CN207908674U - A kind of four line laser radar scanners based on single laser ranging system - Google Patents
A kind of four line laser radar scanners based on single laser ranging system Download PDFInfo
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- CN207908674U CN207908674U CN201820408849.6U CN201820408849U CN207908674U CN 207908674 U CN207908674 U CN 207908674U CN 201820408849 U CN201820408849 U CN 201820408849U CN 207908674 U CN207908674 U CN 207908674U
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Abstract
The utility model discloses a kind of four line laser radar scanners based on single laser ranging system, laser ranging system, driving motor and optics tilting mirror including being installed on pedestal, the optics tilting mirror is optics tetragonous tilting mirror, the optics tetragonous tilting mirror is driven by driving motor to be rotated, the laser ranging system transmitting optical axis is parallel with horizontal plane, for the laser ranging system perpendicular to the rotary shaft of optics tetragonous tilting mirror, the laser ranging system includes the laser emitting module for emitting laser beam and the laser pick-off module for detecting laser reflection echo；The laser emitting module front end is provided with Focusable laser optical alignment camera lens, for the Focusable laser optical alignment camera lens for increasing laser accumulation, the front end of the laser pick-off module is provided with the narrow-band-filter module for enhancing echo-signal signal-to-noise ratio.Four line laser structured lights are realized by beam of laser, it is higher than single line two-dimensional laser radar performance, it can simply be imaged, simple process and low cost, it can volume production.
Description
Technical field
The utility model is related to a kind of four line laser radar scanners, are filled based on single laser ranging more particularly to one kind
The four line laser radar scanners set.
Background technology
Currently, there are two main classes for laser radar in the market：The mechanical full rotation laser radar of 32 ~ 64 lines；Single line two dimension swashs
Optical radar.
The mechanical full rotation laser radar of 32 ~ 64 lines：Using 32 or 64 pairs of laser ranging systems, carried out on rotating platform
3-D scanning, system performance are high, and imaging effect is good, but manufacturing cost is high, optical axis debug it is extremely difficult, system stability compared with
Difference, revolving part loss is big, restricted lifetime, and volume production difficulty is big.
Single line two-dimensional laser radar：Using single laser ranging system, single-point range finder module is subjected to rotation and is realized easily
Two-dimensional scan, simple system, can volume production, but go out to count that extremely low, identification is poor, cannot be satisfied auxiliary and the high-tech areas such as drive
Imaging requirements.
For example, the Chinese patent literature that notification number is CN 106324611 discloses a kind of two-dimensional laser radar scanning dress
Set, including Laser Distance Measuring Equipment 101, optics tilting mirror 102 and motor 103 it is into a line be arranged on pedestal 104, the Laser Measuring
Speculum of the outgoing beam away from equipment 101 through optics tilting mirror 102, exiting parallel, after outgoing beam encounters barrier, barrier
Can be by certain light reflection, the laser of reflection is echo-signal, and speculum of the echo-signal again through optics tilting mirror 102 returns
Into the receiving plane of Laser Distance Measuring Equipment 101, current range information is obtained after processing；Motor 103 drives optics tilting mirror 102
It is at the uniform velocity rotated with certain speed, in rotary course, corresponding different multi-angle laser distance-measuring equipment 101 can all measure current
The range information of range information, different angle uploads data by the PORT COM 105 being arranged on Laser Distance Measuring Equipment (101)
After processing equipment, show that computer, the optics tilting mirror may be used in current scanning information, data processing equipment through processing
102 speculum is with shoot laser at 450 angles.Going out to count, extremely low, identification is poor, cannot be satisfied the high-tech neck such as auxiliary driving
The imaging requirements in domain.
Utility model content
In order to solve the above-mentioned technical problem, the utility model proposes a kind of four line lasers based on single laser ranging system
Radar scanner can complete four line laser structured lights in certain visual angle, and it is poor to solve existing multi-line laser radar stability, system
Of high cost, the big problem of volume production difficulty is made, while balancing product imaging performance, increases and points, solves existing single line two dimension
The problem of laser radar can not be imaged.
