complete circular conical surface in N layers of inclination angle, it is achieved thereby that the multilayer conical surface is scanned.
Passive pyramid reflection is only provided with optical scanner sensor disclosed in the utility model, on rotating mechanism
The receiving unit of mirror, generating laser and reflected light is not disposed on rotating mechanism, and only a set of opto-electronic receiver component.
Because the rotating mechanism of the laser radar only drives speculum to rotate, therefore the rotary load of the laser radar is passive load,
Gum fraction, can significantly improve rotating speed and scan frequency, effectively reduce abrasion and the Overall Power Consumption of rotating mechanism, carry
The high service life of laser radar；Conducting slip ring is also eliminated simultaneously, whole aircraft reliability is improved；Further, since all swashing
The reflected light of the laser pulse of optical transmitting set transmitting is all received by a set of opto-electronic receiver component, is effectively reduced complete machine and is debug difficulty
Degree, reduces cost；Finally, can be with if the inclination angle of each side rearview mirror of pyramid-shaped mirror is all set into 45 °
The individual layer flat scanning of higher scan frequency is realized, if the number of side rearview mirror is N, individual layer flat scanning frequency now is
N times of multilayer conical surface scan frequency.
Brief description of the drawings
Fig. 1 is the basic principle schematic of flight time measurement method；
Fig. 2 is the structural representation of the optical scanner sensor disclosed in the utility model embodiment；
Fig. 3 is the Space Angle definition of radar fix system and direction vector；
Fig. 4 is the light path principle figure of optical scanner sensor disclosed in the utility model；
Fig. 5 is the scanning plane prototype schematic diagram of the optical scanner sensor disclosed in the utility model embodiment；
Fig. 6 is the shape and transmitting echo area schematic diagram of the side rearview mirror disclosed in the utility model embodiment；
Fig. 7 is the scanning plane schematic diagram of the optical scanner sensor disclosed in the utility model embodiment.
Wherein, 01 is target to be measured, and 02 is impulse ejection component, and 03 is timer, and 04 is reception of impulse component, and 1 is rotation
Rotation mechanism, 2 be mirror support, and 3 be side rearview mirror, and 4 be high-order extension echo area, and 5 be that low level extends echo area, and 6 be a high position
Generating laser, 7 be low level generating laser, and 8 be receiving lens, and 9 be installation pedestal, and 10 be circuit board for receiving, and 11 be photosensitive
Receiving point, 12 be high-order echo area, and 13 be low level echo area, and 14 be low level launch spot for high-order launch spot, 15, and T1 is 1
Number generating laser group, T2 is No. 2 generating laser groups, and T3 is No. 3 generating laser groups, and T4 is No. 4 generating laser groups,
S1,1For the first scanning slice of No. 1 generating laser group, S1,2For the second scanning slice of No. 1 generating laser group, S1,3Swash for No. 1
3rd scanning slice of optical transmitting set group, S1,4 be the 4th scanning slice of No. 1 generating laser group, S2,1For No. 2 generating laser groups
The first scanning slice, S2,2For the second scanning slice of No. 2 generating laser groups, S2,3For the 3rd scanning of No. 2 generating laser groups
Layer, S2,4For the 4th scanning slice of No. 2 generating laser groups, HS1,1For the first high-order scanning slice of No. 1 generating laser group,
HS1,2For the second high-order scanning slice of No. 1 generating laser group, HS1,3For the 3rd high-order scanning slice of No. 1 generating laser group,
HS1,4For the 4th high-order scanning slice of No. 1 generating laser group, LS1,1For the first low level scanning slice of No. 1 generating laser group,
LS1,2For the second low level scanning slice of No. 1 generating laser group, LS1,3For the 3rd low level scanning slice of No. 1 generating laser group,
LS1,4For the 4th low level scanning slice of No. 1 generating laser group, HS2,1For the first high-order scanning slice of No. 2 generating laser groups,
HS2,2For the second high-order scanning slice of No. 2 generating laser groups, HS2,3For the 3rd high-order scanning slice of No. 2 generating laser groups,
HS2,4For the 4th high-order scanning slice of No. 2 generating laser groups, LS2,1For the first low level scanning slice of No. 2 generating laser groups,
LS2,2For the second low level scanning slice of No. 2 generating laser groups, LS2,3For the 3rd low level scanning slice of No. 2 generating laser groups,
LS2,4For the 4th low level scanning slice of No. 2 generating laser groups.
