CN206546432U - A kind of laser radar optical system based on time flight method - Google Patents
A kind of laser radar optical system based on time flight method Download PDFInfo
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- CN206546432U CN206546432U CN201621188636.4U CN201621188636U CN206546432U CN 206546432 U CN206546432 U CN 206546432U CN 201621188636 U CN201621188636 U CN 201621188636U CN 206546432 U CN206546432 U CN 206546432U
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Abstract
The utility model is applied to laser radar field there is provided a kind of laser radar optical system based on time flight method, and the structure includes：Laser；Light path scanning means, enters horizontal deflection to the laser optical path that the laser is launched, makes its homed on its target object；Concentrating component, line convergence is entered by the target object reflected light that the light path scanning means reflects；And photodetector, the target object reflected light that the concentrating component is assembled is received, and export electric signal；Wherein, the concentrating component and photodetector are located at same axis with laser transmitting optical axis.The utility model is effectively solved to be rotated by the way of slip ring to radar in the prior art, causes the problem of radar rotating part service life is short, can also simplify the light path design of rotatable laser radar, reduces the design and manufacturing cost of laser radar.
Description
Technical field
The utility model belongs to laser radar field, more particularly to a kind of laser radar optical system based on time flight method
System.
Background technology
Laser radar is as a kind of distance-measuring equipment, with precision height, strong antijamming capability, and the advantages of reaction speed is fast is fitted
For a variety of use environments.
In actual applications, laser ranging mainly includes two kinds of flight time ranging and range of triangle, wherein, during flight
Between ranging be by laser radar inside optical texture, by the object on laser projection to specific direction, when laser contact is arrived
When on object, some light can be reflected back, laser radar is received after the light that this is reflected back, can be by calculating laser in hair
The flight time for receiving reflected light during this is mapped to, to calculate radar the distance between to irradiated object.And work as
Need by single light path obtain multiple angular ranges object apart from when, slip ring can only be used to carry out whole laser radar
Rotate, ranging is carried out to the object being irradiated in slewing area to realize.
But, in order to carry out ranging to the object being irradiated in multiple angular ranges, to radar by the way of slip ring
The problem of radar rotating part service life is short can be produced by carrying out rotation, and existing rotatable laser radar light path design more
Complexity, cost is higher.
Utility model content
The utility model embodiment provides a kind of laser radar optical system based on time flight method, it is intended to solve existing
In technology, by carrying out ranging to the object being irradiated in multiple angular ranges, radar is turned by the way of slip ring
It is dynamic to produce the problem of radar rotating part service life is short, and the light path design of existing rotatable laser radar is complex,
The problem of cost is higher.
The utility model embodiment is achieved in that a kind of laser radar optical system based on time flight method, bag
Include：
Laser；
Light path scanning means, enters horizontal deflection to the laser optical path that the laser is launched, makes its homed on its target object；
Concentrating component, line convergence is entered by the target object reflected light that the light path scanning means reflects；And
Photodetector, receives the target object reflected light that the concentrating component is assembled, and export electric signal；
Wherein, the concentrating component and photodetector are located at same axis with laser transmitting optical axis.
It is preferred that, the laser includes：
Laser generating element；And
Launch the collimation microscope group in light path located at the laser generating element；
The collimation microscope group includes at least two cylindrical mirrors for being used to collimate the laser.
It is preferred that, the light path scanning means includes：
Deflecting mirror；And
It is connected with the deflecting mirror, the rotating mechanism for the deflecting mirror rotate control.
It is preferred that, the deflecting mirror includes speculum or prism.
It is preferred that, the collimation microscope group, which includes one, is used for the slow axis cylindrical mirror of collimation laser slow axis, and two are used for
The fast axle cylindrical mirror of collimation laser fast axle.
It is preferred that, the concentrating component includes a collector lens, and the collector lens accommodates described at axle center provided with one
The through hole of laser.
It is preferred that, the collector lens is non-spherical lens.
It is preferred that, the focal length of the collector lens and the ratio of bore are less than 1.
It is preferred that, the optical texture also includes one and set along the Laser emission optical axis, for blocking the deflecting mirror
The light-blocking member of veiling glare.
