CN211786078U - Light path system and laser radar - Google Patents
Light path system and laser radar Download PDFInfo
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- CN211786078U CN211786078U CN201922444753.2U CN201922444753U CN211786078U CN 211786078 U CN211786078 U CN 211786078U CN 201922444753 U CN201922444753 U CN 201922444753U CN 211786078 U CN211786078 U CN 211786078U
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Abstract
The utility model discloses a light path system and a laser radar, wherein the light path system comprises a first light path and a second light path, the vertical resolution and refresh rate can be improved by the optical path system, the laser radar comprises a laser emission source, a vibrating mirror or a multi-surface reflecting prism, an optical path system, a horizontal rotating structure and a motor control module, the cost and the calibration workload can be greatly reduced by using one laser emission source, meanwhile, the rotating multi-surface reflecting prism or the vibrating mirror and the optical path system are adopted, the laser beams distributed in the horizontal and vertical directions can be more, the horizontal and vertical resolution of the laser radar is improved, the technical parameter requirements of the multi-line laser radar of the multi-path transmitter are met, the horizontal rotating structure is driven to rotate by the motor control module, thereby driving the laser emission source and the galvanometer or the multi-surface reflecting prism to synchronously rotate, and realizing 360-degree three-dimensional scanning. This utility model is used for the detection area.
Description
Technical Field
The utility model relates to a detection area especially relates to an optical path system and laser radar.
Background
In the field of automatic driving and the like, the laser radars in the prior art are mainly classified into two categories, the first category is a rotary multi-line laser radar, and the second category is a non-rotary laser radar, namely a solid-state laser radar.
The first type adopts a mechanical rotation type mode to realize three-dimensional scanning, and can meet the technical requirements of unmanned driving on 0.1-degree horizontal resolution (360 degrees), 0.2-0.3-degree vertical resolution (up-down 15 degrees) and 10-20 frames of refreshing frequency, but needs a plurality of laser transmitters and receivers and a horizontal rotating speed of 600 revolutions per minute, and mass production needs to calibrate each transmitter and receiver, so that the labor investment is large, the product yield is low, and the laser radar using a plurality of laser transmitters in the prior art is very high in cost.
There are three types of solid-state lidar in the second category, the first is an MEMS (micro electro mechanical systems) scheme, which uses a micro MEMS scanning mirror to control the laser beam; alternatively, the laser beam is controlled using a technique called optical phased array, without any moving parts;
the third category is called flood (Flash) imaging LiDAR, which requires only one Flash to illuminate the entire scene without beam steering, and then detects the back-reflected light by a two-dimensional array image sensor similar to a digital camera. However, the second type of solid-state laser radar can only scan in one direction, and cannot scan 360 degrees, the effect of the first type of laser radar can be achieved only by matching 4 solid-state radars, and only the first technology is mature, so that the cost cannot be greatly reduced and the mass production cannot be realized.
The utility model patent CN107153185a discloses a laser radar and laser radar control method, adopt vertical mirror that shakes and the cooperation of horizontal rotation structure to accomplish three-dimensional scanning, adopt a transmitter to realize the vertical direction scanning through the mirror that shakes, replace the complexity of a plurality of transmitters with the cost of seeking to reduce and structure, but because unmanned drives require 0.1 degree and refresh frequency 10 frames or more to laser radar horizontal resolution, and measuring distance will reach 200m, the time of every 0.1 degree of sweeping of horizontal direction is 27us according to this technical requirement, and measuring time at least 2us each time, can only measure 13 times on the vertical direction, vertical resolution can only accomplish 2.2 degrees promptly, so can not reach the technical parameter requirement of a first kind of many transmitter/receiver laser radar, can't replace foretell first kind of laser radar completely.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can reduce laser radar's cost and the method of demarcation work load, improve laser radar's the light path system and laser radar of the vertical resolution ratio.
