CN207557465U - Laser radar system based on tilting mirror - Google Patents
Laser radar system based on tilting mirror Download PDFInfo
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- CN207557465U CN207557465U CN201721325262.0U CN201721325262U CN207557465U CN 207557465 U CN207557465 U CN 207557465U CN 201721325262 U CN201721325262 U CN 201721325262U CN 207557465 U CN207557465 U CN 207557465U
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Abstract
The utility model provides a kind of laser radar system based on tilting mirror, and the laser radar system includes light source, detector；The tilting mirror includes：At least three speculums, at least three speculum surround annular；The speculum reflection that the detection light that light source is sent out is rotated, detector described in directive after the speculum reflection that reflected light of the detection light in target is rotated；Stent, at least three speculums described in the rack bearing；First driving unit, first driving unit drive the stent to be rotated around first rotating shaft.The utility model has many advantages, such as that big visual field, high frame frequency, ranging are remote.
Description
Technical field
The utility model is related to laser radars, the more particularly to laser radar system based on tilting mirror.
Background technology
Laser radar system includes laser transmitting system and detection reception system, and transmitting laser encounters target back reflection and quilt
Detection system is received, and the distance (such as time flight method) of respective objects point is can measure by measuring the laser round-trip time difference,
After to entire target area scanning probe, then finally achievable three-dimensional imaging.Laser radar system is in Unmanned Systems
Have important application, need in this application laser radar have high imaging frame frequency, high-resolution, remote range capability, small size,
High reliability, low cost, conventional laser radar system are difficult to meet these performances.
Laser radar system more ripe at present mostly drives scanning reflection mirror or the realization of entire optical-mechanical system to regard using motor
Field scan.It such as surveys and draws and realizes scanning upwardly through scanning mirror pitching with Vertical Square in laser radar system, horizontal direction is then
Scanning mirror and optical system is driven to rotate realization scanning together by motor.Another such as Velodyne companies are used for automatic Pilot
Laser radar, Vertical Square realizes that vertical angle is differentiated upwardly through multiple lasers and detector, then passes through in horizontal direction
Motor drives entire transmitting, receives system rotation sweep.
Above-mentioned mapping laser radar drives scanning mirror and mechanical-optical setup to rotate usually using stepper motor or brushless motor,
Scan frequency is limited to the rotating speed (rotating speed of motor usually only has thousands of revs/min) of motor, can not meet unmanned with sharp
The requirement that optical radar is imaged high frame frequency.Velodyne companies hybrid solid-state laser radar aims at unmanned application and development, though
Main performance requirements can so be met, but multiple lasers and APD detectors are employed in the system to emit in pairs, receive,
To meet the resolution in vertical direction, whole system mechanical-optical setup is complicated, and volume is larger, of high cost, low production efficiency, reliability
It is low, it is difficult to meet the needs of scale of mass production.
Utility model content
In order to solve the deficiency in above-mentioned prior art, the utility model provide a kind of high frame frequency, wide angle scanning,
Laser radar system based on tilting mirror simple in structure.
The purpose of this utility model is achieved through the following technical solutions：
A kind of laser radar system based on tilting mirror, the laser radar system include light source, detector；The tilting mirror packet
It includes：
At least three speculums, at least three speculum surround annular；The detection light that light source is sent out is rotated anti-
Penetrate mirror reflection, detector described in directive after the speculum reflection that reflected light of the detection light in target is rotated；
Stent, at least three speculums described in the rack bearing；
First driving unit, first driving unit drive the stent to be rotated around first rotating shaft.
Compared with prior art, the utility model have the advantage that for：
1. a tilting mirror more than has the characteristics that wide angle scanning, high scan frequency and effective optics bore are big, meets laser radar
To the performance requirement of big visual field, high frame frequency, optical scan angle is up to 70 degree；When itself and high-power eye-safe laser or high increasing
When the SPAD detectors of benefit combine, make laser radar that there is remote range capability；
2. this programme is received using single Laser emission, single point detector, transmitting-receiving synchronizes, and upper and lower light path is split, optical-mechanical system
Simple in structure, device is ripe, and adjustment is simple, is suitble to scale volume production；
3. by means of optical transport medium so that the different tilting mirror of the light of same light source output directive after beam splitting is anti-
Penetrate mirror so that scanning field of view expansion is twice.
Description of the drawings
With reference to attached drawing, the disclosure of the utility model will be easier to understand.Skilled addressee readily understands that
It is：These attached drawings are used only for illustrating the technical solution of the utility model, and are not intended to the protection to the utility model
Range is construed as limiting.In figure：
Fig. 1 is the structure diagram according to the laser radar system of the utility model embodiment 1.
Specific embodiment
Fig. 1 and following description describe the optional embodiments of the utility model to instruct those skilled in the art how real
It applies and reproduces the utility model.In order to instruct technical solutions of the utility model, simplified or some conventional aspects be omitted.Ability
Field technique personnel should be appreciated that modification from these embodiments or replacement will be in the scope of the utility model.This field skill
Art personnel should be appreciated that following characteristics can combine multiple modifications to form the utility model in various ways.This reality as a result,
Following optional embodiments are not limited to novel, and are only limited by the claims and their equivalents.