Embodiment
The purpose of this utility model is to provide a kind of multilayer optical scanning sensor, current many to can effectively mitigate
The rotary load of layer scanning laser radar rotating mechanism, realizes passive rotary load, while can effectively simplify laser radar
Structure, reaches raising scan frequency, reduces the purpose of cost.
In order that those skilled in the art more fully understand the utility model scheme, below in conjunction with the accompanying drawings and specific implementation
The utility model is described in further detail for mode.
Need to illustrate, in the utility model embodiment, optical scanner sensor be also referred to as laser radar or
Person's radar.
Space Angle first to radar fix system and direction vector is defined, as shown in Figure 3.It is the right side of radar in Fig. 3
Hand system three-dimensional system of coordinate, Z-direction is the rotation direction of principal axis of rotating mechanism, and Y direction is the front of laser radar, and X-axis is
Scan horizontal direction.The angle β of direction vector P and Z axis is referred to as inclination angle, the angle ω of orthographic projections and X-axis of the P on X/Y plane
Referred to as azimuth, hereinafter continues to use above-mentioned Space Angle concept.
Fig. 2 is the structural representation of the laser radar disclosed in the utility model embodiment, and the laser radar includes rotation
Rotation mechanism, pyramid-shaped mirror, installation pedestal, generating laser group, receiving lens and circuit board for receiving.Rotation in rotating mechanism
It is usually shaft type motor to turn actuator, and the bottom surface of pyramid-shaped mirror is connected with the rotary part of rotating mechanism and by rotating mechanism
Rotation is driven, its lateral reflection face is launched after laser pulse is deflected, while the laser beam that measured target is reflected back is through same
Receiving lens are sent into after one lateral reflection deflecting facet, in the photosensitive receiving point that receiving lens converge in circuit board for receiving, are realized
Scan ranging.
Need to illustrate, the upper and lower concept in the present embodiment is for Z-direction, in Z-direction
On, the bearing definition where rotating mechanism is top, and the bearing definition where circuit board for receiving is lower section.
Compared to existing Multi Slice Mode technology, the core improvement in the present embodiment is, employs pyramid reflection
Mirror and multigroup generating laser.It can be derived using the method for geometric optics, in laser radar disclosed in the utility model,
If the number of side rearview mirror is N, and its inclination angle is different, when pyramid-shaped mirror rotates a circle, each Laser emission
The basic scanning that device group forms that N layers of inclination angle are different on each side rearview mirror, scan position angular region is (360/N) °
Fan conical surface Si,j, wherein i is generating laser group #, and j is level number (namely speculum numbering), (is only shown as shown in Figure 5
The scanning plane that No. 1 and No. 2 generating laser groups are formed), it is each that whole N number of scanning fan conical surfaces of N ╳ have been spliced into N layers of inclination angle
The complete circular conical surface differed, it is achieved thereby that the multilayer conical surface is scanned.
In order to ensure scanning resolution, the inclination angle of each side rearview mirror increases to maximum by predetermined amplification from minimum value
Value, for the convenience for designing and manufacturing, the inclination angle of side rearview mirror is increased by minimum value successively along the circumference of pyramid-shaped mirror
To maximum.
Plane where the bottom surface of pyramid-shaped mirror and the central axis, and with the plane where each side rearview mirror
The intersecting polygon that cuts is regular polygon, and this regular polygon is centrally located on central shaft, to ensure each scanning covering of the fan institute
Corresponding azimuth coverage is equal, and is matched with generating laser group.
If the inclination angle of each side rearview mirror of pyramid-shaped mirror is all set into 45 °, now every layer of conical scanning
Face all turns into the flat scanning face parallel to X/Y plane and all overlapped, and entire scan mode turns into individual layer flat scanning, and sweeps
It is N times of multilayer conical surface scan frequency to retouch frequency.
