CN206920599U - A kind of mechanical scanning type laser radar mechanical-optical setup - Google Patents
A kind of mechanical scanning type laser radar mechanical-optical setup Download PDFInfo
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- CN206920599U CN206920599U CN201720946674.XU CN201720946674U CN206920599U CN 206920599 U CN206920599 U CN 206920599U CN 201720946674 U CN201720946674 U CN 201720946674U CN 206920599 U CN206920599 U CN 206920599U
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Abstract
A kind of mechanical scanning type laser radar mechanical-optical setup, including laser emission optical system, speculum group, laser pick-off optical system, rotary tooling, speculum group is loaded on rotary tooling, laser emission optical system and laser pick-off optical system are located at the both sides of speculum group, and optical transmitting system is parallel with the optical axis of laser pick-off optical system.Mechanical scan arrangement is effectively combined together by the structure with laser optical system, realizes that Miniaturization Design provides good basis for laser radar system.
Description
Technical field
Laser radar technique field is the utility model is related to, specifically refers to a kind of mechanical scanning type laser radar ray machine knot
Structure.
Background technology
Laser radar is the equipment perceived using laser beam to surrounding objects, and surrounding is reflected in the form of cloud data
The position of object and pattern, have that Measurement Resolution is high, speed is fast, small volume, it is in light weight the features such as.Mechanical scanning type laser thunder
Up to being a kind of laser radar for being widely used, it controls the motion of laser in space to realize laser scanning using mechanical scanning
Function.The optical system control laser direction of propagation in systems and convergence diverging, are that laser radar is different from other working machines
The key component of the radar of system, the structure type of optical system determine the structure type of whole laser radar system.Machinery is swept
Retouch formula laser radar difficult point be how to be effectively combined with laser optical system mechanical scan arrangement together with, and realize
The compact layout of laser emission optical system, laser pick-off optical system and mechanical scan arrangement part.
Together with how mechanical scan arrangement to be effectively combined with laser optical system for this, and realize Laser emission light
System, laser pick-off optical system and mechanical scan arrangement part compact layout, be always row those skilled in the art rather
Focus of attention.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of mechanical scanning type laser radar mechanical-optical setup, the machine
Together with mechanical scan arrangement is effectively combined by tool scanning type laser radar mechanical-optical setup with laser optical system, solves machine
The compact layout of tool scanning type laser optical transmitting system, laser pick-off optical system and mechanical scan arrangement part, is reduced
The volume of mechanical-optical setup in laser radar, realize that Miniaturization Design provides good basis for laser radar system.
A kind of in order to solve the above technical problems, technical side of mechanical scanning type laser radar mechanical-optical setup of the present utility model
Case is：Including laser emission optical system, speculum group, laser pick-off optical system, rotary tooling, the assembling of described speculum
In realizing 360 degree of rotations, described laser emission optical system and laser pick-off optical system on rotary tooling and with rotary tooling
System is located at the both sides of speculum group respectively, and described optical transmitting system is parallel with the optical axis of laser pick-off optical system.
In certain embodiments, described speculum group be used for by the laser reflection of laser emission optical system to target with
Detection, while described speculum group is also by by the laser projection that target reflects to laser pick-off optical system.
In certain embodiments, the rotary shaft of described speculum group and laser emission optical system and/or laser pick-off
The light shaft coaxle of optical system.
In certain embodiments, described laser emission optical system includes generating laser and transmitting collimating optics mirror
Group, the laser beam of described generating laser outgoing is in the focus of transmitting collimating optics microscope group, described transmitting collimating optics
The laser beam that microscope group is emitted to generating laser carries out shaping.
In certain embodiments, described generating laser preferred semiconductor laser, optical fiber laser, Solid State Laser
One kind in device, LED.
In certain embodiments, described laser pick-off optical system includes receiving collimating optics microscope group and laser pick-off
Device, described reception collimating optics microscope group carry out shaping to the laser of reception and projected on laser pickoff, described laser
The laser beam that receiver receives is in the focus for receiving collimating optics microscope group.
