CN207717973U - A kind of light path system based on multi-line laser radar - Google Patents
A kind of light path system based on multi-line laser radar Download PDFInfo
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- CN207717973U CN207717973U CN201721206253.XU CN201721206253U CN207717973U CN 207717973 U CN207717973 U CN 207717973U CN 201721206253 U CN201721206253 U CN 201721206253U CN 207717973 U CN207717973 U CN 207717973U
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Abstract
The utility model is suitable for laser radar range technical field, provides a kind of light path system based on multi-line laser radar, including：Arrangement of laser emitters, for emitting laser signal to target object；Reflector group, for laser signal to be deflected into the target object；Laser pickoff array, the laser echo signal for receiving target object reflection；Laser echo signal is reflected on corresponding laser pickoff by reflecting module array, the angle for adjusting laser echo signal；Wherein, arrangement of laser emitters is arranged on laser transmission circuit plate, and laser pickoff array and reflecting module array are arranged on laser pick-off circuit board.In the utility model embodiment, when carrying out laser ranging, without being individually adjusted to the laser emitting module per laser all the way, it avoids in debugging process because adjacent road laser interferes with each other so that the problem of light path debugging difficulty, keep light path debugging simpler, and then cost of labor is also reduced, have compressed the supply time.
Description
Technical field
The utility model belongs to laser radar range technical field more particularly to a kind of light path based on multi-line laser radar
System.
Background technology
Laser radar is to emit the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.With accurate
Degree is high, operating speed is fast and the advantages such as efficient, is automatic driving, robot localization navigation, space environment mapping, security
The essential core sensor in the fields such as security protection.
Currently, laser radar is at work, mainly by the laser emission part being arranged inside laser radar, laser is believed
It number is emitted to above target object, and passes through the laser pick-off component of setting and receive the reflected laser reflection letter of target object
Number, and by recording laser transmitting and time point when laser pick-off, both to obtain the time difference of time, and pass through light
Speed calculates the distance of target object, to realize the function of laser ranging, and currently in order to improving the ranging model of laser radar
It encloses, it will usually multi-path laser radar is set and is scanned, still, existing multi-path laser radar, per laser emission section all the way
Part and laser pick-off component are both provided with individual expelling plate and receiver board, the laser emission part hair on an expelling plate
The laser signal penetrated is received by laser pick-off component is arranged on a corresponding receiver board, and row distance of going forward side by side calculates.
But existing multi-line laser radar, since the laser emission part and laser pick-off component on every road have individually
Expelling plate and receiver board, the adjacent appearance of a street of optics debugging process easily interfere with each other, and debugging light path adjustment is extremely difficult, and need repeatedly independent
Debugging, is debugged, high labor cost, elapsed time is long repeatedly.
Utility model content
The utility model embodiment provides a kind of light path system based on multi-line laser radar, it is intended to solve the prior art
In, the adjacent appearance of a street of optics debugging process easily interferes with each other, and debugging light path adjustment is extremely difficult, and needs repeatedly individually debugging, adjusts repeatedly
Examination, high labor cost, the long problem of elapsed time.
The utility model embodiment is achieved in that a kind of light path system based on multi-line laser radar, including：
Arrangement of laser emitters, for emitting laser signal to target object；
Reflector group, for the laser signal to be deflected into the target object；
Laser pickoff array, the laser echo signal for receiving the target object reflection；
The laser echo signal is reflected by reflecting module array, the angle for adjusting the laser echo signal
On corresponding laser pickoff；
Wherein, the arrangement of laser emitters is arranged on laser transmission circuit plate, the laser pickoff array and
The reflecting module array is arranged on the laser pick-off circuit board.
Preferably, the laser transmission circuit plate includes the first mounting surface and the second mounting surface, the laser emitter
Array includes first laser transmitter sub-arrays and second laser transmitter sub-arrays, the first laser transmitter sub-arrays
It is arranged on first mounting surface, the second laser transmitter sub-arrays are arranged in second mounting surface.
