CN208459595U - Two-dimension scanning laser range radar based on transmitting-receiving compound lens - Google Patents
Two-dimension scanning laser range radar based on transmitting-receiving compound lens Download PDFInfo
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- CN208459595U CN208459595U CN201821134144.6U CN201821134144U CN208459595U CN 208459595 U CN208459595 U CN 208459595U CN 201821134144 U CN201821134144 U CN 201821134144U CN 208459595 U CN208459595 U CN 208459595U
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Abstract
The utility model discloses the two-dimension scanning laser range radars based on transmitting-receiving compound lens, mainly solving the technical problems that the emission element of scanning laser radar and receiving part are separated in the prior art, size is big, the low problem of space utilization rate, the utility model passes through the two-dimension scanning laser range radar based on transmitting-receiving compound lens, including the receiving sensor set gradually, laser, Combined lens, the reflection subassembly of rotation, the laser is for emitting laser, the Combined lens are used to collimate the laser of transmitting and assemble received laser, reflection subassembly can rotate while reflection laser, the receiving sensor is used to receive the technical solution of laser, preferably solves the problems, such as this, it can be used for range laser radar.
Description
Technical field
The utility model relates to the two-dimension scanning laser range radars based on transmitting-receiving compound lens.
Background technique
Laser radar is a kind of active detection device, emits laser pulse or continuous-wave laser beam directive using laser
Target records and analyzes echo-signal, obtains the information such as distance, orientation, height, speed, posture, the form of target.Swash
Optical radar has many advantages, such as that angular resolution is high, distance resolution is high, ranging range is wide, strong antijamming capability, is widely used in
The fields such as earth's surface topographic, Atmospheric Survey, three-dimension virtual reality robot vision.
In recent years, the rapid development of mobile robot proposes the volume weight of laser radar, resolution ratio, field range etc.
Higher requirement.Existing scanning laser radar emission component and receiving part are separated, and space utilization rate is not high to be caused
The size of laser radar is difficult to reduce, while the design for receiving and dispatching non-optical path altogether causes capacity usage ratio low, and R-T unit is to turn
Dynamic component also result in laser radar consumption power it is big, the service life is short, and platform is not sufficiently stable, and measurement result inaccuracy etc. is a series of to ask
Topic.
Utility model content
The technical problems to be solved in the utility model is the emission element and receiving unit of scanning laser radar in the prior art
Part is separated, the problem that size is big, space utilization rate is low, proposes a kind of new two-dimensional scanning based on transmitting-receiving compound lens
Range laser radar, the range radar have the characteristics that size is small, space utilization rate is high.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is as follows: based on transmitting-receiving compound lens
Two-dimension scanning laser range radar, including set gradually receiving sensor, laser, Combined lens, rotation reflection group
Part, the laser are used to collimate the laser of transmitting and assemble received laser for emitting laser, the Combined lens,
Reflection subassembly can rotate while reflection laser, and the receiving sensor is for receiving laser.
Further, it is preferable that the Combined lens include receiving convergent lens and collimation lens, the collimation lens
It is embedded in the reception convergent lens.
It is highly preferred that described receive the through-hole for offering in convergent lens and penetrating the reception convergent lens, by described
Through-hole inlays the reception convergent lens.
It is highly preferred that the laser is fixed by the through-hole and the reception convergent lens.
It is highly preferred that the section of the through-hole is tapered or rectangle.
Preferably, the receiving sensor is photoelectric sensor.
Preferably, the reflection subassembly includes reflecting mirror, and the output axis connection of the reflecting mirror and motor passes through the electricity
Machine drives reflecting mirror rotation, and the output shaft of the reflecting mirror and the motor is obliquely installed.
Preferably, the reflection subassembly connects measuring device.
Preferably, the measuring device includes the code-disc rotated with the reflection subassembly, and the code-disc side, which is equipped with, reads
Code device.