In certain embodiments, in described laser pickoff preferred photodetector, silicon photocell, imaging detector
It is a kind of.
In certain embodiments, described speculum group includes the first plane mirror and the second plane mirror, described
The first plane mirror and the second plane mirror between there is angle, and described angle is 89~91 °, described first
Plane mirror by the laser reflection of laser emission optical system to target to detect, the second described plane mirror will be by mesh
The laser projection that reflects is marked to laser pick-off optical system.
In certain embodiments, the angle between described the first plane mirror and the second plane mirror is 90 °.
In certain embodiments, described rotary tooling is driven by motor and rotated, and step is set on described rotary tooling
Installed with power supply machine in face.
A kind of mechanical scanning type laser radar mechanical-optical setup of the present utility model, by mechanical scan arrangement and laser optics system
System is effectively combined together, is solved mechanical scanning type laser emission optical system, laser pick-off optical system and machinery and is swept
The compact layout of structural member is retouched, the volume of mechanical-optical setup in laser radar is reduced, miniaturization is realized for laser radar system
Design provides good basis.
Brief description of the drawings
The utility model provides accompanying drawing further understanding in order to disclosure, and accompanying drawing forms one of the application
Point, but it is only used for illustrating the non-limiting example of some aspects of inventive concept involved by embodiment, rather than for making
Go out any restrictions.
Fig. 1 is the schematic diagram of the mechanical scanning type laser radar mechanical-optical setup of some embodiments disclosed in the utility model.
Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 are the mechanical scanning type laser radar light of some embodiments disclosed in the utility model
The view that the first plane mirror and the second plane mirror intersect in machine structure.
Shown in the utility model figure：
1 generating laser, 2 transmitting collimating optics microscope groups, 3 receive collimating optics microscope group, 4 laser pickoffs, 5 first planes
Speculum, 6 second plane mirrors, 7 rotary toolings.
Embodiment
The usually used term of those skilled in the art be will hereinafter use to describe the inventive concept of the disclosure.However, this
A little inventive concepts can be presented as many different forms, thus should not be considered limited to embodiments described herein.These are provided
Embodiment is in order that present disclosure is more detailed and complete, and will completely pass on what it included to those skilled in the art
Scope.It must also be noted that these embodiments do not have to be mutually exclusive.Component, step or element from one embodiment may be assumed that into another
It may be present or use in one embodiment., can be with diversified in the case where not departing from the scope of embodiment of the disclosure
Alternative and/or equivalent implementations substitute shown or described specific embodiment.The application is intended to cover reality discussed herein
Apply any modification or modification of example.
Phrase such as " in certain embodiments ", " in one embodiment " hereinafter may or may not refer to identical reality
Apply example.Although the grade of term first, second can be used to describe various elements herein, these elements should not be limited by these terms
System, these terms are only used for element being distinguished from each other out.For example, the first element can be referred to as second element, and similarly, the
Was Used can be referred to as the first element, without departing from scope of the present application.
Fig. 1 is the schematic diagram according to the mechanical scanning type laser radar mechanical-optical setup of the disclosure some embodiments.The machinery
Scanning type laser radar mechanical-optical setup includes laser emission optical system, speculum group, laser pick-off optical system, rotary tooling
7, described speculum group is loaded on rotary tooling 7 and realizes 360 degree of rotations, described Laser emission optics with rotary tooling 7
System and laser pick-off optical system are located at the both sides of speculum group, and described optical transmitting system and laser pick-off light respectively
The optical axis of system is parallel.Optical transmitting system is parallel with the optical axis of laser pick-off optical system to be can be regarded as two kinds and shape be present
State：The first, i.e. two optical axis coincidences, refer to Fig. 1；Second, two optical axises are parallel but misaligned.
A kind of mechanical scanning type laser radar mechanical-optical setup of the disclosure, mechanical scan arrangement and laser optical system are had
Being combined together for effect, solves mechanical scanning type laser emission optical system, laser pick-off optical system and mechanical scanning knot
The compact layout of component, the volume of mechanical-optical setup in laser radar is reduced, Miniaturization Design is realized for laser radar system
Provide good basis.
