CN107561551A - 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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Abstract
The present invention is applied to laser radar range technical field, there is provided a kind of light path system based on multi-line laser radar, including：Arrangement of laser emitters, for launching laser signal to target object；Reflector group, for laser signal to be deflected into the target object；Laser pickoff array, for receiving the laser echo signal of target object reflection；Reflecting module array, for adjusting the angle of laser echo signal, laser echo signal is reflexed on corresponding laser pickoff；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 embodiment of the present invention, when carrying out laser ranging, without individually being adjusted to the laser emitting module per laser all the way, avoid in debugging process because adjacent road laser interferes with each other so that the problem of light path debugging is difficult, make light path debugging simpler, and then cost of labor is also reduced, it have compressed the supply time.
Description
Technical field
The invention belongs to laser radar range technical field, more particularly to a kind of light path system based on multi-line laser radar
System.
Background technology
Laser radar is to launch 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 efficiency is high, is automatic driving, robot localization navigation, space environment mapping, security
The essential core sensor in the fields such as security protection.
At present, at work, mainly by the laser emission part set inside laser radar, laser is believed for laser radar
Number it is transmitted into above target object, and the laser reflection that target object reflects is received by the laser pick-off part of setting and believed
Number, and by time point when recording laser transmitting and laser pick-off, to obtain the time difference of both times, and pass through light
Speed, the distance of target object is calculated, so as to realize the function of laser ranging, and currently in order to improving the ranging model of laser radar
Enclose, it will usually set multi-path laser radar to be scanned, still, existing multi-path laser radar, per laser emission section all the way
Part and laser pick-off part are both provided with single expelling plate and receiver board, the laser emission part hair on an expelling plate
By setting laser pick-off part to receive on a corresponding receiver board, row distance of going forward side by side calculates the laser signal penetrated.
But existing multi-line laser radar, because the laser emission part and laser pick-off part 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 repeatedly, and cost of labor is high, and elapsed time is long.
The content of the invention
The embodiment of the present invention provides a kind of light path system based on multi-line laser radar, it is intended to solves in the prior art, light
Learn the adjacent appearance of a street of debugging process easily to interfere with each other, debugging light path adjustment is extremely difficult, and needs repeatedly individually debugging, debugs repeatedly, people
The problem of work cost is high, and elapsed time is long.
The embodiment of the present invention is achieved in that a kind of light path system based on multi-line laser radar, including：
Arrangement of laser emitters, for launching laser signal to target object；
Reflector group, for the laser signal to be deflected into the target object；
Laser pickoff array, for receiving the laser echo signal of the target object reflection；
Reflecting module array, for adjusting the angle of the laser echo signal, the laser echo signal is reflexed to
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.
In embodiments of the present invention, there is provided a kind of light path system based on multi-line laser radar, by Laser emission
Device array launches laser signal to target object, and the reflection of emitted microscope group deflects into laser signal on target object, together
When the laser echo signal that target object reflects is reflexed to above laser pickoff array by reflecting module array, swashed
Ligh-ranging, by the way that arrangement of laser emitters is arranged on laser transmission circuit plate, laser pickoff array and reflecting module
Array is arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust the position of laser pick-off circuit board
Put and angle, and the angle of laser echo signal is adjusted using reflecting module array, so that laser pickoff receives,
Without being adjusted to the laser pickoff per laser echo signal all the way, avoid in debugging process because adjacent road laser is mutual
The problem of mutually interference causes light path debugging difficult, make light path debugging simpler, and then also reduce cost of labor, have compressed confession
ETCD estimated time of commencing discharging.
Brief description of the drawings
Fig. 1 is a kind of structural representation of multi-thread light path system provided in an embodiment of the present invention；
Fig. 2 is a kind of front view of laser transmission circuit plate provided in an embodiment of the present invention；
Fig. 3 is a kind of left view of laser transmission circuit plate provided in an embodiment of the present invention；
Fig. 4 is a kind of front view of laser pick-off circuit board provided in an embodiment of the present invention；
Fig. 5 is a kind of left view of laser pick-off circuit board provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In embodiments of the present invention, there is provided a kind of light path system based on multi-line laser radar, by Laser emission
Device array launches laser signal to target object, and the reflection of emitted microscope group deflects into laser signal on target object, together
When the laser echo signal that target object reflects is reflexed to above laser pickoff array by reflecting module array, swashed
Ligh-ranging, by the way that arrangement of laser emitters is arranged on laser transmission circuit plate, laser pickoff array and reflecting module
Array is arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust the position of laser pick-off circuit board
Put and angle, and the angle of laser echo signal is adjusted using reflecting module array, so that laser pickoff receives,
Without being adjusted to the laser pickoff per laser echo signal all the way, avoid in debugging process because adjacent road laser is mutual
The problem of mutually interference causes light path debugging difficult, make light path debugging simpler, and then also reduce cost of labor, have compressed confession
ETCD estimated time of commencing discharging.