Further, if N number of reflecting surface of taper polygon prism has been designed to N/K different inclinations angle, K is just whole
Number, then the number of the reflecting surface at every kind of inclination angle is just K, and scanning plane can overlap to form K conical scanning face, when the laser
When the scan frequency of radar is f, the actual scanning frequency for overlapping the single conical scanning face formed is Kf, is original rotation sweep
K times of frequency, this equally realizes the multiple layer high speed scanning in the range of 360 °.
When the laser beam of laser transmitter projects hits the incline line of pyramid-shaped mirror, both direction can be produced
Emitting light path, causes measurement to fail.To solve this problem, the side rearview mirror of pyramid-shaped mirror is designed to special shape, tool
There is high-order extension echo area and the low level extension split in each side rearview mirror center line left and right sides of pyramid-shaped mirror
Echo area, accordingly, each generating laser group also devise high-order generating laser and low level generating laser, high-low-position
Extension echo area and the locus of the high-low-position generating laser of generating laser group match, in the side of pyramid-shaped mirror
When crest line is rotated to generating laser group, the hot spot that high position extension echo area can be launched high-order generating laser is complete
Whole covering, the hot spot that low level extension echo area can be launched low level generating laser is completely covered, while each laser is sent out
Generating laser in emitter group uses the alternate launching technique of high-low-position, it is ensured that measure the laser beam of transmitting each time
It only can completely be reflected by a side rearview mirror, form single reflected light path, realize the scanning between adjacent side rearview mirror
Azimuthal seamless circulating transition, as shown in Figure 6, Figure 7.High-order extension area and low level extension area can be with the position of the left and right sides
Exchange, but need to ensure that position of the high-order extension echo area with low level extension echo area in each side rearview mirror is identical, otherwise phase
Locus conflict can occur for the extension echo area of adjacent side rearview mirror.
Fig. 6 shows the basic configuration and transmitting reflection Division of side rearview mirror.The transmitting echo area of each side rearview mirror
Domain is divided into two layers up and down of the arc for the left and right sides that is placed in along center line, and upper strata is referred to as high-order echo area, is responsible for reflection high
The laser beam of position laser transmitter projects, lower floor is referred to as low level echo area, is responsible for reflection low level laser transmitter projects
Laser beam, the height of echo area is at least the height of hot spot when transmitting light beam hits side rearview mirror, meanwhile, high-low-position echo area
At least extend laterally respectively transmitting light beam herein in height a hot spot width, the region extended is high-order extension
Echo area and low level extension echo area.
To match with high-low-position echo area and extension echo area, two hairs of a high position and low level of each generating laser group
The optical axis of emitter need to radially arrange along Z axis, inner side transmitter (close to the transmitter of Z axis, i.e. low level generating laser) respective side
The low level echo area of speculum and low level extension echo area, outside transmitter (transmitter away from Z axis, i.e., high-order Laser emission
Device) correspondingly the high-order echo area of side rearview mirror and a high position extend echo area.So, when the incline line of pyramid-shaped mirror rotate to
When above generating laser group, the light beam of high-order generating laser and low level laser transmitter transmitting is all without hitting incline
Line, but can completely hit high-order extension echo area or low level extension echo area, it is ensured that the uniqueness of reflected light path herein.