In certain embodiments, described speculum group be used for by the laser reflection of laser emission optical system to target with
Detection, while described speculum group is also by by the laser projection that target reflects to laser pick-off optical system.
To realize the target acquisition of speculum group and projecting purpose again, in certain embodiments, described speculum group bag
Include the first plane mirror 5 and the second plane mirror 6.Between described the first plane mirror 5 and the second plane mirror 6
With angle, and described angle can be selected between 89~91 °.The first described plane mirror 5 is by Laser emission
For the laser reflection of optical system to target to detect, the second described plane mirror 6 throws the laser reflected by target
It is mapped to laser pick-off optical system.Wherein, the preferred value as angle, in certain embodiments, the first described plane
Angle between the plane mirror 6 of speculum 5 and second is 90 °, with reference to figure 1.In certain embodiments, the first plane is anti-
(with reference to figure 4, Fig. 5, Fig. 6) can actually be intersected by penetrating the plane mirror 6 of mirror 5 and second, also can virtually be intersected and (be prolonged by virtual
Stretch minute surface and realize it is intersecting, with reference to figure 1,2,3).Selection, which is virtually intersected, and reality is intersecting to those skilled in the art may be used
Selected according to specific with scene, it is not limited to single intersecting form.
In certain embodiments, the laser of laser emission optical system is by the horizontal reflection of the first plane mirror 5 to mesh
It is marked with and is detected, while the second plane mirror 6 is again by by the laser projection that target level reflects to laser pick-off light
System, and shape intersecting angle in 90 ° is selected between the first plane mirror 5 and the second plane mirror 6.
In certain embodiments, the rotary shaft of described speculum group and laser emission optical system and/or laser simultaneously
The light shaft coaxle of receiving optics.Revolved to realize that speculum group can be loaded on rotary tooling 7 and make 360 degree with rotary tooling 7
Turn, in certain embodiments, described rotary tooling 7 is driven by motor to be rotated, and sets step surface on described rotary tooling 7
7.1 are installed with power supply machine.In certain embodiments, speculum group rotates with rotary tooling 7, and laser emission optical system and swash
Light-receiving optical system relative reflection microscope group is motionless, and now the rotary shaft of speculum group connects with laser emission optical system and laser
The light shaft coaxle of optical system is received, with reference to figure 1.In addition in certain embodiments, speculum group and laser emission optical system rotation
Turn, and laser pick-off optical system relative reflection microscope group and laser emission optical system are motionless, now speculum group and laser are sent out
Penetrate the rotary shaft of optical system and the light shaft coaxle of laser pick-off optical system.Also in certain embodiments, speculum group and
Laser pick-off optical system rotates, and laser emission optical system relative reflection microscope group and laser pick-off optical system are motionless, this
When the speculum group and rotary shaft of laser pick-off optical system and the light shaft coaxle of laser emission optical system.
In certain embodiments, described laser emission optical system includes generating laser 1 and transmitting collimating optics mirror
Group 2, the laser beam of described generating laser 1 outgoing is in the focus of transmitting collimating optics microscope group 2, described transmitting collimated light
Learn the laser beam that microscope group 2 is emitted to generating laser 1 and carry out shaping.In certain embodiments, launching collimating optics microscope group 2 can be with
Collimation lens is selected, with reference to figure 1.When the laser radar optical system of the disclosure is actually used in various occasions, Laser emission
Device 1 and transmitting collimating optics microscope group 2 can be also arranged on different carriers altogether loaded in identical carrier, finally meet laser
The laser beam that transmitter 1 is emitted is in the focus of transmitting collimating optics microscope group 2.It can be selected for described generating laser 1
Semiconductor laser (preferred semiconductor laser diode), certainly also visual demand selection optical fiber laser or solid state laser or
LED.Launch collimating optics microscope group 2 and shaping is carried out to the laser beam that generating laser 1 is emitted so that the angle of divergence of laser beam is effective
Compression.