It is preferred that, the internal diameter of the light-blocking member is slightly larger than the launch spot diameter of the laser.
The utility model embodiment provides a kind of laser radar optical system based on time flight method, passes through laser
Launch laser, horizontal deflection entered to the laser optical path that the laser is launched by light path scanning means, makes its homed on its target object,
And by concentrating component, the target object reflected light that the light path scanning means reflects is entered into line convergence, then, visited by photoelectricity
Survey device and receive the target object reflected light that the concentrating component is assembled, and export electric signal, realize the laser scanning of multi-angle, make
With conveniently, the utility model is effectively solved to be rotated by the way of slip ring to radar in the prior art, causes radar
The problem of rotating part service life is short, can also simplify the light path design of rotatable laser radar, reduce setting for laser radar
Meter and manufacturing cost.
Brief description of the drawings
Fig. 1 is a kind of laser radar optical system signal based on time flight method that the utility model embodiment is provided
Figure；
Fig. 2 is another laser radar optical system signal based on time flight method that the utility model embodiment is provided
Figure；
Fig. 3 is a kind of structural representation for concentrating component that the utility model embodiment is provided.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
The utility model embodiment provides a kind of laser radar optical system based on time flight method, passes through laser
Launch laser, horizontal deflection entered to the laser optical path that the laser is launched by light path scanning means, makes its homed on its target object,
And by concentrating component, the target object reflected light that the light path scanning means reflects is entered into line convergence, then, visited by photoelectricity
Survey device and receive the target object reflected light that the concentrating component is assembled, and export electric signal, realize the laser scanning of multi-angle, make
With conveniently, the utility model is effectively solved to be rotated by the way of slip ring to radar in the prior art, causes radar
The problem of rotating part service life is short, can also simplify the light path design of rotatable laser radar, reduce setting for laser radar
Meter and manufacturing cost.
Of the present utility model implement is described in detail with reference to embodiments.
Referring to Fig. 1, Fig. 2, the utility model embodiment provides a kind of laser radar optical system based on time flight method
System, including：Laser 10, light path scanning means 20 enters horizontal deflection to the laser optical path that laser 10 is launched, makes its homed on its target
The target object reflected light that light path scanning means 20 reflects is entered line convergence, and photodetector by object, concentrating component 30
40, the target object reflected light that concentrating component 30 is assembled is received, and electric signal is exported, the utility model passes through light path scanning means
20, horizontal deflection is entered to the laser optical path that laser 10 is launched, the laser scanning of multi-angle is realized, it is easy to use, it is effective to solve
Radar is rotated by the way of slip ring in the prior art, causes the problem of radar rotating part service life is short, also
The light path design of rotatable laser radar can be simplified, the design and manufacturing cost of laser radar is reduced.
Wherein, concentrating component 30 and photodetector 40 are located at same axis, Ke Yishi with the transmitting optical axis of laser 10
Existing non-blind area detection so that more fully, obtained result of detection is more accurate for laser acquisition.
In the utility model embodiment, laser radar is used for by measuring transmitting laser and to receive target object anti-
Time difference between the echo laser signal being emitted back towards calculates the range information of laser radar and target object.And this practicality is new
The laser radar optical system based on time flight method in type embodiment be arranged at on laser radar apparatus, it is sharp for being formed
Light launches light path and receiving light path, to support the normal work of laser radar apparatus.
In embodiment of the present utility model, laser radar apparatus can be for flight lidar, based on principle of triangulation
Laser radar, any replacement combination of structure light laser radar or other types laser radar, to realize same effect
Effect, preferably selection is flight lidar in the present embodiment.
In embodiment of the present utility model, above-mentioned flight lidar photo structure can be real by light path scanning means 20
Existing 270 degree, 360 degree or the multi-angle scanning probe of other predetermined angles, can measure target object in the range of 100 meters away from
From and azimuth information, measurement frequency is high and simple in construction, easy to use.
Wherein, flight lidar can be scanned detection, the utility model tool by single line or multi-thread mode
Body is not limited.