When rotating mechanism starts rotation, high-low-position transmitter alternate emission, order is as follows：It is assumed that rotating mechanism reach it is specified
When rotating speed starts normal measurement, laser generator group is located at the homonymy of side rearview mirror with high-order extension echo area, now first by
All high position generating laser, which is performed, concurrently launches, and scan position angular region is (180/N) °, forms the N number of high bit scan fans of N ╳
Conical surface HSi,j, photosensitive receiving point high bit scan fan conical surface HS N number of to N ╳i,jMeasure；Then high-low-position emitting module is performed
Rotation, is performed by whole low level generating lasers and concurrently launched, and the scanning angle scope of measurement is (180/N) °, forms N ╳ N number of
Low level scanning fan conical surface LSi,j, photosensitive receiving point is to N ╳ N number of low levels scanning fan conical surface LSi,jMeasure；Vice versa.Rotation
Opportunity is：Whenever the center line (perpendicular to side rearview mirror base and cross the straight line at base midpoint) or pyramid speculum of side rearview mirror
When incline line goes to the surface of generating laser group, high-low-position generating laser performs transmitting rotation, that is to say, that if high-order
Generating laser is previously in emission state, and low level generating laser is previously in halted state, then in center line or incline line
When going to the surface of generating laser group, high-order generating laser stops transmitting, and low level generating laser starts to perform transmitting,
Vice versa.
High-order and low level echo area is each responsible for the scanning range of each (180/N) ° around, when pyramid-shaped mirror rotation one
Zhou Shi, the scanning that the height that each side rearview mirror can form that 2N inclination angle be identical, azimuth coverage is (180/N) ° interlocks
The conical surface is fanned, (scanning plane that No. 1 and No. 2 generating laser groups are formed is show only) as shown in Figure 7, it is now, every in Fig. 5
Individual basic scanning fan conical surface Si,jAll it is decomposed into two fan that inclination angle is identical and azimuth coverage is adjacent conical surface HSi,jAnd LSi,j,
It is different that the N ╳ 2N scannings fan conical surface of whole side rearview mirrors completes 360 ° of range tilt angles in the way of height interlocks
The scanning of the N layers conical surface, this assures the scanning integrality in the range of 360 ° of whole azimuth sweeps, realize seamless sweep
Retouch.HSi,jAnd LSi,jDifference in height be high-low-position generating laser optical axis spacing, this spacing very little, relative to laser thunder
The range reached can be ignored.
Concurrently transmitting in above-described embodiment refers to almost simultaneously launch, but there is tiny time interval.Any two swashs
Optical transmitting set should not be launched in synchronization, because with the difference of the measured target distance in each direction of the launch, having
The different measured target reflection light pulses for reaching photosensitive receiving point may be caused overlapping, and then cause measurement disorderly.Ordinary circumstance
Under, the very little that each high-order generating laser and each low level laser transmitter projects time interval can be set, such as (150 meters of 1 μ s
During maximum measurement distance), it is possible to avoid the problem of measured target reflection light pulse is overlapping.
Because the transmitting optical axis of all generating lasers is put down with the rotary shaft of rotating mechanism and the optical axis of receiving lens
OK, the light path therefore after the laser beam that is reflected back of measured target is deflected through side rearview mirror is identical, all can be by receiving lens
Whole measurements can be completed by converging on its focal position, therefore only needing to one group of opto-electronic receiver part, as shown in Figure 4.
Passive pyramid reflection is only provided with optical scanner sensor disclosed in the utility model, on rotating mechanism
The receiving unit of mirror, generating laser and reflected light is not disposed on rotating mechanism, and only a set of opto-electronic receiver component.
Because the rotating mechanism of the laser radar only drives speculum to rotate, therefore the rotary load of the laser radar is passive load,
Gum fraction, can significantly improve rotating speed and scan frequency, effectively reduce abrasion and the Overall Power Consumption of rotating mechanism, carry
The high service life of laser radar；Conducting slip ring is also eliminated simultaneously, whole aircraft reliability is improved；Further, since all swashing
The reflected light of the laser pulse of optical transmitting set transmitting is all received by a set of opto-electronic receiver component, is effectively reduced complete machine and is debug difficulty
Degree, reduces cost；Finally, the individual layer flat scanning of scan frequency multiplication can also be realized.
Laser radar its pyramid-shaped mirror disclosed in Fig. 2 has 5 side rearview mirrors, the inclination angle of each side rearview mirror
Differ, one of them is 45 °, it is 1 ° that inclination angle, which is incremented by amplitude, therefore it can form 1 flat scanning face and 4 cones
Surface scan layer, conical surface inclination angle is respectively 92 °, 94 °, 96 ° and 98 °.Accordingly, generating laser group has 5 groups, and every group includes one
Individual high-order generating laser and a low level generating laser.For the consideration of outward appearance and manufacture view, the bottom of mirror support
Face is designed circular.If the inclination angle of each side rearview mirror is both configured into 45 °, 5 scanning planes originally are overlapped into
1 flat scanning face, scan pattern at this moment is individual layer flat scanning, and scan frequency is 5 times of conical surface scanning.
