CN207114758U - A kind of multi-thread beam scanning radar of single laser - Google Patents
A kind of multi-thread beam scanning radar of single laser Download PDFInfo
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- CN207114758U CN207114758U CN201721144329.0U CN201721144329U CN207114758U CN 207114758 U CN207114758 U CN 207114758U CN 201721144329 U CN201721144329 U CN 201721144329U CN 207114758 U CN207114758 U CN 207114758U
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Abstract
It the utility model is related to laser radar field.The utility model discloses a kind of single multi-thread beam scanning radar of laser, including generating laser, receive sensor, first rotating mechanism, second rotating mechanism and total reflection mechanism, first rotating mechanism is used to drive generating laser, second rotating mechanism, receive sensor and the level of synchronization rotation of total reflection mechanism, the total reflection mechanism is used to the exploring laser light of laser transmitter projects being all-trans to be incident upon target to be measured, the reception sensor is used to receive the laser that target to be measured reflects, second rotating mechanism is used to drive the rotation of total reflection mechanism, so as to change the angle of the laser that is shot out in vertical direction that is all-trans by total reflection mechanism.The utility model need not increase the quantity of generating laser, you can make original one-dimensional one-line scanning, become the multi-thread scanning of two dimension, become much larger the scope of scanning, scanning element is more, and precision is higher, and the volume of product will not also increase a lot, and cost is low.
Description
Technical field
The utility model belongs to laser radar field, more particularly to a kind of single multi-thread beam scanning radar of laser.
Background technology
Laser radar has relatively easy structure, high monochromaticity, high directivity, coherence is good, measurement accuracy is higher, space
The advantages that high resolution, detection range are remote, cheap, it has also become high-precision remote sensing is carried out to air, ocean and land at present
The effective ways of detection, are widely used.
Laser radar is to launch the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.Its principle is：
To objective emission laser, then will receive from the laser that target reflects compared with launching laser, after making proper treatment,
It is achieved with target for information about, such as target range, orientation, height, speed, even posture, shape parameter.
Existing low side list laser radar is typically only capable to do the one-dimensional scanning of single line, such as publication：CN1847881A,
The scope of this radar scanning is smaller, and scanning element is few, and precision is low, there is certain limitation in the use of application field.It is and high-end
More wire harness laser radars often use multi-laser scheme, such as Velodyne companies of the U.S. laser radar VLP-16 use
16 lasers, although it solves above mentioned problem, cost is high, and volume is also bigger, and controls cumbersome.
The content of the invention
The purpose of this utility model is to provide a kind of multi-thread beam scanning radar of single laser above-mentioned to solve the problems, such as.
To achieve the above object, the technical solution adopted in the utility model is：A kind of multi-thread beam scanning radar of single laser,
Including generating laser, receive sensor, the first rotating mechanism, the second rotating mechanism and and total reflection mechanism, it is described first rotation
Rotation mechanism is used to drive generating laser, the second rotating mechanism, receive sensor and be totally reflected mechanism level of synchronization rotation, described
Total reflection mechanism is used to the exploring laser light of laser transmitter projects being all-trans to be incident upon target to be measured, and the reception sensor is used to connect
The laser that target to be measured reflects is received, second rotating mechanism is used to drive the rotation of total reflection mechanism, so as to change by complete
Reflecting mechanism is all-trans the angle of the laser that is shot out in vertical direction.
Further, second rotating mechanism is used to drive total reflection mechanism to be rotated horizontally.
Further, the total reflection mechanism includes body and at least one total reflection module, the total reflection module
It is arranged on along direction of rotation on body, the total reflection module includes multiple transparent medium prisms, multiple transparent medium prism edges
Direction of rotation arranges, and the transparent medium prism includes the plane of incidence, fully reflecting surface and exit facet, the detection of laser transmitter projects
Laser is injected in transparent medium prism by the plane of incidence, after fully reflecting surface is totally reflected, by exit face to target to be measured,
The normal of the plane of incidence of each transparent medium prism is different from the angle of horizontal plane in multiple transparent medium prisms, so as to by every
The individual transparent medium prism laser being shot out that is all-trans is all different in the angle of vertical direction.
Further, the quantity of the total reflection module is multiple.
Further, along direction of rotation, the normal of the plane of incidence of each transparent medium prism of the total reflection module with
The angle of horizontal plane is incremented by successively or successively decreases.