Preferably, the first laser transmitter sub-arrays include multiple laser emitters, the multiple laser emitter
In arcuation, it is evenly distributed on first mounting surface, the second laser transmitter sub-arrays include multiple laser emitters,
The multiple laser emitter is in arcuation, is evenly distributed on second mounting surface.
Preferably, the first laser transmitter sub-arrays and the second laser transmitter sub-arrays are cross-shaped, phase
To setting, and there is the difference in height of setting between the two.
Preferably, the reflector group include the first reflector and the second reflector, first reflector with it is described
Second reflector is opposite to be arranged in parallel.
Preferably, the arrangement of laser emitters includes：
Diode laser matrix, for emitting laser signal；And
It is corresponded with the diode laser matrix, the compression angle for being collimated to the laser signal adjusts mould
Block array.
Preferably, the laser pick-off circuit board includes third mounting surface and the 4th mounting surface, the laser pickoff
Array includes first laser receiver subarray and second laser receiver subarray, the first laser receiver subarray
It is arranged on the third mounting surface, and is linearly arranged in the vertical direction of the third mounting surface, the second laser
Receiver subarray is arranged on the 4th mounting surface, and is linearly arranged in the vertical direction of the 4th mounting surface.
Preferably, the first laser receiver subarray and the second laser receiver subarray be cross-shaped, phase
To setting, and there is the difference in height of setting between the two.
Preferably, the laser pickoff array includes multiple laser pickoffs, and the reflecting module array includes multiple
Reflecting module, the laser pickoff are corresponded with the reflecting module.
Preferably, the light path system further includes：
Setting is in laser signal transmitting light path, the collimation unit for being collimated to the laser signal, and
It is arranged on the receiving light path of the laser echo signal, it is poly- for being focused to the laser echo signal
Burnt unit.
In the utility model embodiment, a kind of light path system based on multi-line laser radar is provided, by laser
Transmitter array emits laser signal to target object, and laser signal is deflected into target object by the reflection of emitted microscope group
On, while the laser echo signal that target object reflects being reflected into above laser pickoff array by reflecting module array,
Laser ranging is carried out, by being arranged arrangement of laser emitters on laser transmission circuit plate, laser pickoff array and anti-
It penetrates module array to be arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust laser pick-off circuit
The position of plate and angle, and the angle of laser echo signal is adjusted using reflecting module array, so that laser pick-off
Device receives, and without being adjusted to the laser pickoff per laser echo signal all the way, avoids in debugging process because adjacent
Road laser interferes with each other the problem so that light path debugging difficulty, keeps light path debugging simpler, and then also reduce cost of labor,
Have compressed the supply time.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram for multi-thread light path system that the utility model embodiment provides；
Fig. 2 is a kind of front view for laser transmission circuit plate that the utility model embodiment provides；
Fig. 3 is a kind of left view for laser transmission circuit plate that the utility model embodiment provides；
Fig. 4 is a kind of front view for laser pick-off circuit board that the utility model embodiment provides；
Fig. 5 is a kind of left view for laser pick-off circuit board that the utility model embodiment provides.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
In the utility model embodiment, a kind of light path system based on multi-line laser radar is provided, by laser
Transmitter array emits laser signal to target object, and laser signal is deflected into target object by the reflection of emitted microscope group
On, while the laser echo signal that target object reflects being reflected into above laser pickoff array by reflecting module array,
Laser ranging is carried out, by being arranged arrangement of laser emitters on laser transmission circuit plate, laser pickoff array and anti-
It penetrates module array to be arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust laser pick-off circuit
The position of plate and angle, and the angle of laser echo signal is adjusted using reflecting module array, so that laser pick-off
Device receives, and without being adjusted to the laser pickoff per laser echo signal all the way, avoids in debugging process because adjacent
Road laser interferes with each other the problem so that light path debugging difficulty, keeps light path debugging simpler, and then also reduce cost of labor,
Have compressed the supply time.