In one embodiment of the present utility model, the laser 10 is that can launch the laser of collimation laser, including but
It is not limited to optical fiber laser, gas laser, solid state laser, the laser can appointing for single or multiple lasers
One combination, is set with specific reference to actual conditions, and the utility model is not limited.
In another embodiment of the present utility model, include laser generating element referring to Fig. 1, Fig. 2, the laser 10
11, and launch the collimation microscope group 12 in light path located at laser generating element 11, wherein, the laser generating element 11 can be laser
Diode, because the laser diode angle of departure is smaller than like product, after being collimated by collimating microscope group 12, can cause
The laser energy of laser diode transmitting is more concentrated so that spot diameter of the laser launched at 100 meters is less than 200mm,
It is easy to use so as to realize remote laser scanning, and cost is not high.
In the utility model embodiment, the wavelength of the laser diode can for 635nm, 650nm, 670nm, 860nm,
980nm etc., the utility model is preferred, and the laser diode can be the pole of high power nanosecond pulse laser two of infrared band
Pipe.
In the utility model embodiment, referring to Fig. 1, Fig. 2, collimation microscope group 12, which includes at least two, to be used for the laser
The cylindrical mirror collimated.The laser that laser diode is launched is collimated by using at least two cylindrical mirrors, can be made
The fast axle and slow axis of laser diode can be collimated well, and the laser emission angle after collimation is smaller, and the energy of laser is more
Concentrate, more remote detection can be realized.
In the utility model embodiment, collimation microscope group 12, which includes one, is used for the slow axis cylindrical mirror of collimation laser slow axis
1211, and two fast axle cylindrical mirrors 1212 for collimation laser fast axle.Because fast axis divergence angle is than larger, single cylindrical mirror
Collimating effect can be poor, therefore is used cooperatively by slow axis cylindrical mirror 1211 and fast axle cylindrical mirror 1212, collimates swash respectively
The fast axle and slow axis of light so that the laser emission angle after collimation is small, and laser energy is more concentrated, realize more detection at a distance.
Further, the collimation microscope group 12 can also be circle lens or circle lens group, but be due to use single garden saturating
When mirror carries out laser alignment, aberration can be produced and be difficult to eliminate, the angle of divergence very big situation is swashed when using using circle lens group
When light is collimated, can produce can not eliminate the astigmatism of laser diode, and the angle of divergence is also than the situation of cylindrical mirror error of collimation, therefore, sheet
In utility model, preferably collimating microscope group 12 includes at least two cylindrical mirrors for being used to collimate the laser.
In the utility model embodiment, the angle of divergence of the laser after the collimation of laser alignment microscope group 12 is preferably less than
10mrd (milliradian), can be such that the laser energy that laser 10 is launched more concentrates, and realize more detection at a distance.
Referring to Fig. 3, in the utility model embodiment, light path scanning means 20 include deflecting mirror 21 and with deflecting mirror 21
Connection, the rotating mechanism 22 for deflecting mirror 21 rotate control.
In the utility model embodiment, deflecting mirror preferably has in the speculum of plane reflection structure, practical application
Can also be that prism etc. can enter horizontal deflection with the optical path-deflecting structure of target goal object to light path, by deflecting mirror 21 to laser
The laser optical path that device 10 is launched enters horizontal deflection, further, drives deflecting mirror 21 to be rotated by rotating mechanism 22, can be achieved
270 degree, 360 degree or the scanning probe of other predetermined angles, and rotating mechanism 22 only rotates to deflecting mirror 21, without such as
Prior art carries out whole laser radar to rotate the object progress realized to being irradiated in slewing area by using slip ring
Ranging, can effectively improve the stability and service life of laser radar.
Further, the rotating mechanism 22 can be driven by way of motor, when carrying out laser scanning, pass through motor
Produce power during operation, control rotating mechanism 22 is rotated, and then 270 degree, 360 degree or other predetermined angles can be realized
Multi-angle scanning probe, overall structure is simple, easy to operate.
In the utility model embodiment, deflecting mirror 21 includes but is not limited to speculum or prism.