In certain embodiments, described laser pick-off optical system includes receiving collimating optics microscope group 3 and laser pick-off
Device 4, described reception collimating optics microscope group 3 carry out shaping to the laser of reception and projected on laser pickoff 4, and described swashs
The laser beam that optical receiver 4 receives is in the focus for receiving collimating optics microscope group 3.In certain embodiments, collimating optics is received
Microscope group 3 can select receiving lens, with reference to figure 1.When the laser radar optical system of the disclosure is actually used in various occasions,
Receive collimating optics microscope group 3 and laser pickoff 4 can be altogether loaded on a carrier, naturally it is also possible to filled according to scene and demand
In on different carriers, finally meet laser pickoff 4 receive laser beam receive collimating optics microscope group 3 focus on.For
For described laser pickoff 4, it may be selected in photodetector (preferably photodiode), silicon photocell, imaging detector
One kind.In certain embodiments, preferred photodetector.
In certain embodiments, with reference to figure 1：Collimation lens noise spectra of semiconductor lasers (the pole of preferred semiconductor laser two
Pipe) outgoing laser beam carry out shaping so that the angle of divergence of laser beam is effectively compressed；Laser beam after collimation is flat by first
Face speculum 5 changes the direction of propagation of laser, is transmitted in space and target is measured；Second plane mirror 6 will be by mesh
The direction for receiving laser and changing laser propagation reflected is marked, projects receiving lens, receiving lens are carried out to receiving laser
Shaping so that laser beam carries out convergence and becomes laser spots dot projection to photodetector (preferably photodiode) photosurface
On.First plane mirror 5 and the second plane mirror 6 are fixed on rotary tooling 7, as rotary tooling 7 carries out 360 ° of rotations
Turn, transmitting laser beam realizes 360 ° of one-dimensional space scanning.
The mechanical scanning type laser radar mechanical-optical setup of the disclosure includes generating laser, transmitting collimating optics microscope group, connect
Collimating optics microscope group, laser pickoff, speculum group and rotary tooling are received, wherein transmitting collimating optics microscope group and reception collimated light
The both sides that microscope group is located at speculum group respectively are learned, speculum group, which is fixed on rotary tooling, realizes 360 ° of rotations, effectively improves
The compactedness of mechanical scanning mechanical-optical setup.
Claims (10)
- A kind of 1. mechanical scanning type laser radar mechanical-optical setup, it is characterised in that：Including laser emission optical system, speculum Group, laser pick-off optical system, rotary tooling (7), described speculum group is loaded on rotary tooling (7) and with rotary tooling (7) 360 degree of rotations are realized, described laser emission optical system and laser pick-off optical system are located at the two of speculum group respectively Side, and described optical transmitting system is parallel with the optical axis of laser pick-off optical system.
- A kind of 2. mechanical scanning type laser radar mechanical-optical setup according to claim 1, it is characterised in that：Described reflection Microscope group is used for the laser reflection of laser emission optical system to target to detect, while described speculum group will also be by target The laser projection reflected is to laser pick-off optical system.
- A kind of 3. mechanical scanning type laser radar mechanical-optical setup according to claim 2, it is characterised in that：Described reflection The rotary shaft of microscope group and laser emission optical system and/or the light shaft coaxle of laser pick-off optical system.
- A kind of 4. mechanical scanning type laser radar mechanical-optical setup according to claim 1 or 3, it is characterised in that：Described Laser emission optical system includes generating laser (1) and transmitting collimating optics microscope group (2), and described generating laser (1) goes out The laser beam penetrated is in the focus of transmitting collimating optics microscope group (2), and described transmitting collimating optics microscope group (2) is to generating laser (1) laser beam of outgoing carries out shaping.
- A kind of 5. mechanical scanning type laser radar mechanical-optical setup according to claim 4, it is characterised in that：Described laser Transmitter (1) is one kind in semiconductor laser, optical fiber laser, solid state laser, LED.