The utility model is described in detail below by way of specific embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, in the utility model embodiment, arrangement of laser emitters is used for mesh
Mark object emission laser signal；Reflector group 20, for laser signal to be deflected into target object；Laser pickoff array is used
In the laser echo signal for receiving target object reflection；Reflecting module array, the angle for adjusting laser echo signal will swash
In optical echo signal reflex to corresponding laser pickoff 30；Wherein, arrangement of laser emitters is arranged in laser transmission circuit plate 1
On, laser pickoff array and reflecting module array are arranged on laser pick-off circuit board 2.By by arrangement of laser emitters
It is arranged on laser transmission circuit plate 1, laser pickoff array and reflecting module array are arranged in laser pick-off circuit board 2
On, when carrying out laser ranging, it is only necessary to adjust position and the angle of laser pick-off circuit board, and utilize reflecting module array
The angle of laser echo signal is adjusted, so that laser pickoff receives, without to swashing per laser echo signal all the way
Optical receiver is adjusted, and is avoided in debugging process because adjacent road laser interferes with each other so that light path debugging difficulty is asked
Topic keeps light path debugging simpler, and then also reduces cost of labor, has compressed the supply time.
In the utility model embodiment, arrangement of laser emitters includes multiple laser emitters 10, each Laser emission
Device 10 can all emit laser signal all the way, opposite, and laser pickoff array includes multiple laser pickoffs 30, each laser
Receiver 30 all can receive the reflected laser echo signal of target object all the way, that is, a laser emitter 10 and one swashs
Optical receiver 30 is corresponding, and the laser pulse signal of different angle only has corresponding laser pickoff 30 that can receive, structure
Setting is simple, more uniformly spreads.
Wherein, the quantity of laser emitter 10 is identical as the quantity of laser pickoff 30.
In a preferred embodiments of the utility model, the quantity of laser emitter 10 can be 16, and 16 tunnels can be transmitted
Laser signal, opposite, the quantity of laser pickoff 30 is alternatively 16, can receive 16 road laser echo signals, Laser emission
The laser pulse signal for the 16 tunnel different angles that device 10 emits is received system not after detection target surface diffusing reflection respectively
It is received with laser pickoff 30.It should be noted that the quantity of laser emitter and laser pickoff can also be 8,10
A or other quantity can be specifically configured according to actual conditions, and the utility model does not limit.
In the utility model embodiment, laser transmission circuit plate 1 includes the first mounting surface and the second mounting surface, laser
Transmitter array includes first laser transmitter sub-arrays and second laser transmitter sub-arrays 12, first laser transmitter
Subarray is arranged on the first mounting surface, and second laser transmitter sub-arrays 12 are arranged in the second mounting surface.First laser emits
Device subarray is oppositely arranged on the side of laser transmission circuit plate 1 with second laser transmitter sub-arrays, and is mutually parallel, and passes through
First laser transmitter sub-arrays and second laser transmitter is respectively set on two mounting surfaces of laser transmission circuit plate 1
The utilization rate of laser transmission circuit plate 1 can be improved in subarray, reduces area occupied, and it is excessively caused to can avoid laser optical path
It interferes with each other.
Wherein, the quantity of the laser emitter of first laser transmitter sub-arrays 11 and second laser transmitter sub-arrays 12
Laser emitter quantity it is identical, for example, first laser transmitter sub-arrays include 8 laser emitters, second laser hair
Emitter subarray also includes 8 laser emitters.
Further, first laser transmitter sub-arrays include multiple laser emitters 10, and multiple laser emitters 10 are in arc
Shape is evenly distributed on the first mounting surface, and second laser transmitter sub-arrays include multiple laser emitters 10, multiple laser hairs
Emitter 10 is in arcuation, is evenly distributed on second mounting surface.By by the side as shown in Figure 2 of multiple laser emitters 10
Formula is in certain arcuation, is evenly distributed on mounting surface, can the laser signal of multiple laser transmitter projects be converged to reflection
In device group 20, and after the reflection of reflector group 20, deflection certain angle is emitted on target object, can be maximum
Laser signal is emitted on target object, the scanning range of laser signal is provided.