From the point of view of design and manufacture, whole high-order extension echo areas and low level prolong in the utility model embodiment
Projection all same of the extension reflex area along central axis direction in the plane that generating laser group is arranged residing for circumference, in addition, all
High-order generating laser and low level generating laser light spot shape it is also all identical, this can simplify design and manufacture into
This.
The optical scanner sensor in the utility model is described in detail above.Specific case used herein
Principle of the present utility model and embodiment are set forth, the explanation of above example is only intended to help and understands this practicality
New method and its core concept.It should be pointed out that for those skilled in the art, not departing from this reality
On the premise of with new principle, some improvement and modification can also be carried out to the utility model, these are improved and modification is also fallen into
In the utility model scope of the claims.
Claims (13)
1. a kind of optical scanner sensor, it is characterised in that including：
Rotating mechanism, the rotary shaft of the rotating mechanism is referred to as central shaft；
Below the rotating mechanism, the pyramid-shaped mirror rotated under rotating mechanism drive, the pyramid is anti-
The bottom surface for penetrating mirror is connected with the rotary part of the rotating mechanism, and the side of the pyramid-shaped mirror is plane mirror, is claimed
Respectively have for side rearview mirror, on the left and right sides different height of each side rearview mirror one extend beyond pyramid prolong
Extension reflex area, the higher extension echo area in position is referred to as high-order extension echo area, the relatively low extension echo area in position
Referred to as low level extends echo area；
Below the pyramid-shaped mirror, be evenly distributed along the periphery and with the multiple laser of side rearview mirror number identical
Transmitter group, the center of circle of the generating laser group arrangement circumference is located on the central shaft, and the generating laser group is arranged
Plane and the central axis where cloth circumference, each generating laser group include arranging along the center Axial and radial
And the equal outside of spacing and the generating laser of inner side two, outside transmitter is corresponding with the high-order extension echo area and is referred to as
High-order generating laser, inner side transmitter and the low level extension echo area is corresponding and referred to as low level generating laser, the height
The transmitting optical axis of position generating laser and the low level generating laser points to the side rearview mirror and flat with the central shaft
OK；
Receiving lens below the pyramid-shaped mirror, the receiving lens are used to converge to be reflected by measured target, and
By the laser beam of side rearview mirror secondary reflection again, the optical axis of the receiving lens and the center overlapping of axles；
A photosensitive receiving point, institute are provided with circuit board for receiving below the receiving lens, the circuit board for receiving
Photosensitive receiving point is stated in the focus of the receiving lens.
2. optical scanner sensor according to claim 1, it is characterised in that where the bottom surface of the pyramid-shaped mirror
Plane and the central axis, and it is just polygon intersect the polygon for cutting with the plane where each side rearview mirror
Shape, this regular polygon is centrally located on the central shaft.
3. optical scanner sensor according to claim 1, it is characterised in that the side rearview mirror and the central shaft it
Between angle be referred to as the inclination angle of side rearview mirror, the inclination angle of each side rearview mirror is increased by predetermined incremental amplitude from minimum value
It is added to maximum.
4. optical scanner sensor according to claim 3, it is characterised in that the inclination angle of the side rearview mirror is along described
The circumference of pyramid-shaped mirror increases to maximum by minimum value successively.
5. optical scanner sensor according to claim 1, it is characterised in that each high-order extension echo area is respectively positioned on
The left side of the side rearview mirror belonging to it, each low level extension echo area is respectively positioned on the right side of the side rearview mirror belonging to it
Side；
Or, each high-order extension echo area is respectively positioned on the right side of the side rearview mirror belonging to it, each low level extension
Echo area is respectively positioned on the left side of the side rearview mirror belonging to it.