In the utility model embodiment, referring to Fig. 2, concentrating component 30 includes a collector lens 31, and collector lens 31 exists
Provided with a through hole 311 for accommodating laser 10 at axle center.Laser 10 is placed by the central through hole 311 in collector lens 31,
After laser 10 launches laser, in the Laser emission for being launched laser by light path scanning means 20 to target object, mesh
Mark object returns to the laser refraction being radiated at thereon, and the echo laser letter that target object is returned is received by collector lens 31
Number so that laser transmitting system and echo laser receiver system are coaxial, and the detection that radius is 0-100m scopes can be achieved, light is reduced
The occupancy volume of road system, saves cost, while ensureing the accuracy of ranging.
Wherein, collector lens 31 is non-spherical lens, and Receiver aperture is big, and the signal energy that can be received is high, and focal length is short,
The small volume of device, the convergence hot spot of non-spherical lens is small, allows the signal energy for entering lens preferably by photodetection original paper
Receive, detectivity is higher.Reduce system bulk.Non-spherical lens convergence hot spot is small, allows echo laser into lens
Preferably received by photodetector 40 so that the detectivity of photodetector 40 is higher.Can receive 100 meters with
Outer target return signal.
In the utility model embodiment, non-spherical lens can be plastic lens, and the plastic lens, which can be molded directly, to be added
Work, cost is far below glass lens, and non-breakable.
In the utility model embodiment, the focal length of collector lens 31 and the ratio of bore are preferably less than 1, are ensureing to connect
Reduce the overall volume of the laser radar optical system based on time flight method on the premise of receipts system bore as much as possible, and can
To reduce the design and manufacturing cost of laser radar, the performance of enterprises is improved.
In the utility model implementation, the laser radar optical system based on time flight method also includes one along Laser emission
Optical axis is set, the light-blocking member 50 for blocking the veiling glare of deflecting mirror 21.The light-blocking member 50 is connected with deflecting mirror 21, can basis
Under the drive of rotating mechanism 22, and the unitary rotation of deflecting mirror 21.Further, the light-blocking member 50 is a L-type cylinder, and its internal diameter is omited
More than the launch spot diameter of the laser.
In the utility model embodiment, one end of light-blocking member 50 approaches the Laser emission mouthful of laser 10.Work as laser
When radar is provided with light-permeable shell in Laser emission light path, the other end of the relative laser emission port of light-blocking member 50 approaches laser thunder
The housing reached, to stop that laser penetrates the scattered veiling glare produced in light-permeable shell, it is to avoid dissipate photodetection of the veiling glare to laser radar
The interference of device 40, improves degree of accuracy during laser radar detection reflected light.
The utility model embodiment provides a kind of laser radar optical system based on time flight method, passes through laser
Launch laser, horizontal deflection is entered to the laser optical path that the laser is launched by rotatable light path scanning means, makes its directive
The target object of multiple angles, and by concentrating component, the target object reflected light that the light path scanning means reflects is carried out
Assemble, then, the target object reflected light that the concentrating component is assembled is received by photodetector, and export electric signal, it is real
The laser scanning of existing multi-angle.The utility model embodiment is effectively solved in the prior art by the way of slip ring to radar
Rotated, cause the problem of radar rotating part service life is short, the light path design of rotatable laser radar can also be simplified,
Reduce the design and manufacturing cost of laser radar.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of laser radar optical system based on time flight method, it is characterised in that the laser radar optical system bag
Include：
Laser；
Light path scanning means, enters horizontal deflection to the laser optical path that the laser is launched, makes its homed on its target object；
Concentrating component, line convergence is entered by the target object reflected light that the light path scanning means reflects；And
Photodetector, receives the target object reflected light that the concentrating component is assembled, and export electric signal；
Wherein, the concentrating component and photodetector are located at same axis with laser transmitting optical axis.
2. the laser radar optical system as claimed in claim 1 based on time flight method, it is characterised in that the laser
Including：
Laser generating element；And
Launch the collimation microscope group in light path located at the laser generating element；
The collimation microscope group includes at least two cylindrical mirrors for being used to collimate the laser.
3. the laser radar optical system as claimed in claim 1 based on time flight method, it is characterised in that the light path is swept
Imaging apparatus includes：
Deflecting mirror；And
It is connected with the deflecting mirror, the rotating mechanism for the deflecting mirror rotate control.