In the utility model embodiment, first laser transmitter sub-arrays are with second laser transmitter sub-arrays in staggeredly
Shape is oppositely arranged, and has the difference in height of setting between the two.It is oppositely arranged by way of staggeredly, first laser can be made
The laser signal of laser transmitter projects in transmitter sub-arrays and the laser emitter in second laser transmitter sub-arrays
The laser signal of transmitting is staggered, and has a certain distance, can reduce interfering with each other between adjacent laser signal.
In the utility model embodiment, reflector group 20 includes the first reflector and the second reflector, the first reflection
Device is opposite with the second reflector to be arranged in parallel, and the optical direction of laser signal can be changed using reflector group 20, make optical system
Volume is more compact.
Wherein, the first reflector and the second reflector can be speculum, change the light path of laser by speculum, will
On laser reflection to target object.Other than using speculum, the combination of prism or speculum and prism can also be used.
In the utility model embodiment, arrangement of laser emitters 10 includes：Diode laser matrix, for emitting laser
Signal；And it is corresponded with diode laser matrix, the compression angle adjustment module array for being collimated to laser signal.
Wherein, diode laser matrix includes multiple laser diodes, and compression angle adjustment module array includes that multiple compression angles adjust mould
Block, a laser diode is corresponding with a compression angle adjustment module, and compression angle adjustment module is arranged and swashs corresponding
In the light path of the Laser emission of optical diode, the laser signal that can emit corresponding laser diode collimates, to make
Laser laser diode fast axle and the angle of divergence on slow axis close to consistent, the more uniform hot spot of formation.
Wherein, compression angle adjustment module can be miniature cylindrical mirror, and laser diode can be arranged by welding to swash
On optical receiving circuit plate 1, compression angle adjustment module can be arranged on laser pick-off circuit board 1 by way of stickup.
In the utility model embodiment, arrangement of laser emitters is in addition to above-mentioned diode laser matrix and compression angle tune
Except the combining form for saving module, optical fiber laser, gas laser, solid state laser etc. can also directly be used to constitute laser
Transmitter array can specifically be selected according to actual conditions.
In the utility model embodiment, laser pick-off circuit board includes third mounting surface and the 4th mounting surface, laser
Receiver array includes first laser receiver subarray and second laser receiver subarray, first laser receiver submatrix
Row are arranged on third mounting surface, and are linearly arranged in the vertical direction of third mounting surface, second laser receiver submatrix
Row are arranged on the 4th mounting surface, and are linearly arranged in the vertical direction of the 4th mounting surface.
Wherein, first laser receiver subarray and second laser receiver subarray are cross-shaped, are oppositely arranged, and two
There is the difference in height of setting between person.It is oppositely arranged, can make on first laser receiver subarray by way of staggeredly
The laser echo signal that laser pickoff receives is believed with the laser that the laser pickoff on second laser receiver subarray receives
It number is staggered, and there is a certain distance, interfering with each other between adjacent laser echo-signal can be reduced.
In the utility model embodiment, laser pickoff array includes multiple laser pickoffs 30, reflecting module array
Including multiple reflecting modules 40, laser pickoff 30 is corresponded with reflecting module 40.Reflection corresponding with laser pickoff 30
Module 40 may be provided in the light path of laser echo signal reception, the angle for adjusting laser echo signal, by return laser beam
In signal reflex to the laser pickoff 30 of corresponding angle, to carry out laser ranging.By by laser pickoff 30 with reflection
Module 40 is arranged on a laser pick-off circuit board 2, simplifies optics debugging, saves cost of labor and time.
Wherein, laser pickoff 30 is photodetector, and reflecting module 40 can be arranged by way of stickup to be connect in laser
It receives on circuit board 2, the minitype reflector of such as 2 × 2mm or 3 × 3mm equidimensions specifically can be used, specific size is not limited,
It can also use prism or other that can deflect the device of laser, can be selected according to actual conditions.