The utility model has the beneficial effects that: the utility model is received in convergent lens by the way that collimation lens to be embedded in
At the heart, integrated design, optical path is independent, and layout is ingenious, compact-sized, substantially increases laser radar inner space utilization rate,
Reduce laser radar size；Rotatable parts in the utility model are less, and the structure for being conducive to laser radar built-in system is steady
Fixed and service life.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of two-dimension scanning laser range radar of the utility model based on transmitting-receiving compound lens.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
Referring to Figure 1, present embodiment discloses the two-dimension scanning laser range radars based on transmitting-receiving compound lens, including according to
The receiving sensor 1 of secondary setting, laser 2, Combined lens 3, the reflection subassembly 4 rotated, the laser 2 are sharp for emitting
Light, laser 2 are that discontinuity emits laser, and laser 2 is near-infrared semiconductor laser, and wavelength is human eye safe wavelength,
Power is low, to avoid damaging human eye, the Combined lens 3 are used to collimate the laser of transmitting and assemble received sharp
Light, reflection subassembly 4 can rotate while reflection laser, and the receiving sensor 1 is for receiving laser；
The Combined lens 3 include receiving convergent lens 31 and collimation lens 32, and receiving convergent lens 31 is that high order is non-
Spherical lens, it is on one side cambered surface, another side is plane, and signal beams are big, is realized by cambered surface that it is in bowl-shape for, which receiving convergent lens 31,
Convergence to signal beams, and signal hot spot is imaged on the photosurface of photoelectric sensor at 3 rear of Combined lens, work as letter
When number hot spot is imaged on the photosurface of photoelectric sensor, photoelectric sensor output signals；
The collimation lens 32 is embedded in the reception convergent lens 31, is offered and is worn in the reception convergent lens 31
The through-hole 311 for receiving convergent lens 31, through-hole 311 are arranged at the center for receiving convergent lens 31 thoroughly, the through-hole 311
Section is tapered or rectangle, the reception convergent lens 31 is inlayed by the through-hole 311, by collimation lens 32 and is connect
31 integration of convergent lens is received, the space utilization rate and capacity usage ratio inside laser radar, collimation lens 32 are substantially increased
Be surrounded by metal shell, collimation lens 31 is embedded in together with metal shell and receives in convergent lens 31, passes through metal
Shell, which facilitates for collimation lens 32 to be mounted on, to be received in convergent lens 31, and the laser 2 is connect by the through-hole 311 with described
It is fixed to receive convergent lens 31, laser 2 and collimation lens 32 are successively embedded in through-hole 311, and collimation lens 32 is embedded in close
The end of 31 cambered surface of convergent lens is received, laser 2 is embedded in close to the end for receiving 31 plane of convergent lens；
The light that laser 2 emits passes through collimation lens 32, is collimated by collimation lens 32, is reduced by collimation lens 32
The angle of divergence of laser beam realizes the shaping to laser beam, guarantees that transmitting light beam and signal beams will not crosstalks；
The receiving sensor 1 is photoelectric sensor, and photoelectric sensor uses PIN silicon photoelectric diode, photoelectric sensor
Photosurface be located at receive 31 rear of convergent lens (laser beam from the direction projected is received in convergent lens 31 for receive assemble it is saturating
The front of mirror 31) focussing plane at, photosurface be 1mm*1mm square face, signal beams can be received convergent lens 31 imaging
To at the photosurface；
The reflection subassembly 4 includes reflecting mirror 41, and the reflecting mirror 41 is connect with the output shaft 421 of motor 42, reflecting mirror
41 center is overlapped with the center of the output shaft 421 of motor 42, drives reflecting mirror 41 to rotate by the motor 42, the reflection
Mirror 41 and the output shaft 421 of the motor 42 are obliquely installed, and reflecting mirror 41 and the included angle of the output shaft 421 of motor 42 are
45 °, realize that optical path reflects using the reflecting mirror 41 that tilt angle is 45 °, radiating laser beams direction is inclined by the reflecting mirror of setting
41 are reflected into horizontal direction by vertical direction, and the rotation of reflecting mirror 41 is so that laser beam carries out 360 ° of scannings, certain reflecting mirror 41
Be also not uniquely with the included angle of the output shaft 421 of motor 42,45 ° are most preferred angles, the output shaft 421 also with
Measuring device connection, the only reflection subassembly 4 moved in entire laser radar make entire laser radar more stable, guarantee
The stabilization of distance measuring structure, ranging it is accurate；
The reflection subassembly 4 connects measuring device, and the measuring device includes the code-disc rotated with the reflection subassembly 4
51,51 side of code-disc is equipped with code reader 52, and code-disc 51 and the output shaft 421 of motor 42 are fixed, and the center of code-disc 51
It is overlapped with the output shaft 421 of motor 42, the output shaft 421 of motor 42 drives reflective mirror 41 also to drive code-disc 51 while rotation
Rotation, while passing through the rotation angle that code reader 52 reads out code-disc 51；
Further, laser 2 emit the beam center of laser, 32 center of collimation lens, receive 31 center of convergent lens,
The center of reflecting mirror 41 and the photosurface center of photoelectric sensor are respectively positioned on same straight line；
Further, the utility model be additionally provided with the timing module 6 being connect with laser 2 and photoelectric sensor and with electricity
The control module 7 that machine 42 and laser 2 connect emits laser beam by 6 writing laser 2 of timing module and connects to photoelectric sensor
The time interval for receiving laser beam controls the revolving speed of motor 42 and the frequency of the transmitting laser of laser 2 by control module 7.
Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model
Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model
It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.
Claims (9)
1. the two-dimension scanning laser range radar based on transmitting-receiving compound lens, it is characterised in that: the reception including setting gradually passes
Sensor, laser, Combined lens, rotation reflection subassembly, the laser for emitting laser, use by the Combined lens
In the laser and the received laser of convergence of collimation transmitting, reflection subassembly can rotate while reflection laser, the reception sensing
Device is for receiving laser.
2. the two-dimension scanning laser range radar as described in claim 1 based on transmitting-receiving compound lens, which is characterized in that described
Combined lens include that reception convergent lens and collimation lens, the collimation lens are embedded in the reception convergent lens.
3. the two-dimension scanning laser range radar as claimed in claim 2 based on transmitting-receiving compound lens, which is characterized in that described
It receives to offer in convergent lens and penetrates the through-hole for receiving convergent lens, the reception is inlayed by the through-hole and is assembled thoroughly
Mirror.
4. the two-dimension scanning laser range radar as claimed in claim 3 based on transmitting-receiving compound lens, which is characterized in that described
Laser is fixed by the through-hole and the reception convergent lens.
5. the two-dimension scanning laser range radar as claimed in claim 3 based on transmitting-receiving compound lens, which is characterized in that described
The section of through-hole is tapered or rectangle.
6. the two-dimension scanning laser range radar as described in claim 1 based on transmitting-receiving compound lens, which is characterized in that described
Receiving sensor is photoelectric sensor.
7. the two-dimension scanning laser range radar as described in claim 1 based on transmitting-receiving compound lens, which is characterized in that described
Reflection subassembly includes reflecting mirror, the output axis connection of the reflecting mirror and motor, drives reflecting mirror rotation, institute by the motor
The output shaft for stating reflecting mirror and the motor is obliquely installed.
8. the two-dimension scanning laser range radar as described in claim 1 based on transmitting-receiving compound lens, which is characterized in that described
Reflection subassembly connects measuring device.
9. the two-dimension scanning laser range radar as claimed in claim 8 based on transmitting-receiving compound lens, which is characterized in that described
Measuring device includes the code-disc rotated with the reflection subassembly, and the code-disc side is equipped with code reader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821134144.6U CN208459595U (en) | 2018-07-17 | 2018-07-17 | Two-dimension scanning laser range radar based on transmitting-receiving compound lens |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821134144.6U CN208459595U (en) | 2018-07-17 | 2018-07-17 | Two-dimension scanning laser range radar based on transmitting-receiving compound lens |
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| CN208459595U true CN208459595U (en) | 2019-02-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710134A (en) * | 2018-07-17 | 2018-10-26 | 苏州元联传感技术有限公司 | Two-dimensional scanning laser range radar based on receiving and transmitting combined lens |
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2018
- 2018-07-17 CN CN201821134144.6U patent/CN208459595U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710134A (en) * | 2018-07-17 | 2018-10-26 | 苏州元联传感技术有限公司 | Two-dimensional scanning laser range radar based on receiving and transmitting combined lens |
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Address after: 215000 Building B1, 1st Floor, Dongfang Chuangzhi Park, No. 18 Jinfang Road, Suzhou Industrial Park, Jiangsu Province Patentee after: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. Address before: No. 456 Puhui Road, Suzhou Industrial Park, Jiangsu Province, 215000 Patentee before: SUZHOU YUANLIAN SENSING TECHNOLOGY Co.,Ltd. |
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Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. Address before: 1 / F, building B1, Dongfang Chuangzhi garden, 18 JinFang Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee before: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. |
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Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu Intelligent Technology Co.,Ltd. Address before: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. |