The utility model adopts the technical proposal that:
an optical path system, comprising:
the light entering the first light path is reflected by the first reflector, then sequentially passes through the first spectroscope A, the first spectroscope B and the first spectroscope C, and enters the first spectroscope A, the first spectroscope B and the first spectroscope C to be divided into two beams of light which are perpendicular to each other;
and the second light path comprises a second reflecting mirror, a second spectroscope A, a second spectroscope B and a second spectroscope C, light entering the second light path is reflected by the second reflecting mirror and then sequentially passes through the second spectroscope A, the second spectroscope B and the second spectroscope C, enters the second spectroscope A, the second spectroscope B and the second spectroscope C to be divided into two mutually perpendicular beams of light, and the first reflecting mirror and the second reflecting mirror are arranged in parallel.
A lidar, comprising:
a laser emitting source for emitting laser light, said laser emitting source consisting of at least one laser emitter;
the laser beam splitter comprises a vibrating mirror or a multi-surface reflecting prism, wherein the vibrating mirror or the multi-surface reflecting prism is used for changing the light path direction of emergent laser in the vertical direction;
the optical path system as described above, the optical path system is configured to split the light reflected by the vibrating mirror or the multi-surface reflecting prism into at least two directions to be emitted, and the vibrating mirror or the multi-surface reflecting prism is collinear with the first reflecting mirror and the second reflecting mirror;
the horizontal rotating structure is used for driving the vibrating mirror or the multi-surface reflecting prism and the laser emission source to synchronously and horizontally rotate;
the motor control module is arranged below the horizontal rotating structure and drives the horizontal rotating structure to rotate.
Further conduct the utility model discloses technical scheme's improvement before the first speculum of first light path, all install angle measurement system before the second speculum of second light path, angle measurement system is used for confirming the transmission angle of laser on the vertical direction.
Further conduct the utility model discloses technical scheme's improvement, angle measurement system is position sensitive detector.
Further as the utility model discloses technical scheme's improvement still includes a plurality of receivers, each the receiver is installed on a casing with the equal interval.
Further be as the utility model discloses technical scheme's improvement be provided with the focus unit before the receiver, focus unit focus reflection laser is received by the receiver.
Further as the improvement of the technical scheme of the utility model, the receiver is avalanche diode.
Further as the utility model discloses technical scheme's improvement, still including closing and restrainting the unit, close and restraint the unit and close the laser that each laser emitter sent and jet out for a light path.
Further conduct the utility model discloses technical scheme's improvement still includes the collimation unit, the collimation unit sets up between laser emission source and multiaspect reflective prism or the mirror that shakes, the collimation unit is used for the emergent laser of collimation laser emission source transmission.
The utility model has the advantages that: the optical path system comprises a first optical path and a second optical path, and can improve vertical resolution and refresh rate, and the laser radar comprises a laser emission source, a galvanometer or multi-surface reflecting prism, an optical path system, a horizontal rotating structure and a motor control module, wherein the cost and the calibration workload can be greatly reduced by using one laser emission source, and meanwhile, the rotating cylindrical multi-surface reflecting prism or galvanometer and the optical path system are adopted, the laser beams distributed in the horizontal and vertical directions can be more, the horizontal and vertical resolution of the laser radar is improved, the technical parameter requirements of the multi-line laser radar of the multi-path transmitter are met, the horizontal rotating structure is driven to rotate by the motor control module, thereby driving the laser emission source and the galvanometer or the multi-surface reflecting prism to synchronously rotate, and realizing 360-degree three-dimensional scanning.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 is a schematic view of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic view of an optical path system according to an embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 2, an optical path system includes a first optical path 1 and a second optical path 2. The first optical path 1 includes a first reflector 11, a first spectroscope a12, a first spectroscope B13 and a second spectroscope C14, and light entering the first optical path 1 is reflected by the first reflector 11, then sequentially passes through the first spectroscope a12, the first spectroscope B13 and the first spectroscope C14, and enters the first spectroscope a12, the first spectroscope B13 and the first spectroscope C14 to be divided into two beams of light perpendicular to each other. The second optical path 2 comprises a second reflecting mirror 21, a second beam splitter a22, a second beam splitter B23 and a second beam splitter C24, and light entering the second optical path 2 is reflected by the second reflecting mirror 21, then sequentially passes through the second beam splitter a22, the second beam splitter B23 and the second beam splitter C24, and then enters the second beam splitter a22, the second beam splitter B23 and the second beam splitter C24 to be split into two beams of light which are perpendicular to each other. The first mirror 11 and the second mirror 21 are arranged in parallel. This optical path system, through first light path 1 and second light path 2, can disperse light from 8 directions and go out, scan the testee, and it can effectively improve vertical resolution and refresh rate.