In the utility model embodiment, light path system further includes being arranged on the receiving light path of laser echo signal, is used
In the conduction unit 50 being reflected into laser echo signal on laser pickoff.
Wherein, which includes that the first conduction conduction of module 51 and second module 52 is changed by conduction unit
The reception direction of laser echo signal keeps entire light path system volume more compact.First conduction module 51 and the second guided modes
Block 52 can be speculum, change the angle of laser echo signal by speculum, be conducted to focusing unit 70 after focusing,
It is transferred on corresponding laser pickoff 30, and can be scanned according to transmitting laser and the time difference calculating for receiving return laser beam
The distance of target object can also use the combination of prism or speculum and prism other than using speculum.
In the utility model embodiment, light path system further includes：Setting is in laser signal transmitting light path, for swashing
The collimation unit 60 that optical signal is collimated collimates laser signal by collimation unit, makes every beam by collimation unit
Laser all forms an approximate circle hot spot, and to laser beam divergence smaller, laser energy is concentrated, and detection range can reach
150 meters or more.
Wherein, collimation unit 60 can be 3 non-spherical lens groups.
It should be noted that collimation unit 60 can also use more or less non-spherical lens, or use ball
Face lens can collimate laser.
In the utility model embodiment, light path system further includes：It is arranged on the receiving light path of laser echo signal, uses
In the focusing unit 70 being focused to laser echo signal.
Wherein, focusing unit 70 can be 3 non-spherical lenses, by using 3 non-spherical lens groups, using aspherical
Mirror reception signal hot spot is small, and the signal that photodetector receives is stronger, effectively prevent the crosstalk of other signals, improves the steady of system
It is qualitative.
It should be noted that focusing unit 70 can also use more or less non-spherical lens, or use ball
Face lens can be focused laser.
In the utility model embodiment, light path system further includes being arranged between laser pickoff and the second speculum,
Filter 80 for the clutter for filtering out laser echo signal.Effectively clutter can be filtered out, improve system signal noise ratio, increased
Detection range of the adding system under strong light.
In the utility model embodiment, a kind of light path system based on multi-line laser radar is provided, by laser
Transmitter array emits laser signal to target object, and laser signal is deflected into target object by the reflection of emitted microscope group
On, while the laser echo signal that target object reflects being reflected into above laser pickoff array by reflecting module array,
Laser ranging is carried out, by being arranged arrangement of laser emitters on laser transmission circuit plate, laser pickoff array and anti-
It penetrates module array to be arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust laser pick-off circuit
The position of plate and angle, and the angle of laser echo signal is adjusted using reflecting module array, so that laser pick-off
Device receives, and without being adjusted to the laser pickoff per laser echo signal all the way, avoids in debugging process because adjacent
Road laser interferes with each other the problem so that light path debugging difficulty, keeps light path debugging simpler, and then also reduce cost of labor,
Have compressed the supply time.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
1. a kind of light path system based on multi-line laser radar, which is characterized in that the light path system includes：
Arrangement of laser emitters, for emitting laser signal to target object；
Reflector group, for the laser signal to be deflected into the target object；
Laser pickoff array, the laser echo signal for receiving the target object reflection；
The laser echo signal is reflected into correspondence by reflecting module array, the angle for adjusting the laser echo signal
Laser pickoff on；
Wherein, the arrangement of laser emitters is arranged on laser transmission circuit plate, the laser pickoff array and described
Reflecting module array is arranged on laser pick-off circuit board.
2. the light path system based on multi-line laser radar as described in claim 1, which is characterized in that the laser transmission circuit
Plate include the first mounting surface and the second mounting surface, the arrangement of laser emitters include first laser transmitter sub-arrays and
Second laser transmitter sub-arrays, the first laser transmitter sub-arrays are arranged on first mounting surface, and described second
Laser emitter subarray is arranged in second mounting surface.