Further, the transparent medium number of prisms of the total reflection module is 4.
Further, the body is disc-shaped structure, and the total reflection module is arranged on the periphery of body.
Further, when first rotating mechanism rotates a minimum angles, the second rotating mechanism driving reflecting mechanism
At least rotate through the angle corresponding to a total reflection module.
Further, first rotating mechanism is the first electric rotating machine, and second rotating mechanism is the second electric rotating
Machine.
Further, the receiving port for receiving sensor is provided with wide-angle lens, the laser warp that target to be measured reflects
Reception sensor progress opto-electronic conversion is transferred to after crossing wide-angle lens convergence.
Advantageous effects of the present utility model：
The utility model changes the angle in laser vertical direction by the total reflection mechanism of rotation, without increasing Laser emission
The quantity of device, you can make original one-dimensional one-line scanning, become the multi-thread scanning of two dimension, become much larger the scope of scanning, sweep
Described point is more, and precision is higher, and the volume of product will not also increase a lot, and cost is low, and controls simpler.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model specific embodiment；
Fig. 2 is the total reflection mechanism structure schematic diagram of the utility model specific embodiment；
Fig. 3 is the total reflection mechanism section structural representation of the utility model specific embodiment；
Fig. 4 is the operation principle schematic diagram of the utility model specific embodiment；
Fig. 5 is the total reflection light path schematic diagram of the utility model specific embodiment.
Embodiment
The utility model is further illustrated in conjunction with the drawings and specific embodiments.
As Figure 1-5, the multi-thread beam scanning radar of a kind of single laser, including generating laser 3, receive sensor 5, the
One rotating mechanism 1, the second rotating mechanism 2 and total reflection mechanism 4, first rotating mechanism 1 be used for drive generating laser 3,
Second rotating mechanism 2, receive sensor 5 and be totally reflected the level of synchronization rotation of mechanism 4, in this specific embodiment, the first whirler
Structure 1 is the first electric rotating machine, and generating laser 3, the second rotating mechanism 2, reception sensor 5 and total reflection mechanism 4 are fixedly installed
On an installation portion 11, installation portion 11 is preferably disc-shaped structure so that more compact structure, certainly, and in other embodiments, peace
Dress portion 11 can also be the other structures such as polyhedron.
The rotating shaft of first electric rotating machine 1 is fixedly connected with installation portion 11, and drive installation portion 11 carries out 360 rotations in the horizontal plane
Turn, so as to driving generating laser 3, the second rotating mechanism 2, receiving sensor 5 and being totally reflected the 360 degree of water of synchronous progress of mechanism 4
Flat rotation.
In this specific embodiment, the quantity of generating laser 3 is 1, and the quantity for receiving sensor 5 is 1.
The total reflection mechanism 4 is used to the exploring laser light that generating laser 3 is launched being all-trans to be incident upon target 6 to be measured, described
Receive sensor 5 to be used to receive the laser that target 6 to be measured reflects, in this specific embodiment, it is that photoelectricity turns to receive sensor 5
Parallel operation, for the laser signal received to be converted into electric signal.In this specific embodiment, receive sensor 5 and be configured as it
The laser signal that the laser signal of reception reflects with total reflection mechanism 4 forms an angle.Certainly, in other embodiments, receive
The set location of sensor 5 can be selected according to actual conditions, as long as the laser that target 6 to be measured reflects can be received
, this is that those skilled in the art can realize easily, is no longer described in detail.
In this specific embodiment, the receiving port for receiving sensor 5 is additionally provided with wide-angle lens 7, and wide-angle lens 7 is by target to be measured
The laser reflected is transferred to after being converged receives the progress opto-electronic conversion of sensor 5, improves detection sensitivity.
Second rotating mechanism 2 is used to drive total reflection mechanism 4 to rotate, and is totally reflected so as to change by total reflection mechanism 4
Angle of the laser gone out in vertical direction.