Technical solution used by the utility model is：
A kind of four line laser radar scanners based on single laser ranging system, including it is installed on the laser ranging of pedestal
Device, driving motor and optics tilting mirror, the optics tilting mirror are optics tetragonous tilting mirror, and the optics tetragonous tilting mirror is by driving motor
Driving rotation, the laser ranging system transmitting optical axis is parallel with horizontal plane, and the laser ranging system is perpendicular to optics tetragonous
The rotary shaft of tilting mirror, the laser ranging system include laser emitting module for emitting laser beam and for detecting laser
The laser pick-off module of reflection echo；The laser emitting module front end is provided with Focusable laser optical alignment camera lens, described
For increasing laser accumulation, the front end of the laser pick-off module is provided with for increasing Focusable laser optical alignment camera lens
The narrow-band-filter module of strong echo-signal signal-to-noise ratio.
In preferred technical solution, the optics tetragonous tilting mirror includes four speculums and is set to the rotation of inside center
Axis, four speculums are fixed on rotary shaft by skeleton.
In preferred technical solution, the difference of the speculum of the optics tetragonous tilting mirror and the angle of rotary shaft is 1 °.
In preferred technical solution, the A speculum angles β 1 of the optics tetragonous tilting mirror is -1.5 °, B speculum angles β 2
It it is -0.5 °, C speculum angles β 3 is 0.5 °, and D speculum angles β 4 is 1.5 °.
In preferred technical solution, the bottom of the optics tetragonous tilting mirror is extended with mounting groove, the mounting groove inwardly
It is matched with driving motor, the top of the optics tetragonous tilting mirror is installed on bearing block, and the bearing block is installed by the support of bearing
In fixing bracket.
In preferred technical solution, the light source of the laser ranging system uses pulse semiconductor laser diode, laser
Wavelength is 905nm, duty ratio 0.1%, repetition rate 20KHz.
Compared with prior art, the utility model has the beneficial effects that：
1, it is poor to solve existing multi-line laser radar stability, manufacturing cost height, the big problem of volume production difficulty balances simultaneously
Product imaging performance, increases and points, solves the problems, such as that existing single line two-dimensional laser radar can not be imaged.
2, this mode may be implemented beam of laser and send out, and complete four line laser structured lights；System process is simple, at low cost,
It can volume production；It is higher than traditional single line two-dimensional laser radar performance, it can simply be imaged.
Description of the drawings
The utility model is further described with reference to the accompanying drawings and embodiments：
Fig. 1 is the structural schematic diagram of the four line laser radar scanners based on single laser ranging system；
Fig. 2 is the structural representation of the optics tetragonous tilting mirror of the four line laser radar scanners based on single laser ranging system
Figure；
Fig. 3 is that four lines of the four line laser radar scanners based on single laser ranging system scan schematic diagram；
Fig. 4 is the Laser emission and reception schematic diagram of the four line laser radar scanners based on single laser ranging system.
Specific implementation mode
To make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment
And with reference to attached drawing, the utility model is further described.It should be understood that these descriptions are merely illustrative, and do not really want
Limit the scope of the utility model.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid not
Necessarily obscure the concept of the utility model.
Embodiment
As shown in Figure 1, a kind of four line laser radar scanners based on single laser ranging system, including, laser ranging
Device 7, optics tetragonous tilting mirror 3, driving motor 2, rotary shaft 6, bearing 4, bearing block 5, bearing mounting bracket 12, pedestal 1 etc..
Laser ranging system 7 and driving motor 2 are fixedly mounted on the both ends on pedestal 1, and driving motor 2 is directly connected to light
The bottom of tetragonous tilting mirror 3 is learned, the bottom of optics tetragonous tilting mirror 3 is extended with mounting groove inwardly, and driving motor 2 is embedded in optics tetragonous
It inside tilting mirror 3, realizes and hides installation, driving motor 2 drives optics tetragonous tilting mirror 3 to rotate.