4. the laser radar optical system as claimed in claim 3 based on time flight method, it is characterised in that the deflecting mirror
Including speculum or prism.
5. the laser radar optical system as claimed in claim 2 based on time flight method, it is characterised in that the collimating mirror
Group, which includes one, is used for the slow axis cylindrical mirror of collimation laser slow axis, and two are used for the fast axle cylindrical mirror of collimation laser fast axle.
6. the laser radar optical system as claimed in claim 1 based on time flight method, it is characterised in that the optically focused group
Part includes a collector lens, and the collector lens is at axle center provided with a through hole for accommodating the laser.
7. the laser radar optical system as claimed in claim 6 based on time flight method, it is characterised in that the optically focused is saturating
Mirror is non-spherical lens.
8. the laser radar optical system as claimed in claim 6 based on time flight method, it is characterised in that the optically focused is saturating
The focal length of mirror and the ratio of bore are less than 1.
9. the laser radar optical system as claimed in claim 3 based on time flight method, it is characterised in that the optical system
System also includes one and set along the Laser emission optical axis, the light-blocking member for blocking the deflecting mirror veiling glare.
10. the laser radar optical system as claimed in claim 9 based on time flight method, it is characterised in that the shading
The internal diameter of part is slightly larger than the launch spot diameter of the laser.
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| CN201621188636.4U CN206546432U (en) | 2016-10-28 | 2016-10-28 | A kind of laser radar optical system based on time flight method |
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| CN201621188636.4U CN206546432U (en) | 2016-10-28 | 2016-10-28 | A kind of laser radar optical system based on time flight method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291510A (en) * | 2016-10-28 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system based on time flight method |
| CN107817482A (en) * | 2017-10-25 | 2018-03-20 | 宁波傲视智绘光电科技有限公司 | Laser radar optical system |
| CN108051796A (en) * | 2017-12-29 | 2018-05-18 | 合肥嘉东光学股份有限公司 | A kind of miniaturization coaxial-type laser radar system based on TOF |
| CN111398993A (en) * | 2020-05-20 | 2020-07-10 | 青岛镭测创芯科技有限公司 | Non-blind area pulse coherent wind lidar system |
| CN114008484A (en) * | 2019-06-11 | 2022-02-01 | 株式会社电装 | Distance measuring device |
-
2016
- 2016-10-28 CN CN201621188636.4U patent/CN206546432U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291510A (en) * | 2016-10-28 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system based on time flight method |
| CN107817482A (en) * | 2017-10-25 | 2018-03-20 | 宁波傲视智绘光电科技有限公司 | Laser radar optical system |
| CN108051796A (en) * | 2017-12-29 | 2018-05-18 | 合肥嘉东光学股份有限公司 | A kind of miniaturization coaxial-type laser radar system based on TOF |
| CN114008484A (en) * | 2019-06-11 | 2022-02-01 | 株式会社电装 | Distance measuring device |
| CN111398993A (en) * | 2020-05-20 | 2020-07-10 | 青岛镭测创芯科技有限公司 | Non-blind area pulse coherent wind lidar system |
| CN111398993B (en) * | 2020-05-20 | 2023-03-14 | 青岛镭测创芯科技有限公司 | Non-blind area pulse coherent wind lidar system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180929 Address after: 314100 Jiaxing 3 Jiashan Road, Jiashan Province, 1 Street 3 Road, No. Patentee after: Zhejiang Lei Shen Intelligent System Co.,Ltd. Address before: 518105 A 801, 9 Furong Road, Baoan District Songgang street, Shenzhen, Guangdong. Patentee before: LEISHEN INTELLIGENT SYSTEM Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230619 Address after: 221,200 Workshop S05, East of Anlan Avenue and North of Lingong Avenue, Xuzhou Airport Economic Development Zone, Suining County, Xuzhou City, Jiangsu Province Patentee after: Jiangsu Lashen Laser Intelligent System Co.,Ltd. Address before: 314100 Jiaxing 3 Jiashan Road, Jiashan Province, 1 Street 3 Road, No. Patentee before: Zhejiang Lei Shen Intelligent System Co.,Ltd. |
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| TR01 | Transfer of patent right |