- A kind of 6. mechanical scanning type laser radar mechanical-optical setup according to claim 1 or 3, it is characterised in that：Described Laser pick-off optical system includes receiving collimating optics microscope group (3) and laser pickoff (4), described reception collimating optics microscope group (3) shaping is carried out to the laser of reception and projected on laser pickoff (4), the laser that described laser pickoff (4) receives Beam is in the focus for receiving collimating optics microscope group (3).
- A kind of 7. mechanical scanning type laser radar mechanical-optical setup according to claim 6, it is characterised in that：Described laser Receiver (4) is one kind in photodetector, silicon photocell, imaging detector.
- A kind of 8. mechanical scanning type laser radar mechanical-optical setup according to claim 1 or 3, it is characterised in that：Described Speculum group includes the first plane mirror (5) and the second plane mirror (6), described the first plane mirror (5) and There is angle between two plane mirrors (6), and described angle is 89~91 °, described the first plane mirror (5) will swash To target to detect, described the second plane mirror (6) will be reflected the laser reflection of light optical transmitting system by target Laser projection to laser pick-off optical system.
- A kind of 9. mechanical scanning type laser radar mechanical-optical setup according to claim 8, it is characterised in that：Described first Angle between plane mirror (5) and the second plane mirror (6) is 90 °.
- A kind of 10. mechanical scanning type laser radar mechanical-optical setup according to claim 2, it is characterised in that：Described rotation Rotating tooling (7) is driven by motor to be rotated, and sets step surface (7.1) to be installed with power supply machine on described rotary tooling (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720946674.XU CN206920599U (en) | 2017-08-01 | 2017-08-01 | A kind of mechanical scanning type laser radar mechanical-optical setup |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720946674.XU CN206920599U (en) | 2017-08-01 | 2017-08-01 | A kind of mechanical scanning type laser radar mechanical-optical setup |
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| CN206920599U true CN206920599U (en) | 2018-01-23 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390200A (en) * | 2017-08-01 | 2017-11-24 | 宁波傲视智绘光电科技有限公司 | A kind of mechanical scanning type laser radar mechanical-optical setup and detection method |
| CN108445488A (en) * | 2018-06-14 | 2018-08-24 | 西安交通大学 | A kind of Laser active illuminated imaging detection system and method |
| CN109581328A (en) * | 2018-12-21 | 2019-04-05 | 宁波傲视智绘光电科技有限公司 | A kind of laser radar |
| CN110231606A (en) * | 2018-11-27 | 2019-09-13 | 蔚来汽车有限公司 | Laser scanning device and laser radar apparatus including it |
| CN111273254A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| CN112859048A (en) * | 2019-11-27 | 2021-05-28 | 上海禾赛科技股份有限公司 | Light beam scanning apparatus, laser radar including the same, and control method |
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2017
- 2017-08-01 CN CN201720946674.XU patent/CN206920599U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390200A (en) * | 2017-08-01 | 2017-11-24 | 宁波傲视智绘光电科技有限公司 | A kind of mechanical scanning type laser radar mechanical-optical setup and detection method |
| CN108445488A (en) * | 2018-06-14 | 2018-08-24 | 西安交通大学 | A kind of Laser active illuminated imaging detection system and method |
| CN108445488B (en) * | 2018-06-14 | 2020-08-14 | 西安交通大学 | Laser active imaging detection system and method |
| CN110231606A (en) * | 2018-11-27 | 2019-09-13 | 蔚来汽车有限公司 | Laser scanning device and laser radar apparatus including it |
| CN111273254A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| CN111273254B (en) * | 2018-12-04 | 2024-05-10 | 无锡驭风智研科技有限公司 | Laser radar transmitting device and laser radar |
| CN109581328A (en) * | 2018-12-21 | 2019-04-05 | 宁波傲视智绘光电科技有限公司 | A kind of laser radar |
| CN112859048A (en) * | 2019-11-27 | 2021-05-28 | 上海禾赛科技股份有限公司 | Light beam scanning apparatus, laser radar including the same, and control method |
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