3. the light path system based on multi-line laser radar as claimed in claim 2, which is characterized in that the first laser transmitting
Device subarray includes multiple laser emitters, and the multiple laser emitter is in arcuation, is evenly distributed on first mounting surface
On, the second laser transmitter sub-arrays include multiple laser emitters, and the multiple laser emitter divides in arcuation, uniformly
Cloth is on second mounting surface.
4. the light path system based on multi-line laser radar as claimed in claim 3, which is characterized in that the first laser transmitting
Device subarray and the second laser transmitter sub-arrays are cross-shaped, are oppositely arranged, and have the height of setting between the two
Difference.
5. the light path system based on multi-line laser radar as described in claim 1, which is characterized in that the reflector group includes
First reflector and the second reflector, first reflector is opposite with second reflector to be arranged in parallel.
6. the light path system based on multi-line laser radar as described in claim 1, which is characterized in that the laser emitter battle array
Row include：
Diode laser matrix, for emitting laser signal；And
It is corresponded with the diode laser matrix, the compression angle adjustment module battle array for being collimated to the laser signal
Row.
7. the light path system based on multi-line laser radar as described in claim 1, which is characterized in that the laser pick-off circuit
Plate includes third mounting surface and the 4th mounting surface, the laser pickoff array include first laser receiver subarray and
Second laser receiver subarray, the first laser receiver subarray are arranged on the third mounting surface, and described
It is linearly arranged in the vertical direction of third mounting surface, the second laser receiver subarray is arranged in the 4th mounting surface
On, and linearly arranged in the vertical direction of the 4th mounting surface.
8. the light path system based on multi-line laser radar as claimed in claim 7, which is characterized in that the first laser receives
Device subarray and the second laser receiver subarray are cross-shaped, are oppositely arranged, and have the height of setting between the two
Difference.
9. the light path system based on multi-line laser radar as described in claim 1, which is characterized in that the laser pickoff battle array
Row include multiple laser pickoffs, and the reflecting module array includes multiple reflecting modules, the laser pickoff with it is described instead
Penetrate module one-to-one correspondence.
10. the light path system based on multi-line laser radar as described in claim 1, which is characterized in that the light path system is also
Including：
Setting is in laser signal transmitting light path, the collimation unit for being collimated to the laser signal, and
It is arranged on the receiving light path of the laser echo signal, the focusing list for being focused to the laser echo signal
Member.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721206253.XU CN207717973U (en) | 2017-09-19 | 2017-09-19 | A kind of light path system based on multi-line laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721206253.XU CN207717973U (en) | 2017-09-19 | 2017-09-19 | A kind of light path system based on multi-line laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107561551A (en) * | 2017-09-19 | 2018-01-09 | 深圳市镭神智能***有限公司 | A kind of light path system based on multi-line laser radar |
| CN108957424A (en) * | 2018-09-30 | 2018-12-07 | 深圳市速腾聚创科技有限公司 | A kind of multi-line laser radar system |
| CN110398748A (en) * | 2019-07-19 | 2019-11-01 | Oppo广东移动通信有限公司 | Distance-measuring device and equipment, method |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
-
2017
- 2017-09-19 CN CN201721206253.XU patent/CN207717973U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107561551A (en) * | 2017-09-19 | 2018-01-09 | 深圳市镭神智能***有限公司 | A kind of light path system based on multi-line laser radar |
| CN108957424A (en) * | 2018-09-30 | 2018-12-07 | 深圳市速腾聚创科技有限公司 | A kind of multi-line laser radar system |
| CN108957424B (en) * | 2018-09-30 | 2023-12-29 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar system |
| CN110398748A (en) * | 2019-07-19 | 2019-11-01 | Oppo广东移动通信有限公司 | Distance-measuring device and equipment, method |
| CN110398748B (en) * | 2019-07-19 | 2022-05-31 | Oppo广东移动通信有限公司 | Distance measuring device, equipment and method |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
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