Laser ranging system 7 includes：For the laser emitting module 8 of laser beam transmitting, returned for detecting laser reflection
The laser pick-off module 10 of wave；Focusable laser optical alignment camera lens 9 for increasing laser accumulation；For enhancing echo
The narrow-band-filter module 11 of Signal-to-Noise.
The light source of laser ranging system 7 uses pulse semiconductor laser diode, and optical maser wavelength 905nm, duty ratio is
0.1%, repetition rate 20KHz.
The transmitting optical axis of laser ranging system 7 is parallel with horizontal plane, optical axis and the optics tetragonous tilting mirror 3 of laser ranging system 7
Rotary shaft 6 it is vertical, the outgoing beam of laser ranging system 7 is through the speculum of optics tetragonous tilting mirror 3, exiting parallel, such as Fig. 4 institutes
Show, after outgoing beam encounters barrier, barrier can reflect certain light beam, and the laser of reflection is echo-signal, is returned
Speculum of the wave signal again through optics tetragonous tilting mirror 3 returns in the receiving terminal of laser ranging system 7, is obtained after data processing
Current range information.
As shown in Fig. 2, optics tetragonous tilting mirror 3 is made of skeleton 13 and four sides optical mirror A, B, C, D, by being fixed on
Driving motor 2 on 1 tablet of pedestal connects, and for strengthen rigidity and mitigates weight, and 3 inside of optics tetragonous tilting mirror only has rotary shaft
6 and skeleton 13, and non-solid rigid body, bottom can embed installation driving motor 2, hide installation to realize.Driving motor 2
Rotor portion can directly drive optics tetragonous tilting mirror 3 to realize rotation.The upper end of rotary shaft 6 is passed through in bearing block 5
Bearing 4 pacifies holder 12 by bearing and connects bearing block 5 and pedestal 1, the stability of enhancing structure.
The difference of the tetragonous laser mirror of optics tetragonous tilting mirror 3 and the angle of rotary shaft 6 be 1 °, the faces A angle β 1 be-
1.5 °, the faces B angle β 2 is -0.5 °, and the faces C angle β 3 is 0.5 °, and the faces D angle β 4 is 1.5 °.
As shown in figure 3, four speculums A, B, C, D of optics tetragonous tilting mirror 3 are different from the angle of rotary shaft 6 so that swash
After speculum reflection of the collimated light beam that optical range finding apparatus 7 is launched by tilting mirror different angle, due to tilting mirror difference speculum
Different from horizontal plane angle, transmitting light beam in a longitudinal direction, is reflected through different sides so that whole system formed four kinds it is different
Regulation of longitudinal angle emergent light realizes four line laser structured light rangings within the scope of vertical direction certain visual angle.
Whole system changes the outgoing of the collimated light beam of laser ranging system 7 by high-speed rotating optics tetragonous tilting mirror 3
The target object in vertically and horizontally range is taken into account in direction, and laser beam is completed in a certain range of horizontal field of view angle
Four line scan tasks.Since optics tetragonous tilting mirror 3 does not stop to rotate through motor driving, laser beam is in target direction certain angle
It is interior（Horizontal angular range≤168 °, range of vertical angles≤30 °）Shape row scan.
Optical system carries out collimation and shaping to transmitting laser, and is carried out at narrow-band filtering and focusing to echo optical signal
Reason；
Because of the information of different angle and harness that the rotation of optics tetragonous tilting mirror 3 generates, motor rotor position meter can be passed through
It obtains, final system uploads data by communication port.
It should be understood that the above-mentioned specific implementation mode of the utility model is used only for exemplary illustration or explains this reality
With novel principle, without constituting limitations of the present invention.Therefore, in the spirit and scope without departing from the utility model
In the case of any modification, equivalent substitution, improvement and etc. done, should be included within the scope of protection of this utility model.In addition,
The appended claims for the utility model are intended to cover to fall into attached claim scope and boundary or this range and boundary
Whole change and modification examples in equivalent form.