Below by way of specific embodiment, the present invention will be described in detail
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, in embodiments of the present invention, arrangement of laser emitters, for object
Body launches laser signal；Reflector group 20, for laser signal to be deflected into target object；Laser pickoff array, for connecing
Receive the laser echo signal of target object reflection；Reflecting module array, for adjusting the angle of laser echo signal, laser is returned
Ripple signal reflex is on corresponding laser pickoff 30；Wherein, arrangement of laser emitters is arranged on laser transmission circuit plate 1,
Laser pickoff array and reflecting module array are arranged on laser pick-off circuit board 2.By the way that arrangement of laser emitters is set
To put on laser transmission circuit plate 1, laser pickoff array and reflecting module array are arranged on laser pick-off circuit board 2,
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 pair
The angle of laser echo signal is adjusted, so that laser pickoff receives, without to the laser per laser echo signal all the way
Receiver is adjusted, and is avoided in debugging process because adjacent road laser interferes with each other so that the problem of light path debugging is difficult,
Make light path debugging simpler, and then also reduce cost of labor, have compressed the supply time.
In embodiments of the present invention, arrangement of laser emitters includes multiple generating lasers 10, each generating laser 10
Laser signal all the way can all be launched, relative, laser pickoff array includes multiple laser pickoffs 30, each laser pick-off
Device 30 can all receive the laser echo signal that target object reflects all the way, i.e. a generating laser 10 connects with a laser
Receipts device 30 is corresponding, and the only corresponding laser pickoff 30 of laser pulse signal of different angle can receive, structure setting
Simply, more uniformly spread.
Wherein, the quantity of generating laser 10 is identical with the quantity of laser pickoff 30.
In the preferred embodiments of the present invention, the quantity of generating laser 10 can be 16, and 16 road laser can be transmitted
Signal, relative, the quantity of laser pickoff 30 is alternatively 16, can receive 16 road laser echo signals, generating laser 10
The laser pulse signal of 16 tunnel different angles of transmitting is respectively after detection target surface diffusing reflection by the difference of reception system
Laser pickoff 30 receives.It should be noted that the quantity of generating laser and laser pickoff can also be 8,10
Or other quantity, it can be specifically configured according to actual conditions, the present invention does not limit.
In embodiments of the present invention, laser transmission circuit plate 1 includes the first mounting surface and the second mounting surface, Laser emission
Device array includes first laser transmitter sub-arrays and second laser transmitter sub-arrays 12, first laser transmitter sub-arrays
It is arranged on the first mounting surface, second laser transmitter sub-arrays 12 are arranged on the second mounting surface.First laser transmitter submatrix
Row are oppositely arranged on the side of laser transmission circuit plate 1 with second laser transmitter sub-arrays, and are parallel to each other, by laser
First laser transmitter sub-arrays and second laser transmitter submatrix are set respectively on two mounting surfaces of radiating circuit plate 1
Row, the utilization rate of laser transmission circuit plate 1 can be improved, reduce area occupied, and laser optical path can be avoided excessive caused mutual
Interference.
Wherein, the quantity of the generating laser of first laser transmitter sub-arrays 11 and second laser transmitter sub-arrays 12
Generating laser quantity it is identical, such as, first laser transmitter sub-arrays include 8 generating lasers, second laser hair
Emitter subarray also includes 8 generating lasers.
Further, first laser transmitter array includes multiple generating lasers 10, multiple generating lasers 10 in arcuation,
It is evenly distributed on the first mounting surface, second laser transmitter sub-arrays include multiple generating lasers 10, multiple Laser emissions
Device 10 is in arcuation, is evenly distributed on second mounting surface.By by multiple generating lasers 10 mode as shown in Figure 2,
In certain arcuation, it is evenly distributed on mounting surface, the laser signal of multiple laser transmitter projects can be converged to reflector
In group 20, and after the reflection by reflector group 20, deflection certain angle is transmitted on target object, will farthest can be swashed
Optical signal launch is on target object, there is provided the scanning range of laser signal.