In this specific embodiment, the second rotating mechanism 2 is the second electric rotating machine, and the rotating shaft of the second electric rotating machine 2 is with being all-trans
Penetrate mechanism 4 to be fixedly connected, for driving total reflection mechanism 4 carry out level 360 to rotate.Rotated, can caused using horizontal direction
Overall structure is more compact, and volume is smaller, and the second electric rotating machine 2 installs simpler, control simplicity.Certainly, in other implementations
In example, the second electric rotating machine 2 can be used for driving total reflection mechanism 4 and be rotated vertically or other directions rotate, and this is this
What art personnel can realize easily, no longer describe in detail.
In this specific embodiment, the total reflection mechanism 4 includes body and at least one total reflection module, the total reflection
Module is arranged on body along direction of rotation, and the total reflection module includes multiple transparent medium prisms 41, multiple transparent mediums
Prism 41 arranges along direction of rotation, and the transparent medium prism 41 includes the plane of incidence 411, fully reflecting surface 412 and exit facet 413,
The exploring laser light that generating laser 3 is launched is injected in transparent medium prism 41 by the plane of incidence 411, is occurred entirely in fully reflecting surface 412
After reflection (being to be more than critical angle into the incidence angle of directive fully reflecting surface 214), target 6 to be measured is emitted to by exit facet 413, it is multiple
The normal of the plane of incidence 411 of each transparent medium prism 41 is different from the angle of horizontal plane in transparent medium prism 41, so as to
It is different in the angle of vertical direction by each transparent medium prism 41 laser being shot out that is all-trans.
In this specific embodiment, the body is disc-shaped structure, and the total reflection module is multiple, multiple total reflection moulds
Group is successively set on the periphery of body along direction of rotation, and forms a circumference.Certainly, in other implementations, body also may be used
To be the other structures such as polyhedron, this is that those skilled in the art can realize easily, is no longer described in detail.
In this specific embodiment, along direction of rotation, the plane of incidence 411 of each transparent medium prism 41 of module is totally reflected
The angle of normal and horizontal plane is incremented by successively or successively decreases.Certainly, in other embodiments, it is totally reflected each transparent medium of module
The changing rule of the normal of the plane of incidence 411 of prism 41 and the angle of horizontal plane can be selected according to being actually needed, and this is
What those skilled in the art can realize easily, no longer describe in detail.
In this specific embodiment, the quantity of transparent medium prism 41 of the total reflection module is 4.Certainly, in other realities
Apply in example, the quantity of transparent medium prism 41 for being totally reflected module can be according to the number change for the vertical scanning wire harness being actually needed
And change, such as 2,3 or more than 4, this is that those skilled in the art can realize easily, is no longer described in detail.It is all-trans
Penetrate module the quantity of transparent medium prism 41 determine vertical direction laser wire harness quantity.
In this specific embodiment, when the structure of the first whirler 1 rotates a minimum angles, such as 1 degree, certainly, other
In embodiment, minimum angles can be selected according to actual conditions, and this is that those skilled in the art can realize easily, no
Describe in detail again, the second rotating mechanism 2 driving total reflection mechanism 4 rotates through the angle corresponding to a total reflection module.Certainly, at it
In its embodiment or when the structure of the first whirler 1 rotates a minimum angles, the second rotating mechanism 2 driving total reflection machine
Structure 4 rotates through the angle corresponding to more than one total reflection module.
Operation principle：
1. the scanning of vertical direction
The emission detection laser of generating laser 3 is totally reflected mechanism to be injected more than the angle of the critical angle of transparent medium prism 41
On 4 transparent medium prism 41, it is all-trans by transparent medium prism 41 and is incident upon target 6 to be measured, total reflection mechanism 4 is with the second rotation
Motor 2 rotates, and the angle for each transparent medium prism 41 being totally reflected in mechanism 4 also changes therewith, and making to be all-trans, it is sharp to be shot out
Light produces the change of angle in vertical direction, completes the multi-thread beam scanning of vertical direction, as shown in figure 4, the angle of scanning passes through
The angle control for the transparent medium prism 41 being totally reflected in mechanism 4.
2. the scanning of horizontal direction
First electric rotating machine 1 carries out 360 ° of rotation, and while vertical scan direction is carried out, whole system is also being carried out
The scanning of 360 ° of level.
When the first electric rotating machine 1 rotates a minimum angles, the second electric rotating machine 2 rotated a total reflection module institute
Corresponding angle, complete the scan period of a vertical direction.Pass through the rotation of the first electric rotating machine 1 and the second electric rotating machine 2
Cycle coordinates, you can realize the multi-thread beam scanning of two dimension, the laser of scanning reflected by target 6 to be measured after by 5 turns of detection sensor
Range of triangle or pulse ranging principle are utilized after changing, scans spatial point.