6. the optical scanner sensor according to Claims 1 to 5 any one, it is characterised in that all high positions are prolonged
Projection of shape of the extension reflex area along the central axis direction in the plane that the generating laser group is arranged residing for circumference is homogeneous
Together, all low levels extend the plane that echo area is arranged residing for circumference along the central axis direction in the generating laser group
On projection of shape it is also identical.
7. optical scanner sensor according to claim 6, it is characterised in that where two adjacent side rearview mirrors
The intersection of plane be referred to as the incline line of the pyramid-shaped mirror, when pyramid-shaped mirror rotation and the incline line turns
When directly over to any one generating laser group, the high-order extension echo area of the incline line side can completely hide
Keep off the laser beam of the high-order laser transmitter projects of the generating laser group, the incline line opposite side it is described
Low level extension echo area can completely block the laser light of the low level laser transmitter projects of the generating laser group
Beam.
8. optical scanner sensor according to claim 7, it is characterised in that whole high-order generating lasers and institute
State the shape all same of the laser beam of low level laser transmitter projects.
9. optical scanner sensor according to claim 8, it is characterised in that all the high position extends echo area and institute
State low level and extend projection of the echo area along the central axis direction in the plane that the generating laser group is arranged residing for circumference
Shape is identical.
10. optical scanner sensor according to claim 1, it is characterised in that all in the generating laser group
The high-order generating laser is concurrently launched, and simultaneously closes off, all the low level laser hair in the generating laser group
Emitter is also concurrently launched, and is simultaneously closed off, and in any one of generating laser group, the high-order generating laser and institute
State low level generating laser alternate emission.
11. optical scanner sensor according to claim 10, it is characterised in that rotated when the pyramid reflects, and
When any one of laser generator group is located in one of the lower section side of the side rearview mirror, if the side rearview mirror
The high-order extension echo area and the high-order laser of the generating laser group homonymy, then this laser generator group
Transmitter performs transmitting；If low level extension echo area and the generating laser group homonymy, institute of the side rearview mirror
The low level generating laser for stating laser generator group performs transmitting.
12. optical scanner sensor according to claim 11, it is characterised in that appoint when the laser generator group is located at
Described in meaning one during the bottom center position of side rearview mirror, the transmitting of the high-order generating laser and the low level generating laser
State rotation.
13. optical scanner sensor according to claim 12, it is characterised in that when two adjacent side rearview mirrors
When the incline line of the intersection formation of the plane at place goes to the surface of any one laser generator group, the high-order laser
The emission state rotation of transmitter and the low level generating laser.
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| CN201720074473.5U CN206479638U (en) | 2017-01-19 | 2017-01-19 | A kind of optical scanner sensor |
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| CN201720074473.5U CN206479638U (en) | 2017-01-19 | 2017-01-19 | A kind of optical scanner sensor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842228A (en) * | 2017-01-19 | 2017-06-13 | 北京飞思迈尔光电科技有限公司 | A kind of optical scanner sensor |
| CN110045352A (en) * | 2019-04-03 | 2019-07-23 | 北京科航理达技术有限公司 | A kind of method and optical system of arranged in dislocation optical system |
| WO2021019902A1 (en) * | 2019-07-26 | 2021-02-04 | パナソニックＩｐマネジメント株式会社 | Laser radar |
-
2017
- 2017-01-19 CN CN201720074473.5U patent/CN206479638U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842228A (en) * | 2017-01-19 | 2017-06-13 | 北京飞思迈尔光电科技有限公司 | A kind of optical scanner sensor |
| CN106842228B (en) * | 2017-01-19 | 2023-08-29 | 北京飞思迈尔光电科技有限公司 | Optical scanning sensor |
| CN110045352A (en) * | 2019-04-03 | 2019-07-23 | 北京科航理达技术有限公司 | A kind of method and optical system of arranged in dislocation optical system |
| WO2021019902A1 (en) * | 2019-07-26 | 2021-02-04 | パナソニックＩｐマネジメント株式会社 | Laser radar |
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