In embodiments of the present invention, first laser transmitter sub-arrays and second laser transmitter sub-arrays it is cross-shaped,
It is oppositely arranged, and there is the difference in height of setting between the two.It is oppositely arranged by way of staggeredly, first laser can be launched
The laser signal of laser transmitter projects on device subarray and the laser transmitter projects in second laser transmitter sub-arrays
Laser signal stagger, and there is a certain distance, interfering between adjacent laser signal can be reduced.
In embodiments of the present invention, reflector group 20 includes the first reflector and the second reflector, the first reflector with
Second reflector is relative to be arranged in parallel, can change the optical direction of laser signal using reflector group 20, make optical system volume
It is more compact.
Wherein, the first reflector and the second reflector can be speculum, change the light path of laser by speculum, will
Laser reflection is on target object.In addition to using speculum, prism, or the combination of speculum and prism can also be used.
In embodiments of the present invention, arrangement of laser emitters 10 includes：Diode laser matrix, for launching laser letter
Number；And corresponded with diode laser matrix, for the compression angle adjustment module array collimated to laser signal.Its
In, diode laser matrix includes multiple laser diodes, and compression angle adjustment module array includes multiple compression angle adjustment modules,
One laser diode is corresponding with a compression angle adjustment module, and compression angle adjustment module is arranged on corresponding laser two
In the light path of the Laser emission of pole pipe, the laser signal that can launch corresponding laser diode collimates, so that swashing
Light laser diode fast axle and the angle of divergence on slow axis close to consistent, form more uniform hot spot.
Wherein, compression angle adjustment module can be miniature cylindrical mirror, and laser diode can be arranged on sharp by way of welding
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 embodiments of the present invention, arrangement of laser emitters is except above-mentioned diode laser matrix and compression angle regulation mould
Outside the combining form of block, optical fiber laser, gas laser, solid state laser etc. can also be directly used to form Laser emission
Device array, it can specifically be selected according to actual conditions.
In embodiments of the present invention, laser pick-off circuit board includes the 3rd mounting surface and the 4th mounting surface, laser pick-off
Device array includes first laser receiver array and the second photoelectronic detecting array, and the first photoelectronic detecting array is arranged on the 3rd peace
On dress face, and linearly arranged in the vertical direction of the 3rd mounting surface, the second photoelectronic detecting array is arranged on the 4th mounting surface
On, and 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 makes 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
Number stagger, and there is a certain distance, interfering between adjacent laser echo-signal can be reduced.
In embodiments of the present invention, laser pickoff array includes multiple laser pickoffs 30, and reflecting module array includes
Multiple reflecting modules 40, laser pickoff 30 correspond with reflecting module 40.With 30 corresponding reflecting module of laser pickoff
40 may be provided in the light path of laser echo signal reception, for adjusting the angle of laser echo signal, by laser echo signal
Reflex on the laser pickoff 30 of corresponding angle, to carry out laser ranging.By by laser pickoff 30 and reflecting module
40 are arranged on a laser pick-off circuit board 2, simplify optics debugging, save cost of labor and time.
Wherein, laser pickoff 30 is photodetector, and reflecting module 40 can be arranged on laser by way of stickup and be connect
To receive on circuit board 2, can specifically use the minitype reflector of such as 2 × 2mm or 3 × 3mm equidimensions, specific size is not limited,
Can also use prism or other can deflect the device of laser, can be selected according to actual conditions.
In embodiments of the present invention, light path system also includes, and is arranged on the receiving light path of laser echo signal, for inciting somebody to action
The conduction unit 50 that laser echo signal is reflexed on laser pickoff.
Wherein, the conduction unit 50 conducts module 52 including the first conduction module 51 and second and changed by conduction unit
The reception direction of laser echo signal, make whole light path system volume more compact.The first conduction guided modes of module 51 and second
Block 52 can be speculum, change the angle of laser echo signal by speculum, conducted to focusing unit 70 after focusing on,
Corresponding to being transferred on laser pickoff 30, and can be scanned according to time difference calculating of the transmitting laser with receiving return laser beam
The distance of target object, in addition to using speculum, prism, or the combination of speculum and prism can also be used.