Embodiment 1：
Fig. 1 schematically illustrates the structure diagram of the laser radar system based on tilting mirror of the utility model embodiment 1,
As shown in Figure 1, the laser radar system based on tilting mirror includes：
Light source 11, such as pulsed laser, an only light source sends out detection light；
Optical transmission medium 61-62, such as optical fiber, the optical transmission medium have input terminal, at least two output terminals, the spy
It surveys light and is coupled into the input terminal；The speculum for detecting the different rotation of light directive projected from the output terminal；
Tilting mirror 31, the tilting mirror 31 include：
At least three speculums, at least three speculum surround annular, such as triangle, square, regular hexagon；
The speculum reflection that the detection light is rotated, directive after the speculum reflection that reflected light of the detection light in target 41 is rotated
Detector；
Stent, at least three speculums described in the rack bearing；
First driving unit, such as motor, first driving unit drive the stent to be rotated around first rotating shaft；
First speculum 51, the first beam projected from the first output terminal detect light after the reflection of first speculum
With the speculum rotated described in first direction directive；
Second speculum 52, the first beam detect reflected light of the light in target successively by the speculum of the rotation, first
The first detector of directive after speculum and the second speculum；
First detector 21, such as single point detector；
Second driving unit, such as motor, second driving unit drive first speculum to turn around the second shaft
Dynamic, the angle between the first rotating shaft and the second shaft is acute angle or right angle.The speculum of rotation and by the second driving unit drive
The mutual cooperation of first speculum of dynamic rotation, laser radar system realize three-dimensional imaging.
Third speculum 53, the second beam projected from second output terminal detect light after the reflection of the third speculum
With the speculum rotated described in second direction directive；The first direction and second direction are opposite；
4th speculum 54, the second beam detect reflected light of the light in target successively by the speculum of the rotation, third
The second detector of directive after speculum and the 4th speculum；
Second detector 22, such as single point detector；
Third driving unit, such as motor, the third driving unit drive the third speculum to turn around third shaft
Dynamic, the angle between the first rotating shaft and third shaft is acute angle or right angle.It the speculum of rotation and is driven by third driving unit
The mutual cooperation of the third speculum of dynamic rotation, laser radar system realize three-dimensional imaging.
Embodiment 2：
According to the application examples of the laser radar system based on tilting mirror of the utility model embodiment 1.
In the application examples, as shown in Figure 1, the light source only has 1, and using pulsed laser；Optical transmission medium
Using optical fiber, which has 1 input terminal, 2 output terminals；Angle between first rotating shaft and the second shaft is right angle；First
Angle between shaft and third shaft is right angle；Tilting mirror 21 uses 6 speculums, surrounds regular hexagon structure；Detector 21-22
Using single point detector.Laser and detector are respectively at different zones, avoid optical crosstalk.
Claims (9)
1. a kind of laser radar system based on tilting mirror, the laser radar system includes light source, detector；It is characterized in that：
The tilting mirror includes：
At least three speculums, at least three speculum surround annular；The speculum that the detection light that light source is sent out is rotated
Reflection, detector described in directive after the speculum reflection that reflected light of the detection light in target is rotated；
Stent, at least three speculums described in the rack bearing；
First driving unit, first driving unit drive the stent to be rotated around first rotating shaft.
2. laser radar system according to claim 1, it is characterised in that：The laser radar system further comprises：
First speculum, the speculum that the detection light rotates after the reflection of first speculum described in directive.
3. laser radar system according to claim 2, it is characterised in that：The laser radar system further comprises：
Second driving unit, second driving unit drive first speculum to be rotated around the second shaft, and described first
Angle between shaft and the second shaft is acute angle or right angle.
4. the laser radar system according to Claims 2 or 3, it is characterised in that：The laser radar system further wraps
It includes：
Second speculum, the detection light are reflected successively by first speculum and the speculum of rotation；The reflected light according to
It is secondary by detector described in directive after the speculum of the rotation, the first speculum and the second speculum.
5. laser radar system according to claim 1, it is characterised in that：The laser radar system further comprises：
Optical transmission medium, the optical transmission medium have input, output end, and the detection light is coupled into the input terminal；
The speculum for detecting the different rotation of light directive projected from the output terminal；
The quantity of detector and the quantity Matching of the output terminal.
6. laser radar system according to claim 5, it is characterised in that：The light source only has 1, and the input terminal is only
There is 1.
7. laser radar system according to claim 5, it is characterised in that：The output terminal is 2：
Project the speculum that the first beam detection light of the first output terminal is rotated after the reflection of the first speculum with first direction directive；
First beam detects reflected light of the light in target and is reflected successively by the speculum of the rotation, the first speculum and the second speculum
The first detector of directive afterwards；
The second beam detection light of second output terminal is projected by anti-with what is rotated described in second direction directive after the reflection of third speculum
Penetrate mirror；Second beam detects reflected light of the light in target successively by the speculum of the rotation, third speculum and the 4th reflection
The second detector of directive after mirror reflection；The first direction and second direction are opposite.
8. laser radar system according to claim 7, it is characterised in that：
Second driving unit, second driving unit drive first speculum to be rotated around the second shaft, and described first
Angle between shaft and the second shaft is acute angle or right angle；
Third driving unit, the third driving unit drive the third speculum to be rotated around third shaft, and described first
Angle between shaft and third shaft is acute angle or right angle.
9. laser radar system according to claim 1, it is characterised in that：The detector is single point detector.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720987017X | 2017-08-08 | ||
| CN201720987017 | 2017-08-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207557465U true CN207557465U (en) | 2018-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721325262.0U Active CN207557465U (en) | 2017-08-08 | 2017-10-16 | Laser radar system based on tilting mirror |
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| CN114089311A (en) * | 2022-01-19 | 2022-02-25 | 探维科技(北京)有限公司 | Laser radar system |
| CN114089311B (en) * | 2022-01-19 | 2022-05-17 | 探维科技(北京)有限公司 | Laser radar system |
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