Claims (6)
1. a kind of four line laser radar scanners based on single laser ranging system, including it is installed on the laser ranging dress of pedestal
It sets, driving motor and optics tilting mirror, which is characterized in that the optics tilting mirror is optics tetragonous tilting mirror, the optics tetragonous tilting mirror
It is driven and is rotated by driving motor, the laser ranging system transmitting optical axis is parallel with horizontal plane, and the laser ranging system is vertical
In the rotary shaft of optics tetragonous tilting mirror, the laser ranging system includes the laser emitting module and use for emitting laser beam
In the laser pick-off module of detection laser reflection echo；The laser emitting module front end is provided with Focusable laser optical alignment
Camera lens, for increasing laser accumulation, the front end of the laser pick-off module is set the Focusable laser optical alignment camera lens
It is equipped with the narrow-band-filter module for enhancing echo-signal signal-to-noise ratio.
2. the four line laser radar scanners according to claim 1 based on single laser ranging system, which is characterized in that
The optics tetragonous tilting mirror includes four speculums and is set to the rotary shaft of inside center, and four speculums pass through skeleton
It is fixed on rotary shaft.
3. the four line laser radar scanners according to claim 2 based on single laser ranging system, which is characterized in that
The difference of the speculum of the optics tetragonous tilting mirror and the angle of rotary shaft is 1 °.
4. the four line laser radar scanners according to claim 3 based on single laser ranging system, which is characterized in that
The A speculum angles β 1 of the optics tetragonous tilting mirror is -1.5 °, and B speculum angles β 2 is -0.5 °, and C speculum angles β 3 is
0.5 °, D speculum angles β 4 is 1.5 °.
5. the four line laser radar scanners according to claim 2 based on single laser ranging system, which is characterized in that
The bottom of the optics tetragonous tilting mirror is extended with mounting groove inwardly, and the mounting groove is matched with driving motor, the optics four
The top of rib tilting mirror is installed on bearing block, and the bearing block is installed on fixing bracket by the support of bearing.
6. the four line laser radar scanners according to claim 1 based on single laser ranging system, which is characterized in that
The light source of the laser ranging system use pulse semiconductor laser diode, optical maser wavelength 905nm, duty ratio 0.1%,
Repetition rate is 20KHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820408849.6U CN207908674U (en) | 2018-03-26 | 2018-03-26 | A kind of four line laser radar scanners based on single laser ranging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820408849.6U CN207908674U (en) | 2018-03-26 | 2018-03-26 | A kind of four line laser radar scanners based on single laser ranging system |
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| Publication Number | Publication Date |
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| CN207908674U true CN207908674U (en) | 2018-09-25 |
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| CN201820408849.6U Active CN207908674U (en) | 2018-03-26 | 2018-03-26 | A kind of four line laser radar scanners based on single laser ranging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226903A (en) * | 2018-03-26 | 2018-06-29 | 苏州清研微视电子科技有限公司 | A kind of four line laser radar scanners based on single laser ranging system |
| 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 |
| CN115166696A (en) * | 2022-09-06 | 2022-10-11 | 北京摩尔芯光半导体技术有限公司 | Scanning rotating lens group for laser radar and laser radar device |
-
2018
- 2018-03-26 CN CN201820408849.6U patent/CN207908674U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226903A (en) * | 2018-03-26 | 2018-06-29 | 苏州清研微视电子科技有限公司 | A kind of four line laser radar scanners based on single laser ranging system |
| 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 |
| CN115166696A (en) * | 2022-09-06 | 2022-10-11 | 北京摩尔芯光半导体技术有限公司 | Scanning rotating lens group for laser radar and laser radar device |
| CN115166696B (en) * | 2022-09-06 | 2022-12-20 | 北京摩尔芯光半导体技术有限公司 | Scanning rotating lens group for laser radar and laser radar device |
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Effective date of registration: 20240705 Granted publication date: 20180925 |