Although specifically showing and describing the utility model with reference to preferred embodiment, those skilled in the art should
This is understood, is not departing from the spirit and scope of the present utility model that appended claims are limited, in form and details
On the utility model can be made a variety of changes, be the scope of protection of the utility model.
Claims (10)
1. a kind of multi-thread beam scanning radar of single laser, including generating laser and reception sensor, it is characterised in that：Also include
First rotating mechanism, the second rotating mechanism and total reflection mechanism, first rotating mechanism are used to drive generating laser, second
Rotating mechanism, sensor and the level of synchronization rotation of total reflection mechanism are received, the total reflection mechanism is used to send out generating laser
The exploring laser light penetrated, which is all-trans, is incident upon target to be measured, and the reception sensor is used to receive the laser that target to be measured reflects, institute
State the second rotating mechanism be used for drive total reflection mechanism rotation, so as to change the laser that is shot out of being all-trans by total reflection mechanism vertical
Nogata to angle.
2. the multi-thread beam scanning radar of single laser according to claim 1, it is characterised in that：Second rotating mechanism is used
In driving total reflection, mechanism is rotated horizontally.
3. the multi-thread beam scanning radar of single laser according to claim 2, it is characterised in that：The total reflection mechanism includes
Body and at least one total reflection module, the total reflection module are arranged on body along direction of rotation, the total reflection module
Including multiple transparent medium prisms, multiple transparent medium prisms arrange along direction of rotation, and the transparent medium prism includes incidence
Face, fully reflecting surface and exit facet, the exploring laser light of laser transmitter projects are injected in transparent medium prism by the plane of incidence, are being all-trans
After the face of penetrating is totally reflected, by exit face to target to be measured, each transparent medium prism in multiple transparent medium prisms
The normal of the plane of incidence is all different from the angle of horizontal plane, so as to be all-trans the laser being shot out vertical by each transparent medium prism
The angle in direction is all different.
4. the multi-thread beam scanning radar of single laser according to claim 3, it is characterised in that：The number of the total reflection module
Measure to be multiple.
5. the multi-thread beam scanning radar of single laser according to claim 3, it is characterised in that：It is described complete along direction of rotation
Reflect the plane of incidence of each transparent medium prism of module normal and horizontal plane angle it is incremented by successively or successively decrease.
6. the multi-thread beam scanning radar of single laser according to claim 3, it is characterised in that：It is described to be totally reflected the saturating of module
Bright medium number of prisms is 4.
7. the multi-thread beam scanning radar of single laser according to claim 3 to 6 any one, it is characterised in that：Described
Body is disc-shaped structure, and the total reflection module is arranged on the periphery of body.
8. the multi-thread beam scanning radar of single laser according to claim 3 to 6 any one, it is characterised in that：Described
When one rotating mechanism rotates a minimum angles, the second rotating mechanism driving reflecting mechanism at least rotates through a total reflection module
Corresponding angle.
9. the multi-thread beam scanning radar of single laser according to claim 1, it is characterised in that：First rotating mechanism is
First electric rotating machine, second rotating mechanism are the second electric rotating machine.
10. the multi-thread beam scanning radar of single laser according to claim 1, it is characterised in that：The reception sensor
Receiving port is provided with wide-angle lens, and the laser that target to be measured reflects is transferred to reception sensor after wide-angle lens converges and entered
Row opto-electronic conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721144329.0U CN207114758U (en) | 2017-09-07 | 2017-09-07 | A kind of multi-thread beam scanning radar of single laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721144329.0U CN207114758U (en) | 2017-09-07 | 2017-09-07 | A kind of multi-thread beam scanning radar of single laser |
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| CN207114758U true CN207114758U (en) | 2018-03-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531371A (en) * | 2019-09-27 | 2019-12-03 | 无锡流深光电科技有限公司 | A kind of laser radar and laser distance measurement method |
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- 2017-09-07 CN CN201721144329.0U patent/CN207114758U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531371A (en) * | 2019-09-27 | 2019-12-03 | 无锡流深光电科技有限公司 | A kind of laser radar and laser distance measurement method |
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