In embodiments of the present invention, light path system also includes：It is arranged in laser signal transmitting light path, for believing laser
Number collimation unit collimated 60, by collimation unit, is collimated to laser signal by collimation unit, makes every Shu Jiguang
An approximate circle hot spot is all formed, so as to which laser beam divergence is smaller, laser energy is concentrated, and detection range can reach 150
It is more than rice.
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 using ball
Face lens, laser can be collimated.
In embodiments of the present invention, light path system also includes：Be arranged on the receiving light path of laser echo signal, for pair
The focusing unit 70 that laser echo signal is focused.
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 prevents 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 using ball
Face lens, laser can be focused.
In embodiments of the present invention, light path system also includes being arranged between laser pickoff and the second speculum, is used for
Filter out the filter 80 of the clutter of laser echo signal.Effectively clutter can be filtered out, improve system signal noise ratio, increase system
Detection range of the system under strong light.
In embodiments of the present invention, there is provided a kind of light path system based on multi-line laser radar, by Laser emission
Device array launches laser signal to target object, and the reflection of emitted microscope group deflects into laser signal on target object, together
When the laser echo signal that target object reflects is reflexed to above laser pickoff array by reflecting module array, swashed
Ligh-ranging, by the way that arrangement of laser emitters is arranged on laser transmission circuit plate, laser pickoff array and reflecting module
Array is arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust the position of laser pick-off circuit board
Put and angle, and the angle of laser echo signal is adjusted using reflecting module array, so that laser pickoff receives,
Without being adjusted to the laser pickoff per laser echo signal all the way, avoid in debugging process because adjacent road laser is mutual
The problem of mutually interference causes light path debugging difficult, make light path debugging simpler, and then also reduce cost of labor, have compressed confession
ETCD estimated time of commencing discharging.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of light path system based on multi-line laser radar, it is characterised in that the light path system includes：
Arrangement of laser emitters, for launching laser signal to target object；
Reflector group, for the laser signal to be deflected into the target object；
Laser pickoff array, for receiving the laser echo signal of the target object reflection；
Reflecting module array, for adjusting the angle of the laser echo signal, the laser echo signal is reflexed to correspondingly
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 the laser pick-off circuit board.
2. the light path system based on multi-line laser radar as claimed in claim 1, it is characterised in that the laser transmission circuit
Plate includes 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
Generating laser subarray is arranged on second mounting surface.
3. the light path system based on multi-line laser radar as claimed in claim 2, it is characterised in that the first laser transmitting
Device array includes multiple generating lasers, and the multiple generating laser is in arcuation, is evenly distributed on first mounting surface,
The second laser transmitter sub-arrays include multiple generating lasers, and the multiple generating laser is in arcuation, is uniformly distributed
On second mounting surface.
4. the light path system based on multi-line laser radar as claimed in claim 3, it is characterised 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 claimed in claim 1, it is characterised in that the reflector group includes
First reflector and the second reflector, first reflector is relative with second reflector to be arranged in parallel.
6. the light path system based on multi-line laser radar as claimed in claim 1, it is characterised in that the generating laser battle array
Row include：
Diode laser matrix, for launching laser signal；And
Corresponded with the diode laser matrix, for the compression angle adjustment module battle array collimated to the laser signal
Row.
7. the light path system based on multi-line laser radar as claimed in claim 1, it is characterised in that the laser pick-off circuit
Plate includes the 3rd mounting surface and the 4th mounting surface, and the laser pickoff array includes first laser receiver array and the
Two photoelectronic detecting array, first photoelectronic detecting array are arranged on the 3rd mounting surface, and in the 3rd mounting surface
Vertical direction on linearly arrange, second photoelectronic detecting array is arranged on the 4th mounting surface, and described
Linearly arranged in the vertical direction of four mounting surfaces.
8. the light path system based on multi-line laser radar as claimed in claim 7, it is characterised 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 claimed in claim 1, it is characterised in that the laser pickoff battle array
Row include multiple laser pickoffs, and the second reflecting module array includes multiple reflecting modules, the laser pickoff and institute
State reflecting module one-to-one corresponding.
10. the light path system based on multi-line laser radar as claimed in claim 1, it is characterised in that the light path system is also
Including：
It is arranged in the laser signal transmitting light path, for the collimation unit collimated to the laser signal, and
It is arranged on the receiving light path of the laser echo signal, for the focusing list being focused to the laser echo signal
Member.
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| CN109782299A (en) * | 2019-02-14 | 2019-05-21 | 深圳市迈测科技股份有限公司 | A kind of solid-state laser radar installations |
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