Referring to fig. 1 and 2, a laser radar includes a laser emitting source 3, a galvanometer or a multi-surface reflection type prism, an optical path system, a horizontal rotation structure 4, and a motor control module 5. The cost of the laser radar can be effectively reduced and the vertical resolution of the laser radar can be improved by adopting one laser emission source 3.
Wherein, laser emission source 3 is used for transmitting laser, and laser emission source 3 comprises at least one laser emitter, can improve emission frequency. The galvanometer or the polygon mirror is used to change the optical path direction of the outgoing laser light in the vertical direction. The optical path system is used for dividing the light reflected by the vibrating mirror or the multi-surface reflecting prism into at least two directions to be emitted, and the vibrating mirror or the multi-surface reflecting prism is in the same straight line with the first reflecting mirror 11 and the second reflecting mirror 22. The vibrating mirror or the multi-surface reflecting prism and the laser emission source 3 are arranged on the horizontal rotating structure 4, and the horizontal rotating structure 4 is used for driving the vibrating mirror or the multi-surface reflecting prism and the laser emission source 3 to synchronously and horizontally rotate. The motor control module 5 is arranged below the horizontal rotating structure 4, and the motor control module 5 drives the horizontal rotating structure 4 to rotate horizontally, so as to drive the vibrating mirror or the multi-surface reflecting prism and the laser emission source 3 which are arranged on the horizontal rotating structure 4 to rotate synchronously. When the motor control module is used, the speed of the motor control module 5 can be adjusted according to the requirement, and the rotating speed is adjusted.
An angle measuring system is arranged in front of the first reflector 11 of the first light path 1 and in front of the second reflector 21 of the second light path 2, and is used for determining the emission angle of the laser in the vertical direction. Further, the angle measurement system is a position sensitive detector, such as a PSD, PIN, APD, CMOS/CCD, etc. In practical operation, a beam splitter is arranged on the light path before the reflection of the first reflecting mirror 11 and the second reflecting mirror 21, and an angle measuring system is arranged on the branch path of the beam splitter to directly measure the emission angle of the laser in the vertical direction.
In this embodiment, a plurality of receivers 6 are further included, and each receiver 6 is mounted on a housing 7 at equal intervals. It will be appreciated that for better reception of the information a focusing unit is provided before the receiver 6, which focuses the reflected laser light for reception by the receiver 6. Further, the receiver 6 is an avalanche diode. Referring to fig. 2, in the present embodiment, 8 receivers are uniformly arranged at equal intervals inside the housing 7. Wherein the first reflector 11, the first spectroscope a12, the first spectroscope B13, the first spectroscope C14, the second reflector 21, the second spectroscope a22, the second spectroscope B23, and the second spectroscope C24 are all disposed between the intervals of the adjacent receivers 6.
The optical path system is embedded into a horizontal rotating structure 4 driven by a motor control module 5, the horizontal rotating structure 4 drives light beams in multiple directions to rotate, continuous multi-point three-dimensional space scanning on an environment target is achieved, and the technical requirements of unmanned driving on 0.1-degree horizontal resolution (360 degrees), 0.2-0.3-degree vertical resolution (up-down 15 degrees) and 10-20-frame refreshing frequency can be met by combining the optical path system with the horizontal rotating structure 4 and a galvanometer or a multi-surface reflecting prism.
In one embodiment, the laser device further comprises a beam combining unit and a collimating unit, wherein the beam combining unit combines the laser emitted by each laser emitter into one optical path to emit the laser. The collimation unit is arranged between the laser emission source 3 and the multi-surface reflection type prism or the galvanometer and is used for collimating emergent laser emitted by the laser emission source 3.
This laser radar, use a laser emission source 3 can reduce cost by a wide margin and mark work load, adopt rotatory mirror or multi-surface reflection formula prism and light path system that shakes simultaneously, the laser beam that distributes on level and vertical direction can be many, improve laser radar's level and vertical resolution, reach multi-line transmitter's multi-thread laser radar's technical parameter requirement, it is rotatory to drive horizontal rotation structure 4 through motor control module 5, thereby it is rotatory to drive laser emission source 3 and multi-surface reflection formula prism or the mirror that shakes, thereby realize 360 three-dimensional scanning, light path system and 4 synchronization of horizontal rotation structure, the scanning frequency has been improved greatly.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (9)
1. An optical path system, comprising:
the light entering the first light path is reflected by the first reflector, then sequentially passes through the first spectroscope A, the first spectroscope B and the first spectroscope C, and enters the first spectroscope A, the first spectroscope B and the first spectroscope C to be divided into two beams of light which are perpendicular to each other;
the light entering the second light path is reflected by the second reflecting mirror and then sequentially passes through the second beam splitter A, the second beam splitter B and the second beam splitter C, and then enters the second beam splitter A, the second beam splitter B and the second beam splitter C to be divided into two beams of light which are perpendicular to each other;
the first reflector and the second reflector are arranged in parallel.
2. A lidar, comprising:
a laser emitting source for emitting laser light, said laser emitting source consisting of at least one laser emitter;
the laser beam splitter comprises a vibrating mirror or a multi-surface reflecting prism, wherein the vibrating mirror or the multi-surface reflecting prism is used for changing the light path direction of emergent laser in the vertical direction;
the optical path system of claim 1, wherein the optical path system is configured to split the light reflected from the vibrating mirror or the multi-surface reflecting prism into at least two directions, and the vibrating mirror or the multi-surface reflecting prism is aligned with the first reflecting mirror and the second reflecting mirror;
the horizontal rotating structure is used for driving the vibrating mirror or the multi-surface reflecting prism and the laser emission source to synchronously and horizontally rotate;
the motor control module is arranged below the horizontal rotating structure and drives the horizontal rotating structure to rotate.
3. The lidar of claim 2, wherein: an angle measuring system is arranged in front of the first reflector of the first optical path and in front of the second reflector of the second optical path, and the angle measuring system is used for determining the emission angle of the laser in the vertical direction.
4. The lidar of claim 3, wherein: the angle measurement system is a position sensitive detector.
5. The lidar of claim 2, wherein: the device also comprises a plurality of receivers, and the receivers are arranged on a shell at equal intervals.
6. The lidar of claim 5, wherein: a focusing unit is arranged in front of the receiver and focuses the reflected laser light to be received by the receiver.
7. The lidar of claim 6, wherein: the receiver is an avalanche diode.
8. Lidar according to any of claims 2 to 7, wherein: the laser beam combining device further comprises a beam combining unit, and the beam combining unit combines the laser beams emitted by the laser emitters into one optical path to be emitted.
9. Lidar according to any of claims 2 to 7, wherein: the laser beam collimator further comprises a collimating unit, wherein the collimating unit is arranged between the laser emission source and the multi-surface reflection type prism or the vibrating mirror, and the collimating unit is used for collimating emergent laser emitted by the laser emission source.
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| CN201922444753.2U CN211786078U (en) | 2019-12-27 | 2019-12-27 | Light path system and laser radar |
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| CN201922444753.2U CN211786078U (en) | 2019-12-27 | 2019-12-27 | Light path system and laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110988844A (en) * | 2019-12-27 | 2020-04-10 | 陈泽雄 | Light path system and laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110988844A (en) * | 2019-12-27 | 2020-04-10 | 陈泽雄 | Light path system and laser radar |
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